Dead angle cleaning device

Abstract

The application discloses a dead angle free cleaning device, which comprises a brush disc module, a water spraying module and a driving module. The brush disc module comprises a curved side triangular brush disc, which rotates around itself and revolves around the driving module to clean the ground. The curved side triangular brush disc comprises a brush disc curved side, which is configured as follows: a square with a side length of a is set and an inscribed circle is drawn, then the center of the inscribed circle is horizontally offset to the right by a certain distance, then the inscribed circle is given a rotation around the offset center and a revolution around the geometric center of the square, during which every revolution of the inscribed circle by a first angle, the circular arc exposed outside the square is cut off, and the operation is repeated until all the circular arcs exposed outside the square are cut off. According to the dead angle free cleaning device, the quadrilateral area can be cleaned without dead angle.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, specifically to a cleaning device that can clean square areas without any blind spots. Background Technology

[0002] With the development of science and technology and the continuous improvement of people's living standards, a wide variety of intelligent cleaning products have emerged on the market. Currently, the most effective water-washing cleaning product is the floor scrubber, which integrates water spraying, scrubbing, and wastewater recycling. These are commonly found in public places such as shopping malls, hospitals, and train stations. For floor scrubbers used in small spaces, the domestic invention patent with publication number CN105286732 possesses the aforementioned functions; it is flexible in operation, compact in structure, and has low power consumption. However, because floor scrubbers generally use circular brushes, they have a functional shortcoming: they cannot clean "dead corners" on walls.

[0003] To address the problem of cleaning "dead corners" in walls, researchers have applied the "Reuleaux Triangle," characterized by its near-square motion trajectory, to cleaning mechanisms. PCT international patent publication WO 2022 / 129851A1 discloses a handheld cleaning device with a Reuleaux triangular brush. Although the triangular shape has been modified, it lacks a water-washing module, requiring repeated washing or replacement of the brush, limiting its use to dry cleaning. Japanese invention patent publication JP2014079512A discloses a robotic vacuum cleaner with Reuleaux triangular side brushes. However, this robot's side brushes only have three brush strips, which extend excessively beyond the Reuleaux triangle, resulting in weak rigidity. Furthermore, lacking a water-washing module, its cleaning performance is poor. Chinese invention patent publication CN 107788900A discloses a cleaning device that, while incorporating Reuleaux triangular units, lacks a water-washing module and can only be used for dry cleaning. Chinese invention patent CN106535729A and US invention patent US 11224323B2 disclose an autonomous walking vacuum cleaner (robot vacuum cleaner). The robot vacuum cleaner is designed in the shape of a Leroy triangle, with side brushes at the two apex positions. By rotating itself at a certain angle, the apex of the robot vacuum cleaner is aligned with the corners to clean the dead corners of the walls. However, due to the limited turning radius of the machine, the robot vacuum cleaner suffers from "corner binding" obstacles when planning its autonomous path, which requires the robot vacuum cleaner to adjust its posture repeatedly, resulting in extremely low cleaning efficiency of dead corners in one go. In addition, during the posture adjustment of the irregularly shaped robot vacuum cleaner, the triangular tip constantly hits the wall, resulting in excessive noise.

[0004] Therefore, traditional Reilly triangle cleaning components have two major problems: First, the center of the traditional Reilly triangle is set as a transmission mechanism, making it impossible to install a suction channel and lacking a water-washing cleaning function; second, the traditional Reilly triangle relies solely on its rotation around its geometric center and its eccentric revolution around a fixed axis, resulting in an actual running trajectory that resembles a square drum shape as shown in Figure 1 (see https: / / www.doc88.com / p-2965984600072.html), which cannot accurately clean along the edges. To solve the trajectory overflow problem, Chinese patent CN 205625816U sets a square limiting frame outside the Reilly triangle, driven by a universal joint coupling, which can achieve precise edge cleaning. However, it also has shortcomings: on the one hand, the introduction of the universal joint coupling will cause speed fluctuations and complex structure; on the other hand, the friction between the side brush and the square limiting frame during the cleaning process will cause power loss and component wear.

[0005] Furthermore, existing cleaning devices often use cloths, which cannot provide sufficient pressure, resulting in poor cleaning effectiveness. Moreover, if the cloths are not cleaned or replaced promptly after becoming soiled, secondary contamination can easily occur. Changing and washing cloths is also inconvenient and costly. Therefore, existing cleaning devices cannot meet the deep cleaning needs of public places such as shopping malls, hospitals, and train stations, as well as offices and homes, for cleaning "dead corners" in walls. The same problem exists when using power tools to "wash" the corners of glass curtain walls during building facade cleaning. Summary of the Invention

[0006] The purpose of this invention is to provide a cleaning device that can clean square areas without leaving any blind spots.

[0007] The basic concept of this invention is the design of a novel brush disc style and motion law, enabling the brush disc to rotate eccentrically around a fixed point while simultaneously rotating around its geometric center under the action of a transmission mechanism. This unique geometry and motion law result in an area approximately square after being cleaned by the brush disc. This effectively solves the problems of dead cleaning corners, complex structures, unstable transmission, and frictional losses existing in the prior art. In this invention, the brush disc shape is specially designed, obtaining a curved triangle composed of three identical curves through a "fitting" method, with the curved side approximating a segment of a circle. Furthermore, the brush disc module and the water suction module are combined, with a suction port located at the geometric center of the brush disc. The distance between the suction port and the ground is very small, requiring only a low-power impeller for wastewater and waste collection. The square limiting device is eliminated, resulting in high overall transmission efficiency, low energy loss, and a simple and lightweight structure.

[0008] In one embodiment, a thorough cleaning device includes a brush plate module, a water spraying module, and a drive module. The device comprises a main frame positioned at a certain distance above the ground, with the drive module and brush plate module located below the main frame. The brush plate module includes a curved triangular brush plate, which rotates and revolves via the drive module to clean the floor.

[0009] The curved triangular brush disk includes a curved edge, which is constructed as follows: A square with a certain side length is set and its circumcircle is drawn. Then, the center of the circumcircle is shifted horizontally to the right by a certain distance. Next, the circumcircle is given a rotational motion around the shifted center and a revolution motion around the geometric center of the square. During this process, every time the circumcircle revolves by a first angle, the arc exposed outside the square is cut off. This operation is repeated until all the arcs exposed outside the square are cut off. After the cutting is completed, the cusps of the arcs are rounded. The remaining curve inside the square is the geometric line of the curved edge of the brush disk. The first angle can be between 3 and 20 degrees, but is not limited to this.

[0010] The brush plate module in the aforementioned no-dead-angle cleaning device includes a curved triangular brush plate, a brush plate fixed gear, a brush plate bearing, a curved suction tube, a first reversing double gear, a chassis, a sun gear, a second reversing double gear, a rolling bearing, a brush plate drive gear, and a double gear shaft. The sun gear, the brush plate fixed gear, the first and second reversing double gears, and the suction tube form a 2K-H type double planetary gear system; the curved triangular brush plate and the brush plate fixed gear can be integrally formed by additive manufacturing or fixed by screws, and the two cannot rotate relative to each other. The sun gear has a shaft protrusion near the main frame, with a threaded hole on its end face. It is fixed to the main frame with screws, preventing the sun gear from rotating freely. The outer surface of the shaft protrusion is interference-fitted with the inner surface of the brush drive gear via a rolling bearing, allowing the brush drive gear to rotate freely around its geometric center. The circumference of the brush drive gear spokes has a double gear shaft hole and a curved suction tube shaft hole, which are used to position the curved suction tube support end and the reversing double gear shaft, respectively. The curved suction tube support end is fixed to the brush drive gear with a threaded connection and cannot rotate relative to it. The double gear shaft is interference-fitted with a rolling bearing and can rotate relative to it. When the brush drive gear rotates, the curved suction tube support end and suction port end rotate around the center of the brush drive gear, which in turn drives the curved triangular brush disk to revolve around the brush drive wheel. At the same time, the first and second reversing double gears revolve around the center of the brush drive wheel, and the external meshing of the first reversing double gear with the fixed sun gear causes the first reversing double gear to rotate around the reversing double gear shaft, which in turn drives the second reversing double gear to rotate. Through the brush disk fixed gear, the curved triangular brush disk is finally driven to rotate around its geometric center.

[0011] When the thorough cleaning device is in operation, the drive motor drives the brush drive gear to rotate via motor gears and transmission gears. The brush drive gear has multiple internal holes on its spokes to fix a double gear shaft. The double gear shaft houses the first and second reversing double gears. As the double gear shaft revolves around the brush drive gear, the second reversing double gear achieves constant-speed rotation by meshing with a fixed sun gear. The first reversing double gear transmits this rotation at a constant speed to the curved triangular brush disk via the brush disk's fixed gear. A curved suction tube, shaped like an inverted H, is installed between the curved triangular brush disk, the sun gear, and the brush drive gear. Its suction port is positioned at the center of the curved triangular brush disk via a bearing, and its outlet is positioned at the center of the sun gear via a bearing, forming a wastewater suction channel. Its support end is placed on the spokes of the brush drive gear via embedded bolts, driving the curved triangular brush disk to revolve around the sun gear. The rotation and revolution of the curved triangular brush disk combine to create an eccentric planetary motion, causing the brush disk edge to follow an approximately square trajectory. At the same time, the water spraying module sprays cleaning liquid onto the surface to be cleaned, while the water suction module recycles the wastewater through the suction channel to achieve thorough water washing and cleaning within the square area.

[0012] In the aforementioned no-dead-angle cleaning device, the curved triangular brush disc includes a curved edge. The curved triangular brush disc is equipped with at least one of the following: brush blades, brush strips, and bristles. The cleaning surface of the brush disc is provided with brush blades or brush strips arranged in a centripetal rotation, with a certain gap between the brush blades or brush strips along each centripetal rotation line to serve as a wastewater guiding channel. The arrangement of the brush blades or brush strips can slightly extend beyond the outer edge of the curved edge of the brush disc to increase the actual coverage area of ​​the curved triangular brush disc. The material of the brush blades or brush strips can be wear-resistant materials such as rubber. Scattered bristles are arranged between the centripetal rotating brush blades or brush strips, and the bristles are in clusters or flakes, and can be made of nylon filaments or PBT filaments with good wear resistance and resilience. When the curved triangular brush disc rotates for cleaning, the brush blades or brush strips and bristles rotate centripetally. The clusters or flakes of bristles scrub the ground, while the intermittently arranged flakes of brush blades or brush strips collect and gather wastewater to the central area of ​​the curved triangular brush disc by scraping the surface to be cleaned, where it is then recycled by the water absorption module.

[0013] In one embodiment, the ratio of the number of teeth between the sun gear and the brush disk fixed gear is 4:3. At this time, the ratio of the angular velocity of the curvilinear triangular brush disk rotating around its geometric center to the angular velocity of its revolution around the center of the brush disk drive gear is 1:3, which ensures that the area covered by the planetary motion of the curvilinear triangular brush disk is square.

[0014] In the aforementioned thorough cleaning device, the drive module includes a drive motor, a motor gear, a transmission gear, a transmission reversing gear, a transmission gear shaft, and a main frame. The drive motor is bolted to the upper side of the main frame, and the motor output shaft passes vertically through the main frame and connects to the drive gear located on the lower side of the main frame. The drive gear can be fixed by means of key connection or other methods. The drive gear meshes with the transmission gear and the brush disc drive gear in sequence for transmission. The transmission reversing gear is provided only when there are two or more brush disc modules, and is used to change the direction of rotation of one side of the brush disc, so that the driven double curved triangular brush discs rotate in opposite directions, thus counteracting the radial force.

[0015] In one embodiment, the water suction module includes a wastewater collection tank, a suction impeller, an impeller motor mounting bracket, an impeller motor, and an impeller motor cover plate. The wastewater collection tank, located above the main frame, is conical in shape, narrower at the top and wider at the bottom. A flange is provided on the wastewater collection tank and fixed to the main frame with bolts. The flange has a groove in the middle to hold the suction impeller. An impeller motor mounting bracket is located above the wastewater collection tank to support the suction impeller. The impeller motor cover plate is fixed to the impeller motor mounting bracket by a snap-fit ​​mechanism and has a slot and mounting hole in the middle for placing the impeller motor. A drain outlet is located at the lowest point of the wastewater collection tank. To prevent wastewater leakage from gaps in the transmission components during the recycling process, the outlet end of the suction pipe should be designed to penetrate the main frame and be directly connected to the wastewater collection tank. A sealing ring can be installed between the main frame and the wastewater collection tank. The suction port end of the suction pipe should be as close as possible to the surface to be cleaned to ensure that the impeller motor drives the suction impeller to generate sufficient negative pressure to recycle the wastewater.

[0016] In one embodiment, the water spraying module of the no-dead-angle cleaning device includes a water pump, a clean water tank, and spray nozzles. The water spraying module is equipped with an infrared sensor or a Hall sensor to detect the position of the curved triangular brush disc, preventing cleaning fluid from spraying onto the non-cleaning surface of the brush disc and causing water erosion. The sensor is located next to the spray nozzles on the main frame. When the cleaning device is activated, the infrared or Hall sensor first detects whether the curved triangular brush disc is blocking the spray nozzles. If the curved triangular brush disc is not blocking the spray nozzles, water spraying is initiated. If the curved triangular brush disc is detected blocking the spray nozzles, water spraying is delayed to ensure that the curved triangular brush disc does not obstruct the spray nozzles.

[0017] In one embodiment, the curved straw is inverted H-shaped and has a suction end, a support end, and an outlet end. The curved triangular brush has a suction port, the support end is fixed to the brush drive gear, the outlet end passes through the main frame and is directly connected to the sewage collection tank, and the suction end is connected to the suction port.

[0018] In one embodiment, the no-dead-angle cleaning device is equipped with one, two, or four brush plate modules depending on the usage environment. It can be driven by a drive motor in conjunction with multiple transmission gears, or each brush plate module can be equipped with a separate motor for independent drive. When an even number of brush plate modules are used, a transmission reversing gear should be added to change the direction of the brush plate on one side to counteract the radial force and achieve a symmetrical arrangement of the brush plates. For indoor home environments, two curved triangular brush plates can be set independently, or two curved triangular brush plates can be combined with multiple traditional circular brush plates. Its main frame should be a rectangle with a large length-to-width ratio, with the traditional circular brush plate in the middle and the two curved triangular brush plates arranged on both sides. For indoor shopping malls or building facades, four curved triangular brush plates can be set independently, or four curved triangular brush plates can be combined with a single traditional circular brush plate. The traditional circular brush plate is set in the center of the brush plate, and the four curved triangular brush plates are symmetrically arranged at the four vertices of the square main frame about the central plane of the main frame.

[0019] Another aspect of the present invention provides a no-dead-angle cleaning device, which replaces the water spraying module and water suction module with a dust suction module, while the other modules are substantially the same in structure and function as the no-dead-angle cleaning device. Specifically, the no-dead-angle cleaning device includes a brush plate module, a drive module, and a dust suction module. The no-dead-angle cleaning device includes a main frame disposed at a certain distance from the ground, with the brush plate module disposed below the main frame. The dust suction module is disposed above the main frame. The brush plate module includes a curved triangular brush plate as described above, which rotates and revolves through the drive module to vacuum the ground.

[0020] The vacuuming module includes a dustbin, a filter, an air duct, and a fan. The curved triangular brush disc has a through-hole suction port, which is connected to the dustbin via a curved suction tube. The brush disc module and the drive module have essentially the same structure and function as the aforementioned no-dead-angle cleaning device, and will not be described again here.

[0021] The beneficial effects of this invention are:

[0022] 1. According to the present invention, the cleaning device without dead angles can perform water washing and cleaning of square areas without dead angles by means of a specially designed curved triangular brush disc and its planetary motion mode, without the need for a square limiting device.

[0023] 2. The cleaning device of the present invention, through the rational design of the transmission mechanism and the configuration of the suction channel, combined with the bristles and the centripetally rotating brush blades or strips, realizes the recycling of sewage in the center of the brush plate while washing, resulting in good cleaning effect and no need to replace the brush cloth.

[0024] 3. In this invention, the suction port for collecting garbage and sewage is located at the geometric center of the curved triangular brush disk. The brush blades or strips and bristles arranged on the brush disk gather the garbage and sewage on the ground at the suction port. Only a small-power impeller motor is needed to achieve the suction of small particles of garbage and sewage.

[0025] 4. The brush plate module used in this invention has a simple structure, high transmission efficiency and motion stability, and low power consumption. It can be used not only in cleaning robots, but also in handheld mops. It is suitable for use in small areas of home such as living rooms and bedrooms, as well as floors of large shopping malls, and even for cleaning building facades. Attached Figure Description

[0026] Figures 1a-1b A schematic diagram of the Leylow triangle brush motion trajectory;

[0027] Figure 2 An exploded view of the cleaning device without blind spots according to an embodiment of the present invention;

[0028] Figure 3A This is a cross-sectional view of the cleaning device without blind spots according to an embodiment of the present invention;

[0029] Figure 3B This is a cross-sectional view of the water spraying module of the no-dead-angle cleaning device according to an embodiment of the present invention;

[0030] Figure 4 An isometric view of the cleaning device without blind spots according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of a double planetary gear train according to an embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of a curved triangle cleaning a square region according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of a curved straw according to an embodiment of the present invention;

[0034] Figure 8 A-8F is a schematic diagram of the curved edge cutting and forming of a brush disk according to an embodiment of the present invention;

[0035] Figure 9 This is a curved triangular brush pattern according to an embodiment of the present invention;

[0036] Figure 10 This is a curved triangular brush pattern two according to an embodiment of the present invention;

[0037] Figure 11 This is one arrangement of the brush module according to an embodiment of the present invention;

[0038] Figure 12This is a second arrangement of the brush module according to an embodiment of the present invention;

[0039] Figure 13 This is the third arrangement of the brush module according to an embodiment of the present invention;

[0040] Figure 14 This is a schematic diagram of a cleaning device with no blind spots according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the instruction manual:

[0042] 101-Curved triangular brush disc, 1011-Curved edge of brush disc, 1012-Brush blade or strip, 1013-Brush bristles, 102-Brush disc fixed gear, 103-Brush disc bearing, 104-Curved suction tube, 105-First reversing double gear, 106-Chassis, 107-Sun gear, 108-Second reversing double gear, 109-Rolling bearing, 110-Brush disc drive gear, 111-Double gear shaft, 112-Curved tube fixing component, 113- Main frame, 114-support frame, 201-sewage collection tank, 202-water suction impeller, 203-impeller motor fixing frame, 204-impeller motor, 205-impeller motor cover plate, 301-drive motor, 302-drive gear, 303-transmission gear, 304-transmission reversing gear, 305-transmission gear shaft, 401-water pump, 402-clean water tank, 501-dust collection box, 502-filter screen, 503-air duct, 504-fan. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0044] As shown in Figure 1, to address the problem of cleaning dead angles caused by the Leroy triangular brush disk's movement trajectory exceeding the square limit frame, this invention proposes a dead-angle-free cleaning device, referring to... Figures 2 to 4 As shown, it mainly includes a brush module 100, a water suction module 200, a drive module 300, and a water spraying module 400.

[0045] The main frame 113 is set at a certain distance from the ground. The water suction module 200, the water spraying module 400 and the drive motor 301 are set above the main frame 113, and the drive module 300 and the brush plate module 100 are set below the main frame.

[0046] See Figure 2 The brush module 100 includes a curved triangular brush 101 and a brush-mounted gear 102 (see [reference]). Figure 3AThe system comprises a brush disc bearing 103, a curved suction tube 104, a first reversing double gear 105, a chassis 106, a sun gear 107, a second reversing double gear 108, a rolling bearing 109, a brush disc drive gear 110, a double gear shaft 111, and a curved tube fixing member 112. The sun gear 107, brush disc fixed gear 102, reversing double gears 105 and 108, and curved suction tube 104 form a 2K-H type double planetary gear system. In one embodiment, the brush disc fixed gear 102 can be fixed to the curved triangular brush disc 101; in another embodiment, the curved triangular brush disc 101 and the brush disc fixed gear 102 can be integrally formed by additive manufacturing, and the two cannot rotate relative to each other. The sun gear 107 has a shaft protrusion near the main frame 113, and a threaded hole on its end face. It is fixed to the main frame 113 by screws, preventing the sun gear from rotating freely. The outer surface of the axle is interference-fitted with the inner surface of the brush drive gear 110 via a rolling bearing 109, allowing the brush drive gear 110 to rotate freely around its geometric center. The brush drive gear 110 has a double gear shaft hole 111 and a curved suction tube 104 shaft hole on its spoke circumference, used to position the support end 104B of the curved suction tube 104 and the double gear shaft 111, respectively. The support end 104B of the curved suction tube 104 is threadedly fixed to the brush drive gear 110 and cannot rotate relative to it. The double gear shaft 111 uses a rolling bearing interference fit and can rotate relative to it. A curved tube fixing member 112 is used to fix the curved suction tube 104 to the brush drive gear 110. Optionally, the brush module 100 also includes a support frame 114, which passes through the curved suction tube 104 and the double gear shaft 111, to reinforce the curved suction tube 104 and reduce vibration during operation.

[0047] When the brush drive gear 110 rotates, the support end 104B and the suction end 104C of the curved suction tube 104 rotate around the center of the brush drive gear 110 (see...). Figure 7 This causes the curved triangular brush disk 101 to revolve around the brush disk drive wheel 110. While the reversing double gears 105 and 108 revolve around the center of the brush disk drive wheel 110, the external meshing of the first reversing double gear 105 with the fixed sun gear 107 causes the first reversing double gear 105 to rotate around the double gear shaft 111, which in turn drives the second reversing double gear 108 to rotate. Through the brush disk fixed gear 102, this ultimately drives the curved triangular brush disk 101 to rotate around its geometric center.

[0048] In the aforementioned no-dead-angle cleaning device, the curved triangular brush disk 101 has a geometric shape obtained by dynamic rotation and cutting. First, a square with a side length of 'a' is set in the design software and its circumcircle is drawn. Then, the center of the circumcircle is shifted horizontally to the right by a certain distance. Next, the circumcircle is given a rotational motion around the shifted center and a revolution motion around the geometric center of the square. During this process, every 10° revolution of the circumcircle, the arc exposed outside the square is cut off. This operation is repeated until all the arcs exposed outside the square are cut off. After the cutting is completed, the cusps of the arcs are rounded. The remaining curve inside the square is the geometric shape of the curved triangular brush disk 101's curved edge 1011.

[0049] The brush drive gear 110 has multiple internal holes on its spokes for fixing the double gear shaft 111. When the cleaning device according to the present invention operates, the drive motor 301 drives the brush drive gear 110 to rotate via the motor gear 302 and the transmission gear 303. When the double gear shaft 111 revolves around the brush drive gear 110, the second reversing double gear 108 achieves constant-speed rotation by meshing with the fixed sun gear 107. The first reversing double gear 105 transmits this rotation at a constant speed to the curved triangular brush disk 101 via the brush disk fixed gear 102. A curved suction tube 104, in an inverted H-shape, is provided between the curved triangular brush disk 101, the sun gear 107, and the brush drive gear 110. (Refer to...) Figure 7 As shown, the suction end 104C of the curved suction tube 104 is positioned at the center of the curved triangular brush disk 101 via a bearing and communicates with the suction port of the curved triangular brush disk 101. The outlet end 104A is positioned at the center of the sun gear via a bearing to form a sewage suction channel. Its support end 104B is positioned on the spokes of the brush disk drive gear 110 via an embedded bolt, driving the curved triangular brush disk 101 to revolve around the sun gear 107. The rotation and revolution of the curved triangular brush disk 101 combine to form an eccentric planetary motion, making the edge of the brush disk exhibit an approximately square motion trajectory. At the same time, the water spraying module 400 sprays cleaning liquid onto the surface to be cleaned, and the water suction module 200 collects the sewage through the suction channel to achieve thorough water washing within the square area.

[0050] like Figure 9 and Figure 10As shown, in one embodiment, the curved triangular brush disk 101 includes a curved edge 1011, on which at least one of brush blades, brush strips 1012, and bristles 1013 are provided. The cleaning surface of the brush disk is provided with brush blades or brush strips 1012 arranged in a centripetal rotation. Each centripetal rotating brush blade or brush strip 1012 has a certain gap as a sewage guiding channel. The brush blades or brush strips 1012 can be arranged slightly beyond the outer edge of the curved edge 1011 to increase the actual coverage area of ​​the curved triangular brush disk 101. The brush blades or brush strips can be made of wear-resistant materials such as rubber. Discreetly distributed bristles 1013 are provided between the centripetal rotating brush blades or brush strips 1012. The bristles 1013 are in clusters or flakes, and can be made of nylon or PBT filaments with good wear resistance and resilience.

[0051] Reference Figure 9 The first type of brush disc features bristles 1013 arranged in clusters, with equal spacing between clusters 1013 along the same centripetal rotation line. Brush blades or strips 1012 are intermittently arranged between the bristles 1013 on different centripetal rotation lines. When the curved-edge triangular brush disc 101 rotates for cleaning, the brush blades or strips 1012 and bristles 1013 rotate centripetally. If the machine moves to the right, the rotation direction of the bristles 1013, brush blades or strips 1012 should ideally be clockwise; if the machine moves to the left, the rotation direction of the bristles 1013, brush blades or strips 1012 should ideally be counterclockwise. This design allows debris to pass through the channels formed by the bristles 1013, brush blades or strips 1012 and move along these channels to the suction port at the center of the brush disc.

[0052] Reference Figure 10 In the second type of brush disc, the bristles 1013 and brush blades or strips 1012 on the cleaning surface of the curved triangular brush disc 101 are elongated strips with a constant width. Their length gradually increases outwards from the center of the curved triangular brush disc 101, rotating centripetally. The brush blades or strips 1012 are still distributed centripetally, but their curve shape changes to a straight-edged curve fitted with straight lines. The spacing between the straight edges is fixed, and the length of the straight edges gradually increases from the inside out. The spacing between the brush blades or strips 1012 guides the cleaning wastewater, allowing it to better converge at the central suction port of the curved triangular brush disc 101. The radius of rotation and movement speed are small in the area near the center of the curved triangular brush disc 101, therefore the cleaning effect near the center is not as good as the edge areas. The length of the tufted bristles 1013 in the central area can be appropriately increased to generate greater friction with the cleaning surface, thus producing a better cleaning effect. During the cleaning process, the bristles 1013 scrub the ground, and the intermittently arranged brush blades or strips 1012 collect and gather the wastewater to the center area of ​​the curved triangular brush disc 101 by scraping the surface to be cleaned, and then recycle it through the water absorption module 200.

[0053] In one embodiment, a rigid filter screen that blocks larger particles can be provided at the bottom port of the curved straw (close to the gap between two adjacent blades of the impeller to prevent the impeller pores from being blocked).

[0054] Reference Figure 5 As shown, to ensure that the area covered by the planetary motion of the curved triangular brush disk 101 is square, the brush disk fixed gear 102 needs to rotate 120° when the curved suction tube 104 rotates one revolution. That is, the ratio of the rotational angular velocity of the curved triangular brush disk 101 about its geometric center to the angular velocity of its revolution around the center of the brush disk drive gear 110 is 1:3. The transmission ratio between the suction tube 104, which acts as the planetary carrier H, and the brush disk fixed gear 102 can be expressed as:

[0055]

[0056] It is deduced that the ratio of the number of teeth of the sun gear 107 to the brush plate fixed gear (102) must be 4:3.

[0057] The drive module 300 includes a drive motor 301, a motor gear 302, a transmission gear 303, a transmission reversing gear 304, and a transmission gear shaft 305. The drive motor 301 is bolted to the upper side of the main frame 113. The motor output shaft passes vertically through the main frame 113 and connects to the drive gear 302 located on the lower side of the main frame. The drive gear 302 can be fixed using a key connection or other means. The drive gear 302 meshes sequentially with the transmission gear 303 and the brush disc drive gear 110; the gear ratio is set to z. 302 :z 303 :z 110 =23:23:103. This gear ratio was chosen because the motor speed is too high, while the speed of the curved triangular brush disc 101 in this invention does not need to be too high. The transmission gear 303, transmission reversing gear 304, etc., are fixed by the transmission gear shaft 305, and the fixing method is "key" connection, etc. In addition to gear transmission, the drive module 300 can also use belt transmission, chain transmission, worm gear, and other commonly used transmission methods. In particular, belt transmission and chain transmission can be used for linkage between multiple brush discs. The drive motor 301, drive gear 302, transmission gear 303, etc. are set on both sides of the main frame 113. On the one hand, this frees up more space for the cleaning device, making the structure more compact and miniaturized. On the other hand, since the surface of the cleaning device will come into contact with more sewage, it can prevent the drive motor 301 from being contaminated.

[0058] In one embodiment, the water absorption module 200 includes a wastewater collection tank 201, a water absorption impeller 202, an impeller motor mounting bracket 203, an impeller motor 204, an impeller motor cover plate 205, and a wastewater chamber 206. The wastewater collection tank 201 is located above the main frame and is conical in shape, narrower at the top and wider at the bottom. The wastewater collection tank 201 has a flange, which is bolted to the main frame 113. It has a groove in the center to hold the water absorption impeller 202. The impeller motor mounting bracket 203 is located above the wastewater collection tank 201. The impeller motor mounting bracket 203 has a groove in the center for mounting the water absorption impeller 202 and the impeller motor 204. In this embodiment, the impeller is a centrifugal impeller. In another embodiment, the water absorption module 200 may further include an impeller motor cover plate 205, which has a slot and mounting hole in the center for placing the impeller motor 204. The impeller motor has a relatively low power output and is fixed to the impeller motor cover plate 205 via a flange at the bottom of the motor. The impeller motor cover plate 205 can be fixed to the impeller motor mounting bracket 203 by a snap-fit ​​mechanism. The sewage collection tank 201 has a sewage outlet at its lowest point, which is directly opposite the sewage inlet of the sewage chamber 206, or there is a pipe connecting the sewage outlet and the sewage inlet of the sewage chamber 206.

[0059] The main function of the wastewater collection tank 201 is to separate water and air, allowing wastewater to be discharged centrally, while the airflow is discharged above or to the sides (above or below) of the wastewater collection tank 201. Openings can also be made on the main frame 113 and the curved triangular brush disc 101 to allow airflow to exit from the bottom. The discharged airflow carries a small amount of water vapor, which can be further filtered by a sponge-like filter at the air outlet on the casing. To prevent water droplets from splashing out and being carried away by the airflow when wastewater impacts the wastewater collection tank 201, a wire mesh splash guard can be installed on the tank wall facing the impeller airflow outlet. The tank wall cross-section can be set in an arc shape, allowing splashed water droplets to fly towards the center of the circle facing the airflow outlet; alternatively, the tank wall can be angled downwards. The tank wall can also be angled upwards, with multiple grooves to accommodate water droplets and prevent them from being carried upwards by the airflow. The wastewater collection tank 201 can be mounted on the main frame 113 or the top cover using a bracket. A portion near the impeller front cover can replace the impeller front cover, requiring the gap between it and the suction impeller 202 to be as small as possible without touching it. The suction end 104A of the straw 104 should be as close as possible to the surface to be cleaned to ensure that the impeller motor 204 drives the water suction impeller 202 to generate sufficient negative pressure to recover the sewage.

[0060] See Figure 3BAs shown, the sprinkler module 400 includes a water pump 401, a clean water tank 402, a waste water tank 403, and sprinkler nozzles. The sprinkler module 400 is equipped with an infrared sensor or a Hall sensor to detect the position of the curved triangular brush disc 101, preventing cleaning fluid from spraying onto the non-cleaning surface of the curved triangular brush disc 101 and causing water erosion. The sensor is located next to the sprinkler nozzle on the main frame 113. Infrared sensors and Hall sensors have the same function, but differ in detection accuracy and price. Infrared sensors are cheaper and less accurate, and are used in low- to mid-range products. Hall sensors are more expensive and more accurate, and are suitable for high-end products. The sprinkler module 400 has at least one water outlet (sprayer head), located on the main frame 113 at the junction of the shadow swept by the curved triangular brush disc 101 and the blank area left by the curved triangular brush disc 101 during rotation. Infrared or Hall effect sensors are positioned next to the water nozzles on the main frame 113, or directly on the side of the water nozzles. Both types of sensors detect the position of the curved triangular brush disc 101 to determine whether to spray water or activate the curved triangular brush disc 101. When the floor cleaning robot is first turned on, the sensors activate first to detect whether the curved triangular brush disc 101 is blocking the water nozzles. If the curved triangular brush disc 101 is not blocking the water nozzles, water spraying begins. If the curved triangular brush disc 101 is blocking the water nozzles, based on sensor feedback, the curved triangular brush disc 101 is rotated until it no longer blocks the water nozzles. Then, the machine moves and sprays water within a range 2-3 times its own shaded area. After spraying for a period of time, the spraying stops, and the curved triangular brush disc 101 is rotated to begin scrubbing the surfaces to be cleaned. Then, the water suction module 200 is activated to collect wastewater.

[0061] Preferably, the cleaning device without blind spots can be configured with one, two, or four brush plate modules 100, depending on the usage environment and machine size. These can be driven by a single drive motor 301 in conjunction with multiple transmission gears, or each brush plate module 110 can be driven by a separate motor. When using an even number of brush plate modules, a transmission reversing gear 304 should be added to change the direction of the brush plate on one side to counteract radial force and achieve a symmetrical arrangement of the brush plates. For indoor home environments, two curved triangular brush plates 101 can be independently installed, or two curved triangular brush plates 101 can be combined with multiple traditional circular brush plates. The main frame should be a rectangle with a large length-to-width ratio, with the traditional circular brush plate in the middle and the two curved triangular brush plates 101 arranged on both sides. For indoor shopping malls or building facades, four curved triangular brush plates 101 can be independently installed, or four curved triangular brush plates 101 can be combined with a single traditional circular brush plate. The traditional circular brush plate is located at the center of the brush plate, and the four curved triangular brush plates 101 are symmetrically arranged at the four vertices of the square main frame about the central plane of the main frame. Reference Figure 11In the first arrangement of the brush module 100 shown, four curved triangular brushes 101 are respectively located at the four corners of the square main frame 113, and move in a mirror motion about the central plane of the main frame.

[0062] Reference Figure 12 The second arrangement of the disk brush modules 100 shown is compared to... Figure 11 Arrangement 1 shown Figure 12 The second arrangement shown has a larger main frame 113 area, with four brush disk modules 100 also positioned near the four corners of the main frame 113. A traditional circular brush disk with a larger cleaning area is placed in the center. This arrangement allows for faster cleaning of large floor areas, and the torque of the four smaller curved triangular brush disks roughly offsets the torque of the large central circular brush disk. (Refer to...) Figure 13 The brush plate module 100 is arranged in a third configuration. Its main frame is a rectangle with a large length-to-width ratio. Two curved triangular brush plates 101 are positioned near the narrow ends, and two circular brush plates are placed in the middle. This arrangement facilitates better cleaning of the floor. In all three brush plate arrangements, the coverage area of ​​the curved triangular brush plates 101 is larger than that of the main frame 113, effectively avoiding interference from the main frame 113 during the cleaning process.

[0063] Depending on the degree of staining, the usage environment, and the appropriate speed of the thorough cleaning device, the brush rotation speed and the water output of the water spray module 400 are adjusted according to the distribution density of the bristles 1013 on the different curved triangular brush discs 101. This ensures that the water (cleaning liquid) is fully mixed with the stains on the ground (or facade), guaranteeing both the cleaning effect and the presence of water at the suction port. The gas-liquid mixture is drawn into the suction impeller 202, and the liquid sprayed by the suction impeller 202 impacts the wall of the sewage collection tank 201 due to inertia and flows to the sewage outlet at the bottom. The airflow separated by water filtration (although it is sewage) can be directly discharged from the outer shell of the cleaning mechanism.

[0064] like Figure 14As shown, in another embodiment of the present invention, a no-dead-angle cleaning device is provided, which replaces the water spraying module and water suction module with a dust suction module 500, while the other modules are substantially the same in structure and function as the no-dead-angle cleaning device. Specifically, the no-dead-angle cleaning device includes a brush plate module 100, a drive module 300, and a dust suction module 500. The no-dead-angle cleaning device includes a main frame 113 set at a certain distance from the ground, with the brush plate module 100 located below the main frame. The dust suction module 500 is located above the main frame. The brush plate module 100 includes a curved triangular brush plate 101 as described above. The curved triangular brush plate 101 includes a curved edge 1011, and centripetally rotating dot-shaped bristle clusters or strip-shaped bristles 1013 (without a squeegee or brush strip). The cleaning surface of the curved triangular brush plate 101 is provided with centripetally rotating strip-shaped bristles 1013 arranged beyond the outer edge of the curved edge 1011. The curved triangular brush 101 rotates and revolves via the drive module 300 to vacuum the ground.

[0065] The vacuuming module 500 includes a dustbin 501, a filter 502, an air duct 503, and a fan 504. The curved triangular brush disc 101 has a through-hole suction port, which is connected to the dustbin via a curved suction tube 104. The brush disc module 100 and the drive module 300 have essentially the same structure and function as the aforementioned no-dead-angle cleaning device. Commonly used vacuum cleaners also have cyclone-type and water-filter structures, which are all based on the ordinary vacuum cleaner structure (the above-mentioned vacuuming module) with some added components. These are also common in the vacuuming module of this invention and will not be described in detail here.

[0066] With the above structure, the surface to be cleaned can be vacuumed without any blind spots, achieving a good vacuuming effect.

[0067] The present invention also discloses a cleaning device that simultaneously possesses vacuuming and water suction functions, comprising a brush plate module 100, a drive module 300, a vacuuming module 500, a water spraying module 400, a water suction module 200, and a shield with a drive device facing the curved suction tube 104. By moving the shield in or out, the cleaning device can switch between vacuuming and water suction functions. The cleaning device without dead angles includes a main frame 113 set at a certain distance from the ground, with the brush plate module 100 located below the main frame and the vacuuming module 500 located above the main frame.

[0068] The structures of the brush module 100, drive module 300, dust suction module 500, water spraying module 400, and water suction module 200 are all similar to those in the aforementioned embodiments (e.g., Figure 2 and Figure 14(The embodiment shown). Patent application CN104622386 describes a vacuum cleaner switching between water and dust suction functions by moving a shield with a drive mechanism towards the suction channel (the curved suction tube 104 in this application) into or out of the shield. In this application, the shield with the drive mechanism remains effective; only the bottom brush and brush rotation drive mechanism have been replaced. Therefore, combining this structure with the brush of this application is also within the scope of protection of this invention.

[0069] This invention can be used in floor cleaning robots or wall-climbing robots for building facade cleaning, as well as handheld electric facade cleaning tools. It can also be used in handheld floor scrubbers and vacuum cleaners. Handheld floor scrubbers can have a slot for a manually operated push handle on the machine casing, with the power switch located on the push handle, and a movement module added to the device. The floor scrubber robot can be equipped with a movement module, including wheels, wheel drive mechanisms, etc., and can be electrically controlled. Various electrical control technologies can be applied to this invention; their principles will not be elaborated here.

[0070] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A cleaning device with no blind spots, characterized in that, The device includes a brush plate module (100), a water spraying module (400), and a drive module (300). The no-dead-angle cleaning device includes a main frame (113) set at a certain distance from the ground, and the drive module (300) and the brush plate module (100) are set below the main frame. The brush module (100) includes a curved triangular brush (101), which rotates and revolves via the drive module (300) to clean the ground; The curved triangular brush disk (101) includes a curved brush disk edge (1011), which is constructed as follows: A square with a certain side length is set and its circumcircle is drawn. Then, the center of the circumcircle is shifted horizontally to the right by a certain distance. Next, the circumcircle is given a rotational motion around the shifted center and a revolution motion around the geometric center of the square. During this process, every time the circumcircle revolves by the first angle, the arc exposed outside the square is cut off. This operation is repeated until all the arcs exposed outside the square are cut off. After the cutting is completed, the cusps of the arcs are rounded. The remaining curve inside the square is the geometric line of the curved brush disk edge (1011). The brush plate module (100) also includes a brush plate fixed gear (102), a curved suction tube (104), a first reversing double gear (105), a sun gear (107), a second reversing double gear (108), a rolling bearing (109), a brush plate drive gear (110), and a double gear shaft (111). The sun gear (107), brush plate fixed gear (102), first reversing double gear (105), second reversing double gear (108), and curved suction tube (104) form a 2K-H type double planetary gear system; the curved triangular brush plate (101) and brush plate fixed gear (102) cannot rotate relative to each other; the sun gear (107) is fixedly connected to the main frame (113) so that the sun gear cannot rotate freely; the outer circle of the sun gear is interference-fitted to the inner circle of the brush plate drive gear (110) through a rolling bearing (109), and the brush plate drive gear (110) can rotate freely around its geometric center; the curved suction tube (104) and double gear shaft (111) are arranged on the circumference of the brush plate drive gear (110), wherein the curved suction tube (104) cannot rotate relative to the brush plate drive gear (110), and the double gear shaft (111) can rotate relative to the brush plate drive gear (110).

2. The cleaning device without dead angles according to claim 1, characterized in that, When the cleaning device is working, the brush drive gear (110) rotates, causing the support end (104B) and suction end (104C) of the curved suction tube (104) to rotate around the center of the brush drive gear (110), thereby driving the curved triangular brush (101) to revolve around the brush drive wheel (110); while the reversing double gears (105) and (108) revolve around the center of the brush drive wheel (110), the first reversing double gear (105) meshes with the fixed sun gear (107) to cause the first reversing double gear (105) to rotate around the double gear shaft (111), thereby driving the second reversing double gear (108) to rotate, and through the brush fixed gear (102), finally driving the curved triangular brush (101) to rotate around its geometric center.

3. The cleaning device without blind spots according to claim 1, characterized in that, The ratio of the number of teeth of the sun gear (107) to the brush disk fixed gear (102) is 4:

3. The ratio of the rotational angular velocity of the curved triangular brush disk (101) around its geometric center to the angular velocity of its revolution around the center of the brush disk drive gear (110) is 1:3, so that the area covered by the planetary motion of the curved triangular brush disk (101) is a square.

4. The cleaning device without blind spots according to claim 1, characterized in that, The curved triangular brush disk (101) includes a curved edge (1011) and is provided with at least one of a brush blade, a brush strip (1012) and bristles (1013). The cleaning surface of the curved triangular brush disk (101) is provided with a centripetally rotating arrangement of brush blades or brush strips (1012), and each centripetally rotating brush blade or brush strip (1012) is provided with a certain gap as a sewage guiding channel.

5. The cleaning device without blind spots according to claim 1, characterized in that, The drive module (300) includes a drive motor (301) and a motor gear (302). The drive motor (301) is fixed to the upper side of the main frame (113) by bolts. The motor output shaft passes through the main frame (113) and is connected to the drive gear (302) located on the lower side of the main frame. The drive gear (302) drives the brush drive gear (110) to rotate directly or through the transmission gear (303).

6. The cleaning device without blind spots according to claim 1, characterized in that, When two or more brush disk modules (100) are provided, the drive module (300) also includes a transmission reversing gear (304). The two or more brush disk modules are arranged on the left and right sides. The transmission reversing gear (304) is used to change the direction of the brush disk on one side, so that the curved triangular brush disks (101) on both sides rotate in opposite directions.

7. The cleaning device without blind spots according to claim 1, characterized in that, It also includes a water suction module (200), which includes a sewage collection tank (201), a water suction impeller (202), an impeller motor mounting bracket (203), and an impeller motor (204). The sewage collection tank (201) is located above the main frame. The sewage collection tank (201) is provided with a flange, which is fixed to the main frame (113) by bolts. The flange has a groove in the middle for holding the water suction impeller (202). The impeller motor mounting bracket (203) is provided above the sewage collection tank (201) to support the water suction impeller (202). The sewage collection tank (201) is provided with a sewage outlet below it.

8. The cleaning device without blind spots according to claim 1, characterized in that, The curved straw (104) is inverted H-shaped. The curved straw (104) has a suction end (104C), a support end (104B) and an outlet end (104A). The curved triangular brush disk (101) has a through suction port. The support end is fixed to the brush disk drive gear (110). The outlet end passes through the main frame (113) and is directly connected to the sewage collection tank (201). The suction end is connected to the suction port.

9. The cleaning device without blind spots according to claim 1, characterized in that, The water spraying module (400) includes a water pump (401) or water valve, a clean water tank (402) and a water spray nozzle. The water spraying module (400) is equipped with an infrared sensor or a Hall sensor for detecting the position of the curved triangular brush disk (101).

10. A cleaning device with no blind spots, characterized in that, The device includes a brush plate module (100), a drive module (300), and a vacuuming module (500). The no-dead-angle cleaning device includes a main frame (113) set at a certain distance from the ground. The brush plate module (100) is set below the main frame, and the vacuuming module (500) is set above the main frame. The brush module (100) includes a curved triangular brush (101), which rotates and revolves through the drive module (300) to vacuum the ground. The curved triangular brush disk (101) includes a curved brush disk edge (1011), which is constructed as follows: a square with a certain side length is set and its circumcircle is made. Then, the center of the circumcircle is shifted horizontally to the right by a certain distance. Next, the circumcircle is given a rotational motion around the shifted center and a revolution motion around the geometric center of the square. During this period, the arc exposed outside the square is cut off every time the circumcircle revolves by the first angle. This operation is repeated until all the arcs exposed outside the square are cut off. After the cutting is completed, the corners of the arc tips are rounded. The remaining curve inside the square is the geometric line of the curved brush disk edge (1011). The curved triangular brush disk (101) includes a curved edge (1011) of the brush disk and a cluster of dot-shaped bristles or strip-shaped bristles (1013) arranged in a centripetal rotation. The cleaning surface of the curved triangular brush disk (101) is provided with the arrangement of the strip-shaped bristles (1013) arranged in a centripetal rotation extending beyond the outer edge of the curved edge (1011) of the brush disk. The vacuuming module (500) includes a vacuum box (501), a filter (502), an air duct (503), and a fan (504). The curved triangular brush disc (101) has a through-hole suction port, which is connected to the vacuum box via a curved suction tube (104). The brush plate module (100) also includes a brush plate fixed gear (102), a curved suction tube (104), a first reversing double gear (105), a sun gear (107), a second reversing double gear (108), a rolling bearing (109), a brush plate drive gear (110), and a double gear shaft (111). The sun gear (107), brush plate fixed gear (102), first and second reversing double gears, and curved suction tube (104) form a 2K-H type double planetary gear system; the curved triangular brush plate (101) and brush plate fixed gear (102) cannot rotate relative to each other; the sun gear (107) is fixedly connected to the main frame (113) so that the sun gear cannot rotate freely; the outer circle of the sun gear is interference-connected to the inner circle of the brush plate drive gear (110) through a rolling bearing (109), and the brush plate drive gear (110) can rotate freely around its geometric center; the curved suction tube (104) and the double gear shaft (111) are arranged on the circumference of the brush plate drive gear (110), wherein the curved suction tube (104) cannot rotate relative to the brush plate drive gear (110), and the double gear shaft (111) can rotate relative to the brush plate drive gear (110).

11. A cleaning device with no blind spots, characterized in that, The cleaning device includes a brush plate module (100), a drive module (300), a vacuum module (500), a water spray module (400), a water suction module (200), and a shield with a drive device facing the curved suction tube (104). By moving the shield in or out, the cleaning device can switch between water suction and vacuuming functions. The cleaning device includes a main frame (113) set at a certain distance from the ground. The brush plate module (100) is set below the main frame, and the vacuum module (500) is set above the main frame. The brush module (100) includes a curved triangular brush (101), which rotates and revolves via the drive module (300) to clean the ground; The curved triangular brush disk (101) includes a curved edge (1011), which is constructed as follows: A square with a certain side length is set and its circumcircle is drawn. Then, the center of the circumcircle is shifted horizontally to the right by a certain distance. Next, the circumcircle is given a rotational motion around the shifted center and a revolution motion around the geometric center of the square. During this process, every time the circumcircle revolves by the first angle, the arc exposed outside the square is cut off. This operation is repeated until all the arcs exposed outside the square are cut off. After the cutting is completed, the cusps of the arcs are rounded. The remaining curve inside the square is the geometric line of the curved edge (1011) of the brush disk. The curved triangular brush disc (101) includes a curved edge (1011) of the brush disc, and a cluster of dot-shaped bristles or strip-shaped bristles (1013) arranged in a centripetal rotation. The cleaning surface of the curved triangular brush disc (101) is provided with the arrangement of the strip-shaped bristles (1013) arranged in a centripetal rotation extending beyond the outer edge of the curved edge (1011) of the brush disc; or the curved triangular brush disc (101) includes a brush plate or brush strip (1012) and bristles (1013). The cleaning surface of the curved triangular brush disc (101) is provided with a brush plate or brush strip (1012) arranged in a centripetal rotation. Each centripetal brush plate or brush strip (1012) is provided with a certain gap as a sewage guiding channel. The vacuuming module (500) includes a vacuum box (501), a filter (502), an air duct (503), and a fan (504). The curved triangular brush disc (101) has a through-hole suction port, which is connected to the vacuum box via a curved suction tube (104). The brush plate module (100) also includes a brush plate fixed gear (102), a curved suction tube (104), a first reversing double gear (105), a sun gear (107), a second reversing double gear (108), a rolling bearing (109), a brush plate drive gear (110), and a double gear shaft (111). The sun gear (107), brush plate fixed gear (102), first reversing double gear (105), second reversing double gear (108), and curved suction tube (104) form a 2K-H type double planetary gear system; the curved triangular brush plate (101) and brush plate fixed gear (102) cannot rotate relative to each other; the sun gear (107) is fixedly connected to the main frame (113) so that the sun gear cannot rotate freely; the outer circle of the sun gear is interference-fitted to the inner circle of the brush plate drive gear (110) through a rolling bearing (109), and the brush plate drive gear (110) can rotate freely around its geometric center; the curved suction tube (104) and double gear shaft (111) are arranged on the circumference of the brush plate drive gear (110), wherein the curved suction tube (104) cannot rotate relative to the brush plate drive gear (110), and the double gear shaft (111) can rotate relative to the brush plate drive gear (110).

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