Edge brush module for cleaning device and cleaning device

Abstract

This invention provides a side brush module for cleaning equipment and the cleaning equipment itself. The side brush module includes a fixed arm for mounting on the bottom of a mobile platform of the cleaning equipment; a swing arm, one end of which is rotatably connected to the fixed arm, and the other end of which is fitted with a rotatable cleaning component; and a power assembly including an active component, a driven component, and a transmission assembly. The active component, driven component, and transmission assembly are all disposed on the swing arm. A drive assembly is connected to the active component, and the driven component and the cleaning component are respectively connected to the input and output ends of the transmission assembly. The active component moves under the drive of the drive assembly. During its movement, the active component drives the swing arm to swing via the driven component, thereby moving the cleaning component between a retracted position and an extended position. Furthermore, during its movement, the driven component can drive the cleaning component to rotate via the transmission assembly. This invention simplifies the side brush module structure, saves costs, and reduces space occupation.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and more specifically, to a side brush module for cleaning equipment and a cleaning device. Background Technology

[0002] Cleaning robots currently include sweeping robots, mopping robots, sweeping and mopping robots, and floor scrubbers. Sweeping and mopping robots can both sweep and wash the floor, and are becoming increasingly common in household life.

[0003] With the development of robot vacuums and mops, their functions are becoming increasingly diverse. Currently, in order to increase the cleaning range, some robot vacuums and mops have at least two cleaning positions for their side brush modules relative to the moving platform. To drive the brushes to move between these positions, a dedicated drive mechanism is required, which significantly increases the cost and makes the side brush module structure complex and space-consuming. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic cleaning device that solves the technical problems of high investment cost, complex structure, and large space occupation in existing technologies. The specific solution is as follows:

[0005] According to a specific embodiment of the present invention, the present invention provides a side brush module for cleaning equipment, comprising:

[0006] Fixed arm, used for mounting to the bottom of the mobile platform of the cleaning equipment;

[0007] A swing arm, one end of which is rotatably connected to the fixed arm, and the other end of which is equipped with a rotatable cleaning component;

[0008] The power assembly includes a driving member, a driven member, and a transmission assembly. The driving member, the driven member, and the transmission assembly are all disposed on the swing arm. A drive assembly is connected to the driving member, and the driven member and the cleaning member are respectively connected to the input and output ends of the transmission assembly.

[0009] The active component moves under the drive of the drive assembly. During its movement, the active component can drive the swing arm to swing via the driven component, thereby moving the cleaning component between a retracted position and an extended position. Furthermore, during its movement, the driven component can drive the cleaning component to rotate via the transmission assembly.

[0010] The side brush module has a regular cleaning mode and a special cleaning mode. In the regular cleaning mode, the cleaning component is in the retracted position, and in the special cleaning mode, the cleaning component is in the extended position.

[0011] Optionally, the power assembly further includes a damping assembly disposed on the driven member and / or the transmission assembly.

[0012] Optionally, the damping component includes a friction damping component, which is disposed on the driven member and / or the transmission component to increase the sliding friction force during the operation of the driven member and / or the transmission component.

[0013] Optionally, the friction damping assembly includes a friction block abutting against at least one of the driven members and a wall surface on which the swing arm slides relative to the driven member during its movement; and / or,

[0014] The friction block abuts against at least one of the transmission components and slides relative to the wall surface of the swing arm during the operation of the transmission component.

[0015] Optionally, the friction damping assembly further includes a pressing structure connected to the swing arm and pressing against the side of the friction block facing the swing arm, so that the friction block is pressed against the wall of the driven member and / or the wall of the transmission assembly.

[0016] Optionally, the distance between the pressing end face of the pressing structure and the wall surface abutting the friction block can be adjusted to adjust the sliding friction force between the friction block and the wall surface it abuts against.

[0017] Optionally, the damping component includes a load component connected to the driven member and / or the transmission component, wherein the driven member and / or the transmission component drives the load component to move during operation.

[0018] Optionally, the load component includes:

[0019] At least one rolling wheel is rotatably mounted on the swing arm, and the rolling wheel is drively connected to the driven member and / or the transmission assembly, which can drive the rolling wheel to rotate during operation;

[0020] The first damping element is provided in each of the rolling wheels, and the first damping element can rotate with the rolling wheel;

[0021] The second damping element is provided for each of the rolling wheels, and the second damping element is provided on the swing arm;

[0022] During rotation, the rolling wheel can drive the first damping element to move relative to the second damping element, so that an interaction force is generated between the first damping element and the second damping element.

[0023] Optionally, the first damping element includes a roller rotatably disposed on the side wall of the rolling wheel, and the second damping element includes an elastic element.

[0024] The rolling wheel can drive the roller to roll the elastic element during rotation.

[0025] Optionally, the first damping element includes a friction ring fixedly disposed on the side wall of the rolling wheel, and the second damping element includes a friction strip.

[0026] During rotation, the rolling wheel can cause the friction ring to slide relative to the friction strip.

[0027] Optionally, the driving component includes a first gear, and the driven component includes a second gear. The first gear and the second gear are rotatably connected to the swing arm, and the first gear and the second gear mesh with each other. The driving component can drive the first gear to rotate. When the driving component drives the first gear to change the rotation direction, it can drive the swing arm to change the swing direction through the second gear, so that the side brush module can switch between the normal cleaning mode and the special cleaning mode.

[0028] Optionally, the transmission assembly includes a first rotary transmission assembly and a second rotary transmission assembly. The first gear changes its rotation direction so that the second gear can be selectively connected to the input end of the first rotary transmission assembly or the input end of the second rotary transmission assembly. The output ends of the first rotary transmission assembly and the output ends of the second rotary transmission assembly are respectively connected to the cleaning component.

[0029] In the normal cleaning mode, the second gear is connected to the input end of the first rotary transmission assembly. When the second gear rotates in a clockwise direction, it can drive the cleaning component to rotate in a set clockwise direction through the first rotary transmission assembly.

[0030] In the special cleaning mode, the second gear is connected to the input end of the second rotary transmission assembly. When the second gear rotates in another clockwise direction, it can drive the cleaning component to rotate in the set clockwise direction through the second rotary transmission assembly.

[0031] Optionally, the first rotary transmission assembly includes a third gear, a first intermediate transmission assembly, and an output gear, wherein the third gear and the output gear are respectively connected to the input end and the output end of the first intermediate transmission assembly.

[0032] The second rotary transmission assembly includes a fourth gear, a second intermediate transmission assembly, and the output gear. The fourth gear and the output gear are respectively connected to the input end and the output end of the second intermediate transmission assembly.

[0033] The output gear is rotatably connected to the swing arm, and the cleaning component is coaxially connected to the output gear. The first gear can change its rotation direction so that the second gear can be selectively coaxially connected to the third gear or the fourth gear.

[0034] Optionally, the first intermediate transmission assembly includes a plurality of first transmission gears that mesh sequentially, wherein along the transmission direction, the first first transmission gear meshes with the third gear, and the last first transmission gear meshes with the output gear;

[0035] The second intermediate transmission assembly includes a plurality of second transmission gears that mesh sequentially. Along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear.

[0036] The number of the first transmission gear is one more or one less than the number of the second transmission gear.

[0037] Optionally, both the first gear and the second gear are helical gears. The second gear has ratchet teeth on both sides. The second gear is movable along its axial direction and coaxially disposed between the third gear and the fourth gear. The sides of the third gear and the fourth gear facing the second gear are provided with ratchet teeth. The first gear can change its rotation direction so that the ratchet teeth of the second gear can selectively mesh with the ratchet teeth of the third gear or the ratchet teeth of the fourth gear.

[0038] Optionally, the first intermediate transmission assembly includes a synchronous belt pulley assembly and a plurality of first transmission gears arranged sequentially along the transmission direction. The synchronous belt pulley assembly is tractively connected between the first first transmission gear and the third gear, between any two adjacent first transmission gears, or between the last first transmission gear and the output gear.

[0039] The second intermediate transmission assembly includes a plurality of second transmission gears that mesh sequentially. Along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear.

[0040] The number of the first transmission gears is the same as the number of the second transmission gears.

[0041] The present invention also provides a cleaning device, comprising:

[0042] The mobile platform is configured to move automatically on the operating surface;

[0043] A cleaning module is disposed at the bottom of the mobile platform and configured to clean at least a portion of the operating surface. The cleaning module includes the aforementioned side brush module for cleaning equipment.

[0044] Compared with the prior art, the embodiments of the present invention have the following technical effects:

[0045] The side brush module for cleaning equipment provided in this disclosure has two cleaning modes, with the cleaning component positioned in different locations under each mode. When switching cleaning modes is required, a drive component drives the active component to move. The active component applies a force to the driven component, causing it to move. This force drives the swing arm to swing, moving the cleaning component between a retracted position and an extended position, thereby switching the cleaning mode. Furthermore, during the movement, the driven component can drive the cleaning component to rotate via a transmission component. In other words, the drive component can both drive the swing arm to swing and drive the cleaning component to rotate. One drive component performs two driving functions, simplifying the structure of the side brush module, saving costs, and reducing space occupation.

[0046] The cleaning equipment provided in this embodiment includes the aforementioned side brush module for cleaning equipment. The cleaning equipment includes all the beneficial effects of the side brush module for cleaning equipment. Therefore, the cleaning equipment provided in this embodiment achieves two driving functions with one driving component, which simplifies the structure of the cleaning equipment, saves costs, and reduces space occupation. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0048] Figure 1 This is a three-dimensional structural diagram of a cleaning device according to some embodiments of the present invention.

[0049] Figure 2 This is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present invention.

[0050] Figure 3 This is a three-dimensional structural diagram of a side brush module for a cleaning device according to some embodiments of the present invention.

[0051] Figure 4 This is a three-dimensional structural diagram of the swing arm and fixed arm according to some embodiments of the present invention.

[0052] Figure 5 This is a three-dimensional structural diagram of a side brush module for a cleaning device according to some embodiments of the present invention, with the swing arm and part of the fixed arm hidden.

[0053] Figure 6 This is a cross-sectional schematic diagram of the swing arm of a side brush module for a cleaning device according to some embodiments of the present invention;

[0054] Figure 7 This is a schematic diagram of the internal structure of the swing arm according to some embodiments of the present invention;

[0055] Figure 8 This is a schematic diagram of the internal structure of the swing arm according to other embodiments of the present invention;

[0056] Figure 9 This is a three-dimensional structural diagram of some power components according to some embodiments of the present invention.

[0057] Figure 10 This is a three-dimensional structural diagram of some power components according to some embodiments of the present invention.

[0058] Figure 11 This is a three-dimensional structural diagram of the internal structure of the swing arm according to some embodiments of the present invention.

[0059] Explanation of reference numerals in the attached figures:

[0060] Mobile platform 100, rearward section 110, forward section 111, sensing system 120, position determination device 121, buffer 122, drive system 140, drive wheel assembly 141, steering assembly 142, human-machine interaction system 170, cleaning module 1000, dry cleaning module 300, roller brush 310, side brush module 320, wet cleaning module 200, fixed arm 1, swing arm 2, brush 4, drive component 31, transmission assembly 32, first gear 321, second gear 322, linkage shaft 323, first linkage Drive shaft transmission gear 3241, second linkage shaft transmission gear 3242, third linkage shaft transmission gear 3243, fourth linkage shaft transmission gear 3244, mounting shaft 325, third gear 3261, fourth gear 3262, output gear 3263, fifth gear 3264, sixth gear 3265, seventh gear 3266, eighth gear 3267, ninth gear 3268, friction block 341, pressing structure 342, rolling wheel 343, roller 344, elastic element 345, friction ring 346, friction strip 347. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0062] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0063] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0064] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of the present invention, these are not intended to limit the scope of the invention. These terms are used only to distinguish the parts. For example, first may also be referred to as second, and similarly, second may also be referred to as first, without departing from the scope of the embodiments of the invention.

[0065] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.

[0066] The optional embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0067] Figure 1-2 This is a schematic diagram illustrating the structure of an automatic cleaning device according to an exemplary embodiment, such as... Figure 1-2 As shown, the automatic cleaning equipment can be a vacuum cleaning robot, a mopping / brushing robot, a window-climbing robot, etc. This automatic cleaning equipment can include a mobile platform 100, a sensing system 120, a control system, a drive system 140, a cleaning module, an energy system, and a human-machine interaction system 170. Among them:

[0068] The mobile platform 100 can be configured to automatically move along a target direction on an operating surface. The operating surface can be the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a floor-mopping robot, in which case the automatic cleaning device works on the ground, and the ground serves as the operating surface; the automatic cleaning device can also be a window-cleaning robot, in which case the automatic cleaning device works on the outer surface of a building's glass, and the glass serves as the operating surface; the automatic cleaning device can also be a pipe-cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, and the inner surface of the pipe serves as the operating surface. For purely illustrative purposes, the following description in this application uses a floor-mopping robot as an example.

[0069] In some embodiments, the mobile platform 100 can be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; a non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute predetermined programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning equipment; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a backward portion 110.

[0070] The sensing system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located in the forward part 111 of the mobile platform 100, a cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices located at the bottom of the mobile platform, which provide the control system with various position information and motion status information of the machine.

[0071] To more clearly describe the behavior of the automatic cleaning equipment, the following directional definitions are made: The automatic cleaning equipment can travel on the ground through various combinations of movement relative to the following three mutually perpendicular axes defined by the moving platform 100: the lateral axis x, the front-to-back axis y, and the central vertical axis z. The forward drive direction along the front-to-back axis y is labeled "forward," and the backward drive direction along the front-to-back axis y is labeled "backward." The lateral axis x essentially extends along the axis defined by the center point of the drive wheel assembly between the right and left wheels of the automatic cleaning equipment. The automatic cleaning equipment can rotate about the x-axis. When the forward portion of the automatic cleaning equipment tilts upward and the backward portion tilts downward, it is called "tilting up," and when the forward portion tilts downward and the backward portion tilts upward, it is called "tilting down." Additionally, the automatic cleaning equipment can rotate about the z-axis. In the forward direction of the automatic cleaning equipment, when the automatic cleaning equipment tilts to the right of the y-axis, it is called "turning right," and when the automatic cleaning equipment tilts to the left of the y-axis, it is called "turning left."

[0072] like Figure 2 As shown, cliff sensors are installed on the bottom of the mobile platform 100, in front of and behind the drive wheel assembly. These cliff sensors are used to prevent the automatic cleaning equipment from falling when it reverses, thereby avoiding damage to the automatic cleaning equipment. The aforementioned "front" refers to the side in the same direction of travel as the automatic cleaning equipment, and the aforementioned "rear" refers to the side in the opposite direction of travel as the automatic cleaning equipment.

[0073] The location determination device 121 includes, but is not limited to, a camera and a laser rangefinder (LDS).

[0074] The various components in the sensing system 120 can operate independently or in combination to achieve the intended function more accurately. Cliff sensors and ultrasonic sensors identify the surface to be cleaned to determine its physical characteristics, including surface material and cleanliness level, and can be combined with cameras and laser rangefinders for more accurate assessment.

[0075] The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the drive wheel assembly propels the automatic cleaning device to move on the ground, the buffer 122 detects one or more events (or objects) in the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor. The automatic cleaning device can control the drive wheel assembly to respond to the events (or objects) detected by the buffer 122, such as obstacles or walls, such as moving away from obstacles.

[0076] The control system is located on a circuit board within the mobile platform 100. It includes a computing processor, such as a central processing unit (CPU) and an application processor, communicating with non-transitory memory (e.g., hard disk, flash memory, random access memory). The application processor is configured to receive environmental information from the multiple sensors transmitted by the sensing system 120, and, based on obstacle information from the laser rangefinder, utilize a positioning algorithm, such as SLAM, to create a real-time map of the environment in which the automatic cleaning equipment is located. Based on the environmental information and the environmental map, it autonomously determines a driving path and then controls the drive system 140 to perform forward, backward, and / or turning operations according to the autonomously determined driving path. Furthermore, the control system can also determine whether to activate the cleaning module for cleaning operations based on the environmental information and the environmental map.

[0077] Specifically, the control system can combine distance and speed information from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as crossing a threshold, stepping on a carpet, being on a cliff, getting stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the automatic cleaning equipment work more in line with the user's requirements and providing a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information generated by SLAM, greatly improving the cleaning efficiency of the automatic cleaning equipment.

[0078] The drive system 140 can execute drive commands to maneuver the automatic cleaning equipment across the ground based on specific distance and angle information, such as x, y, and θ components. The drive system 140 includes drive wheel assemblies 141. The drive system 140 can simultaneously control the left and right wheels. For more precise control of the machine's movement, the drive system 140 preferably includes both a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the moving platform 100. To enable the automatic cleaning equipment to move more stably or with greater mobility on the ground, the automatic cleaning equipment may include one or more steering assemblies 142. The steering assembly 142 can be a driven wheel or a drive wheel, and its structure includes, but is not limited to, omnidirectional wheels. The steering assembly 142 may be located in front of the drive wheel assembly 141.

[0079] The energy system includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion batteries. These batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit connects to a charging station via charging electrodes located on the side or bottom of the device. If dust adheres to the exposed charging electrodes, the accumulated charge during charging can cause the surrounding plastic casing to melt and deform, or even deform the electrodes themselves, preventing normal charging.

[0080] The human-machine interface system 170 includes buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine status or function options; and it may also include a mobile client application. For path navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0081] The cleaning module may include a dry cleaning module 300 and / or a wet cleaning module 200. For example... Figure 2 As shown, the wet cleaning module 200 is configured to clean at least a portion of the operating surface using a wet cleaning method. The wet cleaning module 200 includes a cleaning head 210 for cleaning at least a portion of the operating surface, and a driving unit for driving the cleaning head 210 to reciprocate substantially along a target surface, which is a portion of the operating surface. The cleaning head 210 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 210 and the surface to be cleaned is provided with a cleaning cloth or cleaning plate. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains from the surface.

[0082] The dry cleaning module 300 is configured to clean at least a portion of the operating surface using a dry cleaning method. The dry cleaning module 300 includes a roller brush 310, etc. The roller brush 310, which has some interference with the ground, sweeps up debris from the ground and carries it to the suction port between the roller brush 310 and the dust box. The debris is then drawn into the dust box by suction generated by a fan and passing through the dust box. The dry cleaning module 300 may also include a side brush module 320 for sweeping debris into the roller brush area of ​​the cleaning module.

[0083] According to one specific embodiment of the present invention, such as Figures 3 to 5As shown, the side brush module 320 for cleaning equipment provided by the present invention includes a fixed arm 1, a swing arm 2, and a power component 3. The fixed arm 1 is installed on the bottom of the mobile platform 100 of the cleaning equipment. One end of the swing arm 2 is rotatably connected to the fixed arm 1, and the other end is equipped with a rotatable cleaning component, such as a brush 4. The power component 3 includes a drive component, an active component, a driven component, and a transmission component 32. The drive component is installed on the fixed arm 1, and the active component, the driven component, and the transmission component are all located on the swing arm 2. The drive component is connected to the active component, and the driven component and the brush 4 are respectively connected to the input end and the output end of the transmission component 32. The drive component can drive the active component to move. During the movement, the active component can drive the swing arm to swing through the driven component, thereby moving the brush between the retracted position and the extended position. During the movement, the driven component can drive the brush to rotate through the transmission component. The side brush module has a regular cleaning mode and a special cleaning mode. In the regular cleaning mode, the brush 4 is located in the retracted position, and in the special cleaning mode, the brush 4 is located in the extended position.

[0084] The side brush module 320 for cleaning equipment provided in this embodiment has two cleaning modes, in which the brush 4 is in different positions. When it is necessary to switch cleaning modes, the driving component drives the active component to move, which in turn drives the driven component to move. The driven component then drives the swing arm to swing, thereby moving the brush between the retracted position and the extended position, thus realizing the switching of cleaning modes. Furthermore, during the movement, the driven component can drive the brush 4 to rotate through the transmission component 32. That is, the driving component can both drive the swing arm to swing and drive the brush 4 to rotate. One driving component realizes two driving functions, simplifying the structure of the side brush module 320, saving costs, and reducing space occupation.

[0085] In one embodiment of the present invention, the power assembly 3 further includes a damping assembly disposed on the driven member and / or the transmission assembly 32.

[0086] It is understandable that the damping component is provided on the driven member and / or transmission component 32 to indicate that the damping component can increase the damping of the driven member and / or transmission component 32 during operation, so that the operation of the driven member and / or transmission component 32 requires overcoming a greater force.

[0087] During operation, the driving member applies a force to the driven member to drive the swing arm 2 to swing. The greater the force of the driven member against the driving member, the greater the interaction force between the two, and the greater the force that drives the swing arm 2 to swing. Therefore, in order to ensure that the force of the driving member on the driven member is sufficient to drive the swing arm 2 to swing, it is necessary to appropriately increase the force of the driven member against the driving member. Thus, this embodiment provides a damping component on the driven member and / or the transmission assembly 32 to increase the force of the driven member against the driving member, thereby increasing the interaction force between the driving member and the driven member, increasing the force of the driven member on the swing arm 2, and thus ensuring that the driving member and the driven member can drive the swing arm 2 to swing when they interact.

[0088] In one embodiment of the present invention, the damping component includes a friction damping component, which is disposed on the driven member and / or transmission component 32 to increase the sliding friction force during the operation of the driven member and / or transmission component 32.

[0089] The friction damping component increases the sliding friction during the operation of the driven member and / or transmission component 32, and increases the damping of the driven member and / or transmission component 32 during the operation. This makes the operation of the driven member and transmission component 32 require overcoming greater forces, increases the interaction force between the driving member and the driven member, and increases the force exerted by the driven member on the swing arm 2, thereby ensuring that the swing arm 2 can swing when the driving member and the driven member interact.

[0090] In one embodiment of the present invention, such as Figure 6 As shown, the friction damping assembly includes a friction block 341, which abuts against at least one wall surface of the driven member that slides relative to the swing arm 2 during the movement of the driven member; and / or, the friction block 341 abuts against at least one wall surface of the transmission assembly 32 that slides relative to the swing arm 2 during the movement of the transmission assembly 32.

[0091] This increases the sliding friction during the operation of the driven member and / or transmission assembly 32, increases the damping of the driven member and / or transmission assembly 32 during the operation, makes the operation of the driven member and / or transmission assembly 32 require overcoming greater forces, increases the interaction force between the driving member and the driven member, and increases the force exerted by the driven member on the swing arm 2, thereby ensuring that the swing arm 2 can swing when the driving member and the driven member interact.

[0092] In one embodiment of the invention, see also... Figure 6 The friction damping assembly also includes a pressing structure 342, which is connected to the swing arm 2 and presses against the side of the friction block 341 facing the swing arm 2, so that the friction block 341 is pressed against the wall of the driven member and / or the wall of the transmission assembly 32.

[0093] The setting of the pressing structure 342 makes the friction block 341 press against the wall surface of the driven member and / or the wall surface of the transmission component 32, thereby increasing the friction force when the friction block 341 slides, increasing the damping of the driven member and / or the transmission component 32 during the operation, making the operation of the driven member and / or the transmission component 32 require overcoming a greater force, increasing the interaction force between the driving member and the driven member, increasing the force of the driven member on the swing arm 2, thereby ensuring that the driving member and the driven member can drive the swing arm 2 to swing when they interact.

[0094] In one embodiment of the present invention, the distance between the pressing end face of the pressing structure 342 and the wall surface of the abutting friction block 341 is adjustable to adjust the sliding friction force between the friction block 341 and the wall surface it abuts against.

[0095] This makes the sliding friction force easy to adjust, adapting to the swing drive of swing arms 2 with different weights.

[0096] For example, the pressing structure 342 uses a bolt, the tail end of which abuts against the friction block 341. The bolt can be adjusted by screwing to adjust the distance between its tail end and the wall surface of the friction block 341.

[0097] In one embodiment of the present invention, the damping component includes a load component connected to the driven member and / or transmission component 32, which drives the load component to move during operation.

[0098] The addition of a load component increases the force required for the driven member and / or transmission component 32 to be driven, thereby increasing the interaction force between the driving member and the driven member and increasing the force exerted by the driven member on the swing arm 2. This ensures that the swing arm 2 can swing when the driving member and the driven member interact.

[0099] In one embodiment of the present invention, such as Figure 7 and Figure 8 As shown, the load assembly includes a first damping element, a second damping element, and at least one rolling wheel 343. The rolling wheel 343 is rotatably mounted on the swing arm 2 and is drively connected to the driven element and / or transmission assembly 32. The driven element and / or transmission assembly 32 can drive the rolling wheel 343 to rotate during operation. Each rolling wheel 343 is provided with at least one first damping element, which can rotate with the rolling wheel 343. At least one second damping element is provided for each rolling wheel 343 and is mounted on the swing arm 2. During rotation, the rolling wheel 343 can drive the first damping element to move relative to the second damping element, so that an interaction force is generated between the first damping element and the second damping element.

[0100] The interaction between the first damping element and the second damping element, as well as the rotation of the first damping element, the second damping element and the rolling wheel 343, all require force to drive them. Therefore, the arrangement of the first damping element, the second damping element and the rolling wheel 343 makes the force required for the driven element and / or the transmission assembly 32 to operate greater, increases the force between the driving element and the driven element, and increases the force of the driven element on the swing arm 2, thereby ensuring that the driving element and the driven element can drive the swing arm 2 to swing when they interact.

[0101] In one embodiment of the present invention, such as Figure 7 As shown, the first damping element includes a roller 344 rotatably disposed on the side wall of the rolling wheel 343, and the second damping element includes an elastic element 345. During the rotation of the rolling wheel 343, the roller 344 can drive the roller 344 to roll the elastic element 345.

[0102] The roller 344 rolls the elastic element 345, increasing the resistance and making the driven element and / or transmission assembly 32 require more force when it operates. This increases the interaction force between the driving element and the driven element, and increases the force exerted by the driven element on the swing arm 2, thereby ensuring that the driving element and the driven element can drive the swing arm 2 to swing when they interact.

[0103] In one embodiment of the present invention, such as Figure 8 As shown, the first damping element includes a friction ring 346 fixedly disposed on the side wall of the rolling wheel 343, and the second damping element includes a friction strip 347. During the rotation of the rolling wheel 343, the friction ring 346 can be driven to slide relative to the friction strip 347.

[0104] The friction ring 346 slides relative to the friction strip 347, increasing the resistance and requiring more force for the driven member and / or transmission assembly 32 to operate. This increases the force between the driving member and the driven member, and increases the force exerted by the driven member on the swing arm 2, thereby ensuring that the driving member and the driven member can drive the swing arm 2 to swing when they interact.

[0105] In one embodiment of the present invention, one of the fixed arm 1 and the swing arm 2 is provided with a limiting protrusion, and the other is provided with a retractable limiting block and an extendable limiting block that are spaced apart around the swing center of the swing arm 2. The limiting protrusion is located between the retractable limiting block and the extendable limiting block. When the swing arm 2 rotates around the first clockwise direction M until the limiting protrusion abuts against the extendable limiting block, the brush 4 is limited to the extendable position. When the swing arm 2 rotates around the second clockwise direction N until the limiting protrusion abuts against the retractable limiting block, the brush 4 is limited to the retracted position.

[0106] This limits the swing angle of the swing arm 2, more accurately restricts the movement range of the brush 4, and improves the working accuracy of the side brush module 320.

[0107] In one embodiment of the present invention, such as Figure 3 and Figure 9 As shown, the driving component includes a first gear 321, and the driven component includes a second gear 322. The first gear 321 and the second gear 322 are rotatably connected to the swing arm 2, respectively. The first gear 321 and the second gear 322 mesh with each other. The driving component can drive the first gear 321 to rotate. When the driving component drives the first gear 321 to change the rotation direction, it can drive the swing arm 2 to change the swing direction through the second gear 322, so that the side brush module can switch between the normal cleaning mode and the special cleaning mode.

[0108] The first gear 321 drives the second gear 322 to move, which can both drive the swing arm 2 to swing and facilitate the movement of the second gear 322 to transmit to the transmission component 32.

[0109] For example, such as Figure 3 , Figure 5 and Figure 9 As shown, the second gear 322 is rotatably mounted on the swing arm 2 via the mounting shaft 325. In the normal cleaning mode, the brush 4 is in the retracted position, with the limiting protrusion abutting against the retracted limiting block. The first gear 321 rotates around the second clockwise direction N, driving the second gear 322 to rotate around the first clockwise direction M. The rotation of the second gear 322 is transmitted to the brush 4 through the second transmission assembly, causing the brush 4 to rotate. When a special cleaning mode needs to be switched, the drive unit 31 drives the first gear 321 to change from the second clockwise direction N to the first clockwise direction M. When the first gear 321 rotates around the first clockwise direction M, it applies a force to the teeth of the second gear 322 at an angle to the axial direction of the mounting shaft 325. Part of this force drives the second gear 322 to rotate around the second clockwise direction N, while the other part of the force is transmitted to the mounting shaft 325. The force exerted by this part relative to the linkage shaft 323 forms a rotational torque, which drives the mounting shaft 325 to rotate around the linkage shaft 323 in the first clockwise direction M. The mounting shaft 325 drives the swing arm 2 to rotate around the linkage shaft 323 in the first clockwise direction M, so that the limiting protrusion moves away from the retracting limiting block until the limiting protrusion moves to abut against the extending limiting block. At this time, due to the restriction of the extending limiting block, the swing arm 2 cannot continue to rotate. At this time, the brush 4 is in the extended position, completing the switch from the normal cleaning mode to the special cleaning mode. In the special cleaning mode, the brush 4 is in the extended position, the limiting protrusion abuts against the extending limiting block, and the first gear 321 rotates around the first clockwise direction M. When it is necessary to switch to the normal cleaning mode, the rotation direction of the drive component 31 is changed again. This cycle can achieve quick switching between the two cleaning modes.

[0110] In one embodiment of the present invention, such as Figure 5 and Figure 10As shown, the drive assembly includes a drive member 31, a first linkage shaft transmission gear 3241, a second linkage shaft transmission gear 3242, a third linkage shaft transmission gear 3243, a fourth linkage shaft transmission gear 3244, and a linkage shaft 323. The drive member 31 is mounted on the fixed arm 1. The first linkage shaft transmission gear 3241 is coaxially connected to the rotation output shaft of the drive member 31. The first linkage shaft transmission gear 3241, the second linkage shaft transmission gear 3242, the third linkage shaft transmission gear 3243, and the fourth linkage shaft transmission gear 3244 are rotatably mounted on the fixed arm 1 and mesh sequentially. One end of the linkage shaft 323 rotatably passes through the fixed arm 1, and the other end passes through the swing arm 2. The linkage shaft 323 passes through the fourth linkage shaft transmission gear 3244 and can rotate with the fourth linkage shaft transmission gear 3244. The first gear 321 is sleeved on the linkage shaft 323 and can rotate with the linkage shaft 323.

[0111] In this way, the drive component drives the rotation of the first gear 321. Furthermore, the drive component 31 can change the direction of rotation of the first gear 321 by changing the rotation direction of its output shaft, making the operation of switching cleaning modes convenient and quick.

[0112] In one embodiment of the present invention, of the first clockwise direction M and the second clockwise direction N, one is clockwise and the other is counterclockwise.

[0113] In one embodiment of the invention, the brush 4 rotates in the same clockwise direction in both special cleaning mode and regular cleaning mode.

[0114] The rotation direction of the brush 4 remains unchanged, thus avoiding the change in the output direction of the drive component 31 from affecting the rotation direction of the brush 4, thereby ensuring the cleanliness of the cleaning.

[0115] In one embodiment of the present invention, the transmission component 32 includes a first rotary transmission component and a second rotary transmission component. The first gear 321 changes its rotation direction so that the second gear 322 can be selectively connected to the input end of the first rotary transmission component or the input end of the second rotary transmission component. The output ends of the first rotary transmission component and the second rotary transmission component are respectively connected to the brush 4. In the normal cleaning mode, the second gear 322 is connected to the input end of the first rotary transmission component. When the second gear 322 rotates around a clockwise direction, it can drive the brush 4 to rotate around a set clockwise direction through the first rotary transmission component. In the special cleaning mode, the second gear 322 is connected to the input end of the second rotary transmission component. When the second gear 322 rotates around another clockwise direction, it can drive the brush 4 to rotate around the set clockwise direction through the second rotary transmission component.

[0116] The clock direction can be set to either the first clock direction M or the second clock direction N; no specific limitation is made here.

[0117] When the drive unit 31 drives the linkage shaft 323 to change its rotation direction, the first gear 321 also changes its rotation direction, so that the second gear 322 can be selectively connected to the input end of the first rotary transmission component or the input end of the second rotary transmission component. Therefore, when the rotation output shaft of the drive unit 31 changes its direction, the second gear 322 switches the rotary transmission component accordingly. This ensures that when the side brush module 320 switches cleaning modes by changing the output direction of the drive unit 31, the rotation direction of the brush 4 will not be affected by the change in the output direction of the drive unit 31. In other words, when the drive unit 31 drives the swing arm 2 to extend or retract by changing its rotation direction, it will not affect the rotation direction of the brush 4. This ensures that the rotation direction of the brush 4 is clockwise regardless of whether it is in the retracted or extended position, thereby improving the cleanliness of the cleaning.

[0118] In one embodiment of the present invention, the first rotary transmission assembly includes a third gear 3261, a first intermediate transmission assembly, and an output gear 3263. The third gear 3261 and the output gear 3263 are respectively connected to the input end and the output end of the first intermediate transmission assembly. The second rotary transmission assembly includes a fourth gear 3262, a second intermediate transmission assembly, and an output gear 3263. The fourth gear 3262 and the output gear 3263 are respectively connected to the input end and the output end of the second intermediate transmission assembly. The output gear 3263 is rotatably connected to the swing arm 2. The brush 4 is coaxially connected to the output gear 3263. The first gear 321 changes its rotation direction so that the second gear 322 can be selectively coaxially connected to the third gear 3261 or the fourth gear 3262.

[0119] When the drive unit 31 drives the linkage shaft 323 to change its rotation direction, the first gear 321 also changes its rotation direction, so that the second gear 322 can be selectively coaxially connected to the third gear 3261 or the fourth gear 3262, and then the motion is transmitted to the third gear 3261 or the fourth gear 3262. Therefore, when the rotation output shaft of the drive unit 31 changes its direction, the second gear 322 switches the coaxially connected gear, thereby changing the path of motion transmission. As a result, when the side brush module 320 switches cleaning modes by changing the output direction of the drive unit 31, the rotation direction of the brush 4 will not be affected by the change in the rotation direction of the drive unit 31. In other words, when the drive unit 31 drives the swing arm 2 to extend or retract by changing its rotation direction, it will not affect the rotation direction of the brush 4. This ensures that the rotation direction of the brush 4 is clockwise regardless of whether it is in the retracted position or the extended position, thereby improving the cleanliness of the cleaning.

[0120] In one embodiment of the present invention, the first intermediate transmission assembly includes a plurality of sequentially meshing first transmission gears, wherein along the transmission direction, the first first transmission gear meshes with the third gear 3261, and the last first transmission gear meshes with the output gear 3263; the second intermediate transmission assembly includes a plurality of sequentially meshing second transmission gears, wherein along the transmission direction, the first second transmission gear meshes with the fourth gear 3262, and the last second transmission gear meshes with the output gear 3263; the number of first transmission gears is one more or one less than the number of second transmission gears.

[0121] Since the two meshing gears rotate in opposite directions during transmission, when the input directions of the two gear sets are opposite and the number of gears in the two gear sets differs by one, the output directions can be the same. This makes the direction of the two gear sets transmitted to the output gear 3263 the same, thus keeping the rotation direction of the brush 4 unchanged.

[0122] For example, there are K first transmission gears and K-1 second transmission gears, and the K first transmission gears and K-1 second transmission gears do not share any of them. In this way, the difference of one gear between the two types ensures that the first intermediate transmission assembly and the second intermediate transmission assembly transmit the same direction of rotation to the output gear 3263.

[0123] For example, there are K first transmission gears and K-1 second transmission gears, wherein K-2 first transmission gears and K-2 second transmission gears are shared. In this way, the number of gears is reduced and the structure of the transmission assembly 32 is simplified.

[0124] For example, such as Figure 10 and Figure 11 As shown, the first transmission gear has four gears, and the second transmission gear has three gears.

[0125] For example, two of the first transmission gears and two of the second transmission gears are shared. For instance, as shown... Figure 11 As shown, the four first transmission gears are the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, and the eighth gear 3267, and the three second transmission gears are the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267. That is, the seventh gear 3266 and the eighth gear 3267 serve as both first and second transmission gears.

[0126] In one embodiment of the present invention, the first gear 321 and the second gear 322 are both helical gears. The second gear 322 is provided with ratchet teeth on both sides. The second gear 322 is movably and coaxially disposed between the third gear 3261 and the fourth gear 3262 along its axial direction. The sides of the third gear 3261 and the fourth gear 3262 facing the second gear 322 are provided with ratchet teeth. The first gear 321 can change its rotation direction so that the ratchet teeth of the second gear 322 can selectively mesh with the ratchet teeth of the third gear 3261 or the ratchet teeth of the fourth gear 3262.

[0127] It is understandable that both the first gear 321 and the second gear 322 are helical gears, and they mesh with each other; therefore, their directions of rotation are opposite. See also Figure 9 The first gear 321 rotates to the left, and the second gear 322 rotates to the right. When the first gear 321 changes its rotation direction from the second clockwise direction N to the first clockwise direction M, the teeth of the first gear 321 exert an upward force on the teeth of the second gear 322. The vertical component of this upward force drives the second gear 322 to rise vertically until its ratchet engages with the ratchet of the third gear 3261. The horizontal component of this upward force drives the second gear 322 to rotate along the second clockwise direction N. Since the ratchet of the second gear 322 is engaged with the ratchet of the third gear 3261 at this time, the second gear 322 drives the third gear 3261 to rotate synchronously. The rotational motion of the third gear 3261 is transmitted to the output gear 3263 through the first intermediate transmission assembly between the third gear 3261 and the output gear 3263, thereby driving the brush 4 to rotate. When the first gear 321 rotates from the first clockwise direction M to the second clockwise direction N, the teeth of the first gear 321 exert a downward force on the teeth of the second gear 322. The vertical component of the downward force drives the second gear 322 to descend vertically until its ratchet engages with the ratchet of the fourth gear 3262. The horizontal component of the downward force drives the second gear 322 to rotate along the second clockwise direction N. Since the ratchet of the second gear 322 is engaged with the ratchet of the fourth gear 3262 at this time, the second gear 322 drives the fourth gear 3262 to rotate synchronously. The rotational motion of the fourth gear 3262 is transmitted to the output gear 3263 through the second intermediate transmission assembly between the fourth gear 3262 and the output gear 3263, thereby driving the brush 4 to rotate.

[0128] Thus, the ratchet of the second gear 322 can selectively mesh with the ratchet of the third gear 3261 or the ratchet of the fourth gear 3262, realizing the switching of two transmission motion lines. This ensures that when the side brush module 320 switches cleaning modes by changing the output direction of the drive unit 31, the rotation direction of the brush 4 will not be affected by the change in the rotation direction of the drive unit 31.

[0129] For example, such as Figure 9 As shown, the second gear 322 is rotatably mounted on the mounting shaft 325 and movable along the axial direction of the mounting shaft 325. The third gear 3261 and the fourth gear 3262 are rotatably mounted on the mounting shaft 325 only around the mounting shaft 325. In this way, the second gear 322 can rotate around the mounting shaft 325 under the action of the first gear 321, ensuring the transmission of motion from the second gear 322 to the output gear 3263, thereby driving the brush 4 to rotate. Furthermore, the second gear 322 can approach the third gear 3261 or the fourth gear 3262 under the action of the first gear 321, thereby switching the transmission motion path and ensuring that the rotation direction of the brush 4 remains unchanged.

[0130] In one embodiment of the present invention, both the fixed arm 1 and the swing arm 2 are hollow shells. The first linkage shaft transmission gear 3241, the second linkage shaft transmission gear 3242, the third linkage shaft transmission gear 3243 and the fourth linkage shaft transmission gear 3244 are rotatably connected to the hollow cavity of the fixed arm 1. A portion of the linkage shaft 323 rotatably passes through the hollow cavity of the fixed arm 1; another portion of the linkage shaft 323 rotatably passes through the hollow cavity of the swing arm 2. The first gear 321, the second gear 322, the third gear 3261, the fourth gear 3262, the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, the eighth gear 3267, the ninth gear 3268 and the output gear 3263 are all rotatably disposed in the hollow cavity of the swing arm 2.

[0131] In this way, the gears are stably installed, and the fixed arm 1 and the swing arm 2 protect the gears inside.

[0132] In one embodiment of the present invention, such as Figure 6 As shown, the pressing structure 342 is connected to the swing arm 2, the side wall of the output gear 3263 is provided with a groove, the friction block 341 is provided in the groove, and one end of the pressing structure 342 presses against the side of the friction block 341 away from the output gear 3263.

[0133] In both cleaning modes, the output gear 3263 rotates relative to the swing arm 2, causing the wall surface of the output gear 3263 to slide against the friction block 341. This increases the damping of the transmission assembly 32 during operation, requiring the transmission assembly 32 to overcome a greater force, increasing the interaction force between the driving and driven components, and increasing the force exerted by the driven component on the swing arm 2. This ensures that the driving and driven components can drive the swing arm 2 to swing when they interact.

[0134] In one embodiment of the present invention, such as Figure 7 , Figure 8 and Figure 11As shown, the rolling wheel 343 in the load assembly meshes with any one of the second gear 322, the third gear 3261, the fourth gear 3262, the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, the eighth gear 3267, the ninth gear 3268, and the output gear 3263.

[0135] In this way, the rolling wheel 343 is connected to the transmission assembly 32. When the transmission assembly 32 is activated, it drives the rolling wheel 343 to rotate, thereby causing the first damping element to move relative to the second damping element. This generates an interaction force between the first damping element and the second damping element, making the force required for the driven element and the transmission assembly 32 to operate greater. This increases the interaction force between the driving element and the driven element, and increases the force exerted by the driven element on the swing arm 2. This ensures that the swing arm 2 can swing when the driving element and the driven element interact.

[0136] In one embodiment of the present invention, the first intermediate transmission assembly includes a synchronous belt pulley assembly and a plurality of first transmission gears arranged sequentially along the transmission direction. The synchronous belt pulley assembly is tractively connected between the first first transmission gear and the third gear 3261, between any two adjacent first transmission gears, or between the last first transmission gear and the output gear 3263. The second intermediate transmission assembly includes a plurality of second transmission gears meshing sequentially. Along the transmission direction, the first second transmission gear meshes with the fourth gear 3262, and the last second transmission gear meshes with the output gear 3263. The number of first transmission gears and the number of second transmission gears are the same.

[0137] It is understood that the synchronous belt pulley assembly includes two synchronous pulleys and a synchronous belt wound around the two pulleys at both ends. The two synchronous pulleys are coaxially connected to two transmission gears. The two synchronous pulleys rotate synchronously under the transmission action of the synchronous belt, so that the two transmission gears connected to the two synchronous pulleys rotate in the same direction. The two transmission gears can be the first transmission gear and the third gear 3261, or any two adjacent first transmission gears, or the last first transmission gear and the output gear 3263. In this way, by adding a synchronous belt pulley assembly to one transmission path, a pair of adjacent transmission gears in one transmission path rotate in the same direction, while the rotation directions of other adjacent gears are opposite. In another transmission path, any two adjacent gears rotate in opposite directions. Therefore, when the input directions of the two transmission paths are opposite, the output directions can be the same, thus keeping the rotation direction of the brush 4 unchanged.

[0138] The following describes the working steps of the cleaning equipment provided in some embodiments of this application:

[0139] S1. In the default state, the side brush module 320 is in the normal cleaning mode, the brush 4 is in the retracted position, the limiting protrusion abuts against the retracted limiting block, the driving component 31 drives the first gear 321 to rotate around the second clockwise direction N, which drives the second gear 322 to rotate around the first clockwise direction M. The ratchet of the second gear 322 meshes with the ratchet of the fourth gear 3262. The second gear 322 drives the fourth gear 3262 to rotate synchronously. The rotation of the fourth gear 3262 is transmitted to the output gear 3263 through the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267 in sequence, which drives the brush 4 to rotate around the first clockwise direction M.

[0140] S2. When the mobile platform 100 moves to the corner position, the drive component 31 changes the output direction, so that the direction of the first gear 321 changes from the second clockwise direction N to the first clockwise direction M. The first gear 321 drives the second gear 322 to rotate from the first clockwise direction M to the second clockwise direction N. At this time, the second gear 322 applies a force to the mounting shaft 325 under the action of the first gear 321. This force drives the mounting shaft 325 to drive the swing arm 2 to rotate around the linkage shaft 323 in the first clockwise direction M, so that the brush 4 moves away from the mobile platform 100, the limiting protrusion moves away from the retracting limiting block and moves towards the extending limiting block. When the swing arm 2 moves to the point where the limiting protrusion abuts against the extending limiting block, the swing arm 2 stops swinging. At this time, the brush 4 is in the extended position, and the side brush module 320 switches from the regular cleaning mode to the special cleaning mode.

[0141] After the second gear 322 changes its direction from the first clockwise direction M to the second clockwise direction N, the ratchet of the second gear 322 disengages from the ratchet of the fourth gear 3262 and engages with the ratchet of the third gear 3261. The second gear 322 drives the third gear 3261 to rotate synchronously. The rotation of the third gear 3261 is transmitted to the output gear 3263 in sequence through the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, and the eighth gear 3267, which drives the brush 4 to rotate around the first clockwise direction M. The brush 4 cleans the corner area.

[0142] S3. After cleaning the corner area, the drive unit 31 changes the output direction again, so that the direction of the first gear 321 changes from the first clockwise direction M to the second clockwise direction N. The first gear 321 drives the second gear 322 to change from the second clockwise direction N to the first clockwise direction M. At this time, the second gear 322 applies a force to the mounting shaft 325 under the action of the first gear 321. This force drives the mounting shaft 325 to drive the swing arm 2 to rotate around the linkage shaft 323 in the second clockwise direction N, so that the brush 4 approaches the moving platform 100, the limiting protrusion moves away from the protruding limiting block and moves toward the retracting limiting block. When the swing arm 2 moves to the point where the limiting protrusion abuts against the retracting limiting block, the swing arm 2 stops swinging. At this time, the brush 4 is in the retracted position, and the side brush module 320 switches from the special cleaning mode to the regular cleaning mode.

[0143] After the direction of the second gear 322 changes from the second clockwise direction N to the first clockwise direction M, the ratchet of the second gear 322 disengages from the ratchet of the third gear 3261 and engages with the ratchet of the fourth gear 3262. The second gear 322 drives the fourth gear 3262 to rotate synchronously. The rotation of the fourth gear 3262 is transmitted to the output gear 3263 in sequence through the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267, which drives the brush 4 to rotate around the first clockwise direction M.

[0144] Therefore, during the cleaning process, if you encounter a corner area again, repeat steps S1 to S3.

[0145] In steps S1 to S3 above, the cleaning mode can be switched by changing the output direction of the drive unit 31. The operation is simple and quick. In both cleaning modes, the brush 4 rotates around the first clockwise direction M. The rotation direction of the brush 4 will not be affected by the change of the output direction of the drive unit 31, thus improving the cleaning effect.

[0146] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0147] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A side brush module for a cleaning device, characterized in that, include: Fixed arm, used for mounting to the bottom of the mobile platform of the cleaning equipment; A swing arm, one end of which is rotatably connected to the fixed arm, and the other end of which is equipped with a rotatable cleaning component; The power assembly includes a driving member, a driven member, a transmission assembly, and a damping assembly. The driving member, the driven member, and the transmission assembly are all disposed on the swing arm. The damping assembly is disposed on the driven member and / or the transmission assembly, and the damping assembly includes a load assembly. The load assembly is connected to the driven member and / or the transmission assembly. During operation, the driven member and / or the transmission assembly drives the load assembly to move. The drive component is connected to the driving component, and the driven component and the cleaning component are respectively connected to the input and output ends of the transmission component. The active component moves under the drive of the drive assembly. During its movement, the active component can drive the swing arm to swing via the driven component, thereby moving the cleaning component between a retracted position and an extended position. Furthermore, during its movement, the driven component can drive the cleaning component to rotate via the transmission assembly. The side brush module has a regular cleaning mode and a special cleaning mode. In the regular cleaning mode, the cleaning component is in the retracted position, and in the special cleaning mode, the cleaning component is in the extended position.

2. The side brush module for cleaning equipment according to claim 1, characterized in that, The damping component includes a friction damping component, which is disposed on the driven member and / or the transmission component to increase the sliding friction force during the operation of the driven member and / or the transmission component.

3. The side brush module for cleaning equipment according to claim 2, characterized in that, The friction damping assembly includes a friction block that abuts against at least one of the driven members and slides relative to the swing arm during the movement of the driven members. And / or, The friction block abuts against at least one of the transmission components and slides relative to the wall surface of the swing arm during the operation of the transmission component.

4. The side brush module for cleaning equipment according to claim 3, characterized in that, The friction damping assembly further includes a pressing structure connected to the swing arm and pressing against the side of the friction block facing the swing arm, so that the friction block is pressed against the wall of the driven member and / or the wall of the transmission assembly.

5. The side brush module for cleaning equipment according to claim 4, characterized in that, The distance between the pressing end face of the pressing structure and the wall surface that abuts the friction block is adjustable to adjust the sliding friction force between the friction block and the wall surface it abuts.

6. The side brush module for cleaning equipment according to claim 1, characterized in that, The load component includes: At least one rolling wheel is rotatably mounted on the swing arm, and the rolling wheel is drively connected to the driven member and / or the transmission assembly, which can drive the rolling wheel to rotate during operation; The first damping element is provided in each of the rolling wheels, and the first damping element can rotate with the rolling wheel; The second damping element is provided for each of the rolling wheels, and the second damping element is provided on the swing arm; During rotation, the rolling wheel can drive the first damping element to move relative to the second damping element, so that an interaction force is generated between the first damping element and the second damping element.

7. The side brush module for cleaning equipment according to claim 6, characterized in that, The first damping element includes a roller rotatably disposed on the side wall of the rolling wheel, and the second damping element includes an elastic element. The rolling wheel can drive the roller to roll the elastic element during rotation.

8. The side brush module for cleaning equipment according to claim 6, characterized in that, The first damping element includes a friction ring fixedly disposed on the side wall of the rolling wheel, and the second damping element includes a friction strip. During rotation, the rolling wheel can cause the friction ring to slide relative to the friction strip.

9. The side brush module for cleaning equipment according to claim 1, characterized in that, The active component includes a first gear, and the driven component includes a second gear. The first gear and the second gear are rotatably connected to the swing arm, and the first gear and the second gear mesh with each other. The drive assembly can drive the first gear to rotate. When the drive assembly drives the first gear to change the rotation direction, it can drive the swing arm to change the swing direction through the second gear, so that the side brush module can switch between the normal cleaning mode and the special cleaning mode.

10. The side brush module for cleaning equipment according to claim 9, characterized in that, The transmission assembly includes a first rotary transmission assembly and a second rotary transmission assembly. The first gear changes its rotation direction so that the second gear can be selectively connected to either the input end of the first rotary transmission assembly or the input end of the second rotary transmission assembly. The output ends of the first and second rotary transmission assemblies are respectively connected to the cleaning component. In the normal cleaning mode, the second gear is connected to the input end of the first rotary transmission assembly. When the second gear rotates in a clockwise direction, it can drive the cleaning component to rotate in a set clockwise direction through the first rotary transmission assembly. In the special cleaning mode, the second gear is connected to the input end of the second rotary transmission assembly. When the second gear rotates in another clockwise direction, it can drive the cleaning component to rotate in the set clockwise direction through the second rotary transmission assembly.

11. The side brush module for cleaning equipment according to claim 10, characterized in that, The first rotary transmission assembly includes a third gear, a first intermediate transmission assembly, and an output gear. The third gear and the output gear are respectively connected to the input end and the output end of the first intermediate transmission assembly. The second rotary transmission assembly includes a fourth gear, a second intermediate transmission assembly, and the output gear. The fourth gear and the output gear are respectively connected to the input end and the output end of the second intermediate transmission assembly. The output gear is rotatably connected to the swing arm, and the cleaning component is coaxially connected to the output gear. The first gear can change its rotation direction so that the second gear can be selectively coaxially connected to the third gear or the fourth gear.

12. The side brush module for cleaning equipment according to claim 11, characterized in that, The first intermediate transmission assembly includes a plurality of first transmission gears that mesh sequentially. Along the transmission direction, the first first transmission gear meshes with the third gear, and the last first transmission gear meshes with the output gear. The second intermediate transmission assembly includes a plurality of second transmission gears that mesh sequentially. Along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear. The number of the first transmission gear is one more or one less than the number of the second transmission gear.

13. The side brush module for cleaning equipment according to claim 11, characterized in that, Both the first gear and the second gear are helical gears. The second gear has ratchet teeth on both sides. The second gear is movable along its axial direction and is coaxially disposed between the third gear and the fourth gear. The sides of the third gear and the fourth gear facing the second gear are provided with ratchet teeth. The first gear can change its rotation direction so that the ratchet teeth of the second gear can selectively mesh with the ratchet teeth of the third gear or the ratchet teeth of the fourth gear.

14. The side brush module for cleaning equipment according to claim 11, characterized in that, The first intermediate transmission assembly includes a synchronous belt pulley assembly and a plurality of first transmission gears arranged sequentially along the transmission direction. The synchronous belt pulley assembly is pulsorily connected between the first first transmission gear and the third gear, between any two adjacent first transmission gears, or between the last first transmission gear and the output gear. The second intermediate transmission assembly includes a plurality of second transmission gears that mesh sequentially. Along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear. The number of the first transmission gears is the same as the number of the second transmission gears.

15. A cleaning device, characterized in that, include: The mobile platform is configured to move automatically on the operating surface; A cleaning module is disposed at the bottom of the mobile platform and configured to clean at least a portion of the operating surface, the cleaning module including a side brush module for a cleaning device as described in any one of claims 1-14.

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