Self-moving cleaning device and cleaning system

Abstract

The self-moving cleaning device comprises a side brush device and a driving device. The side brush device comprises a supporting assembly and at least one side brush assembly. The side brush assembly comprises a connecting arm and a side brush. The connecting arm is hinged to the supporting assembly. The side brush is arranged along the length direction of the connecting arm and is connected to the side of the connecting arm which is farther away from the supporting assembly. The driving device is connected to the side brush device. The driving device is provided with a driving rod. One end of the driving rod can move towards the connecting arm to drive the connecting arm to swing at the hinged position relative to the supporting assembly and drive the connecting arm to rotate. Since the connecting arm of the side brush assembly is rotatably connected to the supporting assembly, the driving rod of the driving device can extend to the partial area of the connecting arm, so that the connecting arm can be driven to rotate upward relative to the supporting assembly. The connecting arm can drive the side brush to rotate upward relative to the supporting assembly, so that the viscous sewage on the ground can be avoided.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and more specifically, to a self-moving cleaning device and cleaning system. Background Technology

[0002] This section provides only background information relevant to this disclosure and is not necessarily prior art.

[0003] With the development of self-propelled cleaning equipment technology, its automation level is getting higher and higher. As the types of dirt to be cleaned increase, some problems have been exposed when the side brush of the self-propelled cleaning equipment cleans some viscous sewage: when the side brush sweeps over viscous sewage, it will spread the viscous sewage on the ground or object surface, resulting in an increase in the area of ​​dirt on the ground or object surface, further increasing the cleaning difficulty and causing trouble for users. Summary of the Invention

[0004] The objective of this invention is to at least solve the technical problem that the side brushes of self-moving cleaning devices cannot avoid viscous wastewater. This objective is achieved through the following technical solution:

[0005] A first aspect of the present invention provides a self-moving cleaning device, the self-moving cleaning device comprising:

[0006] A side brush device, the side brush device including a support assembly and at least one side brush assembly, the side brush assembly including a connecting arm and a side brush, the connecting arm being hinged to the support assembly, the side brush extending along the length direction of the connecting arm, and the side brush being connected to the side of the connecting arm further away from the support assembly.

[0007] A driving device is connected to the side brush device. The driving device is provided with a driving rod, one end of which can move toward the connecting arm to drive the connecting arm to swing relative to the support assembly in a hinged position, and the connecting arm drives the side brush to rotate.

[0008] In this self-moving cleaning device, the connecting arm of the side brush assembly is rotatably connected to a support assembly. The drive rod of the drive device can extend to a portion of the connecting arm, thereby driving the connecting arm to rotate upward relative to the support assembly. A side brush is arranged along the length of the connecting arm, and the connecting arm can drive the side brush to rotate upward relative to the support assembly, thus avoiding viscous wastewater on the ground. When cleaning the ground, the connecting arm drives the side brush to tilt downward, allowing the side brush to contact the dirt on the ground and clean it. When encountering viscous dirt on the ground, the drive rod can drive a portion of the connecting arm, causing the connecting arm to drive the side brush to rotate upward relative to the support assembly. Therefore, the self-moving cleaning device can avoid viscous dirt during its movement, preventing the side brush from sweeping over viscous dirt and causing the dirt area on the ground to expand.

[0009] In addition, the self-moving cleaning device according to the present invention may also have the following additional technical features:

[0010] In some embodiments of the present invention, the driving device includes a first driving motor and a first transmission member, the first transmission member having a first transmission hole and a first driving part, and the first driving motor having a first output shaft;

[0011] The first transmission member is sleeved on the first output shaft through the first transmission hole and drives the first output shaft. The first driving part extends from the first transmission hole in a direction away from the first transmission hole and abuts against the driving rod.

[0012] In some embodiments of the present invention, the first transmission member further includes a second driving surface, and along the rotation direction of the first transmission member, the distance between different points on the second driving surface and the center line of the first transmission hole increases or decreases sequentially.

[0013] The driving device also includes a limit switch, which is electrically connected to the first driving motor, and the travel end of the limit switch can abut against the second driving surface.

[0014] In some embodiments of the present invention, the limit switch includes an optocoupler switch or a Hall switch.

[0015] In some embodiments of the present invention, the driving device further includes a reset member, one end of which is connected to the driving rod and the other end of which is connected to the housing of the self-moving cleaning device.

[0016] In some embodiments of the present invention, the driving device further includes a second drive motor and a transmission assembly, wherein the second drive motor is provided with a second output shaft;

[0017] The second output shaft is connected to the support assembly via the transmission assembly to drive the support assembly and the side brush assembly to rotate together.

[0018] In some embodiments of the present invention, the transmission assembly includes a first transmission gear and a second transmission gear that mesh with each other, the driving end of the first transmission gear is connected to the second output shaft, and the second transmission gear has a first connecting end on the end face facing the support assembly.

[0019] The first connecting end is connected to the support component in a transmission manner.

[0020] In some embodiments of the present invention, the drive rod is provided with a first rod segment and a second rod segment;

[0021] The second transmission gear has a second transmission hole along its own rotation axis, and the first rod segment is axially movable and passes through the second transmission hole, and is in transmission engagement with the second transmission hole;

[0022] The driving device further includes a second transmission component, which has a threaded hole. The second rod segment passes through the threaded hole and is threadedly engaged with the threaded hole to control the axial movement of the driving rod.

[0023] One end of the first rod segment abuts against the connecting arm.

[0024] In some embodiments of the present invention, the self-moving cleaning device has a cleaning mode and a side brush lifting mode. In the cleaning mode, the second transmission gear rotates along a first direction, and in the side brush lifting mode, the second transmission gear rotates along a second direction, with the first direction and the second direction being oppositely arranged; wherein, the helical direction of the thread in the second transmission hole is the second direction.

[0025] In some embodiments of the present invention, the support assembly further includes a side brush cover and a side brush head, the side brush cover and the side brush head together forming a receiving cavity and at least one side hole communicating with the receiving cavity;

[0026] A portion of the connecting arm extends through the side hole into the receiving cavity;

[0027] The side brush cover has a through hole that communicates with the receiving cavity. One end of the drive rod passes through the through hole and extends into the receiving cavity, abutting against the connecting arm.

[0028] In some embodiments of the present invention, the partial region is located at the end of the connecting arm away from the side brush, and the partial region is set at an angle to the length direction of the side brush.

[0029] In some embodiments of the present invention, the side brush cover and the side brush head are detachably connected.

[0030] In some embodiments of the present invention, the side brush device further includes a torsion spring having a first torsion arm and a second torsion arm, the first torsion arm being connected to the side brush cover or the side brush head, and the second torsion arm being connected to the connecting arm for providing a downward rotational torque to the connecting arm.

[0031] In some embodiments of the present invention, the self-moving cleaning device further includes an identification device and a controller;

[0032] The identification device is equipped with at least one detector, which is oriented toward the walking direction of the self-moving cleaning device;

[0033] The controller is electrically connected to both the identification device and the driving device.

[0034] A second aspect of the invention provides a cleaning system comprising a self-moving cleaning device as described in any of the preceding claims. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0036] Figure 1 This is a perspective view of the self-moving cleaning device of the present invention, showing the state in which the side brush is tilted downwards in cleaning mode;

[0037] Figure 2 This is a perspective view of the self-moving cleaning device of the present invention, showing the state in which the side brush is away from the ground in the side brush lifting mode;

[0038] Figure 3 This is a structural diagram of the bottom of the self-moving cleaning device of the present invention;

[0039] Figure 4 This is a connection diagram of the side brush device and the drive device of the self-moving cleaning device according to the first embodiment of the present invention, which shows two side brush assemblies that are inclined downwards.

[0040] Figure 5 This is a connection state diagram of the side brush device and the drive device of the self-moving cleaning device according to the first embodiment of the present invention, which shows the side brush assembly rotating upward;

[0041] Figure 6This is a structural diagram of the side brush device and drive device of the self-moving cleaning device according to a first embodiment of the self-moving cleaning device of the present invention, showing two side brush assemblies arranged symmetrically.

[0042] Figure 7 This is an exploded view of the side brush device and drive device of the self-moving cleaning device according to the first embodiment of the present invention;

[0043] Figure 8 This is a structural diagram of the first transmission component of the self-moving cleaning device according to the first embodiment of the present invention;

[0044] Figure 9 This is a structural diagram of the side brush assembly of the self-moving cleaning device of the present invention installed on the support assembly.

[0045] Figure 10 This is an exploded view of the side brush assembly and support assembly of the self-moving cleaning device of the present invention;

[0046] Figure 11 This is a schematic diagram illustrating the structure of the connecting arm of the self-moving cleaning device of the present invention mounted on the support assembly from another perspective.

[0047] Figure 12 This is a structural schematic diagram showing the relative installation positions between the side brush head and the side brush cover of the self-moving cleaning device of the present invention.

[0048] Figure 13 This is a structural schematic diagram showing the relative installation positions between the side brush head and the side brush cover of the self-moving cleaning device of the present invention.

[0049] Figure 14 A schematic diagram of the connection between the side brush head and the side brush cover of the self-moving cleaning device of the present invention is shown from another perspective, illustrating the receiving cavity and the side hole;

[0050] Figure 15 This is a schematic diagram of the side brush head of the self-moving cleaning device of the present invention;

[0051] Figure 16 An exploded view of the side brush assembly of one embodiment of the self-moving cleaning device of the present invention;

[0052] Figure 17 This is a connection diagram of the side brush device and the drive device in a second embodiment of the self-moving cleaning device of the present invention;

[0053] Figure 18 This is a cross-sectional view of the side brush device and drive device of a second embodiment of the self-moving cleaning device of the present invention;

[0054] Figure 19 An exploded view of the drive device of a second embodiment of the self-moving cleaning device of the present invention;

[0055] Figure 20 This is a structural diagram of the drive rod of an embodiment of the self-moving cleaning device of the present invention;

[0056] Figure 21 This is a structural diagram of the second transmission component in one embodiment of the self-moving cleaning device of the present invention.

[0057] Figure Labels

[0058] 100. Self-propelled cleaning equipment; 101. Housing;

[0059] 200. Side brush device;

[0060] 210. Side brush head; 211. Clip;

[0061] 220. Side brush assembly; 221. Connecting arm; 2211. Partial area; 2212. First arm body; 2213. Second arm body; 222. Side brush; 223. Rotating shaft;

[0062] 230. Side brush cap; 231. Through hole; 232. Receiving cavity; 233. Side hole; 234. Hole; 235. Support end;

[0063] 240. Torsion spring; 241. First torsion arm; 242. Second torsion arm;

[0064] 300. Drive unit;

[0065] 310. Drive rod; 311. First rod segment; 312. Second rod segment; 313. Connecting shaft;

[0066] 320. First drive motor; 321. First output shaft;

[0067] 330. First transmission component; 331. First transmission hole; 332. First driving surface; 333. Second driving surface;

[0068] 340. Limit switch; 341. Travel end;

[0069] 350. Reset component;

[0070] 360. Second drive motor; 361. Second output shaft;

[0071] 370. Reduction gear; 371. First transmission gear; 3711. Drive end; 372. Second transmission gear; 3721. End face; 3722. First connecting end; 3723. Second transmission hole; 373. Mounting cap; 374. Upper support base; 375. First elastic element; 376. Second elastic element; 377. Fastener;

[0072] 380. Second transmission component; 381. Threaded hole;

[0073] 400. Detector components;

[0074] 500. Walking device;

[0075] 600, Opening. Detailed Implementation

[0076] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0077] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0078] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0079] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0080] The self-moving cleaning device provided by the present invention includes a side brush device and a drive device. The drive device is connected to the side brush device and provides power for the side brush device to perform cleaning work.

[0081] The side brush device includes a support component and a side brush component. The side brush component is rotatably connected to the support component. The drive device is connected to the side brush component through a transmission. When the self-moving cleaning device is in cleaning mode, the side brush component is tilted downward and in contact with the ground. The drive device drives the side brush component to rotate, and the side brush component cleans the area passed by the self-moving cleaning device.

[0082] When the self-propelled cleaning equipment encounters viscous dirt, the drive unit drives the side brush assembly to rotate upward relative to the support assembly. This allows the side brush assembly to avoid contact with the viscous dirt on the ground, preventing the side brush assembly from coming into contact with the dirt and reducing the possibility of the side brush assembly further expanding the area of ​​viscous dirt.

[0083] The self-moving cleaning device of the present invention addresses the problem of the side brush assembly contacting viscous dirt and causing the viscous dirt area to expand further. It employs a technique where the side brush assembly rotates upwards relative to the supporting assembly. This arrangement has several advantages: firstly, it reduces the movement of other components in the side brush device, eliminating the need for transmission connections and reducing transmission complexity; secondly, the relative positions of other components in the side brush device remain unchanged, saving space and allowing for a more compact internal structure and a smaller overall appearance; and thirdly, it enables the side brush in the side brush assembly to be moved quickly away from the ground. Furthermore, by adjusting the rotation fulcrum of the side brush assembly, the lifting height of one end of the side brush assembly can be adjusted, making it easier to set the lifting height of the side brush assembly.

[0084] Therefore, in addressing the technical problem of how the side brush assembly can avoid viscous dirt, the self-moving cleaning device of the present invention creatively proposes a technical solution of rotating the side brush assembly relative to the support assembly, abandoning the conventional design ideas in the field, and not mechanically lifting the entire side brush device to move the side brush assembly away from the viscous dirt on the ground; the self-moving cleaning device provided by the present invention adopts a unique design concept and solves the above-mentioned technical problems in a more targeted manner.

[0085] The specific implementation plan is as follows:

[0086] The self-moving cleaning device of the present invention includes a side brush device with at least one side brush assembly. Each side brush assembly includes a connecting arm and a side brush. The side brush extends along the length of the connecting arm. The connecting arm is rotatably connected to a support assembly. Furthermore, the connecting arm drives the side brush to tilt downwards. The advantage of this arrangement is that the downward tilt of the side brush makes it easier to clean dirt on the ground. The connecting arm can drive the side brush to rotate upwards relative to the support assembly, so that the side brush device avoids contact between the side brush and sticky dirt on the ground with minimal movement.

[0087] It should be noted that when the self-moving cleaning device of the present invention is in cleaning mode, the side brush assembly rotates under the action of the driving device, and the downwardly tilted side brush cleans the area passed by the self-moving cleaning device.

[0088] When the self-moving cleaning device of the present invention is in cleaning mode, the side brush device, including the support component and the side brush component, can also rotate as a whole under the action of the driving device to clean the area passed by the self-moving cleaning device.

[0089] In order for the side brush assembly to rotate relative to the support assembly to avoid viscous dirt, the drive device is equipped with a drive rod. One end of the drive rod can extend to a part of the connecting arm along a predetermined movement trajectory. By driving a part of the connecting arm, the side brush, which extends along the length of the connecting arm, can rotate upward relative to the support assembly together with the connecting arm.

[0090] It needs further explanation that the part of the connecting arm is the position where the drive rod applies force to the connecting arm. By applying force to a specific position on the connecting arm, the connecting arm is driven to rotate around the support assembly, so that the side brush connected to the connecting arm can be lifted and separated from the ground, thus preventing the rotating side brush from coming into contact with the sticky dirt on the ground and causing the dirt area to increase.

[0091] The self-moving cleaning device of the present invention will be described in detail below with reference to the accompanying drawings. The drawings and embodiments are only used to explain the present invention and should not be construed as limiting the present invention.

[0092] Figure 1 This is a perspective view of the self-moving cleaning device of the present invention, showing the state in which the side brush is tilted downwards in cleaning mode; as shown... Figure 1 As shown, the self-moving cleaning device 100 of the present invention includes a side brush device 200, which is provided with two side brush assemblies 220. Both side brush assemblies 220 are inclined downwards, so that the side brush assemblies 220 can contact the ground and clean the ground.

[0093] The self-moving cleaning device in this embodiment is illustrated using two side brush assemblies as an example. It can be understood that the side brush device 200 can have any number of side brush assemblies 220, such as one side brush assembly 220, three side brush assemblies 220, four side brush assemblies 220, etc. When the number of side brush assemblies 220 is greater than one, they should be evenly distributed on the support assembly to help maintain high stability when the side brush assemblies 220 rotate.

[0094] Figure 2 This is a perspective view of the self-moving cleaning device of the present invention, showing the state in which the side brush is away from the ground in the side brush lifting mode, as shown... Figure 2 As shown, when the self-moving cleaning device 100 is in the side brush lifting mode, the side brush assembly 220 rotates upward to move away from the ground. Thus, during the movement of the self-moving cleaning device 100, the side brush assembly 220 can avoid contact with sticky dirt on the ground, reducing the possibility that the area of ​​sticky dirt will be further expanded.

[0095] Figure 3 This is a structural diagram of the bottom of the self-moving cleaning device of the present invention, as shown below. Figure 3 As shown, a side brush device 200 and a walking device 500 are provided at the bottom of the self-moving cleaning device 100. Under the action of the walking device 500, the self-moving cleaning device 100 moves on the ground according to a predetermined trajectory, while the side brush device 200 cleans the dirt on the ground. When the self-moving cleaning device 100 is in cleaning mode, the side brush device 200 cleans the dirt on the ground and completes the cleaning work, which can free the user's hands and eliminate the need for manual cleaning.

[0096] like Figure 3 As shown, an opening 600 is provided at the bottom of the self-moving cleaning device 100, and a roller brush assembly is provided at the opening 600. This roller brush assembly can collect the dirt cleaned by the side brush assembly 220 into a dust cup. In this embodiment, the self-moving cleaning device 100 is equipped with a dirt collection device to centrally collect the dirt cleaned by the side brush assembly 220. The processing method is to process the dirt by suction, which can not only collect dirt over a large area, but also reduce the amount of suspended dust generated around the rotating side brush assembly 220, thus providing a better customer experience.

[0097] like Figure 3 As shown, the self-moving cleaning device 100 is also equipped with a detector 400. When it detects that there are viscous dirt or other dirt that is not suitable for the side brush assembly 220 to clean in front of the self-moving cleaning device 100, the self-moving cleaning device 100 activates the side brush 222 lifting mode. In the side brush 222 lifting mode, the side brush assembly 220 rotates upward and away from the ground, so that the side brush assembly 220 can avoid viscous dirt during the movement of the self-moving cleaning device 100.

[0098] In one embodiment of the present invention, the self-moving cleaning device 100 further includes an identification device and a controller. The identification device is provided with at least one detector 400, which faces the walking direction of the self-moving cleaning device 100. The controller is electrically connected to the identification device and the driving device 300 respectively. In this embodiment, when the detector 400 in the identification device detects viscous dirt in front of the self-moving cleaning device 100 during its movement, the identification device sends a signal to the controller. The controller sends a command to the driving device 300 according to the signal sent by the identification device, and drives the side brush assembly 220 to rotate upward relative to the support assembly, so that the side brush assembly 220 moves away from the ground.

[0099] Side brush devices can also be symmetrically installed at the bottom of the self-moving cleaning equipment. The two side brush devices are symmetrically arranged on the left and right sides to clean the ground, which can improve cleaning efficiency.

[0100] Figure 4 This is a connection diagram of the side brush device and drive device of the self-moving cleaning device according to the first embodiment of the present invention, showing two side brush assemblies 220 arranged at a downward angle, such as... Figure 4 As shown, the drive device 300 includes a first drive motor 320 and a second drive motor 360. The first drive motor 320 provides power for the side brush assembly 220 to rotate relative to the support assembly, and the second drive motor 360 provides power for the side brush assembly 220 to perform cleaning work in the cleaning mode.

[0101] In this embodiment of the self-moving cleaning device, the drive device 300 is disposed above the side brush device 200. It is understood that the drive device 300 can also be disposed in other positions of the side brush device 200, such as on one side of the side brush device 200, or disposed in the support assembly. Designers can make specific arrangements in combination with the cleaning device, walking mechanism and the limited space inside the housing 101 of the self-moving cleaning device 100.

[0102] like Figure 4As shown, the second drive motor 360 can drive the side brush device 200 to rotate as a whole. Under the action of the second drive motor 360, the side brush assembly 220 and the support assembly of the side brush device 200 rotate together. The connecting arm 221 drives the side brush 222 to tilt downwards, and the side brush 222 contacts the ground to perform cleaning work.

[0103] Figure 5 This is a connection diagram of the side brush assembly and drive assembly of the self-moving cleaning device according to a first embodiment of the present invention, showing the side brush assembly rotating upwards, as... Figure 5 As shown, under the action of the first drive motor 320, the side brush assembly 220 rotates upward relative to the support assembly, so that the connecting arm 221 in the side brush assembly 220 can drive the side brush 222 to tilt upward and away from the ground, so as to avoid contact with the sticky dirt on the ground.

[0104] It should be noted that in the cleaning mode, the side brush assembly 220 and the support assembly of the self-moving cleaning device 100 rotate around the rotation axis 223. When the self-moving cleaning device 100 starts the side brush 222 lifting mode, while the side brush assembly 220 rotates around the rotation axis 223, the first drive motor 320 directly or indirectly drives the side brush assembly 220 to rotate upward relative to the support assembly.

[0105] During the upward rotation of the side brush assembly 220 relative to the support assembly, the side brush assembly 220 does not interfere with the drive device 300, nor with other devices or the housing 101 of the self-moving cleaning device 100.

[0106] Figure 6 This is a structural diagram of the side brush device and drive device of the self-moving cleaning device according to a first embodiment of the present invention, showing two symmetrically arranged side brush assemblies 220; as shown... Figure 6 As shown, the side brush device 200 is located below the drive device 300 and is connected to the drive device 300 in a transmission manner. The two side brush components 220 of the side brush device 200 are symmetrically arranged on both sides of the support component. When the side brush components 220 rotate around the rotation axis 223, the overall stability of the side brush device 200 and the self-moving cleaning device 100 can be maintained.

[0107] Understandably, the rotation axis 223 of the side brush device 200 should be perpendicular to the ground to be cleaned. When the ground to be cleaned is a slope, the rotation axis 223 of the side brush device 200 should be perpendicular to the slope. This arrangement helps to maintain high stability of the side brush assembly 220 during rotation. This is because the side brush 222 cleans the ground by friction with the ground. The reaction force of the side brush 222 will be transmitted to the support assembly and even the entire self-moving cleaning device 100. When the multiple reaction forces of the side brush 222 reach a balance, the self-moving cleaning device 100 has higher stability.

[0108] Combination Figure 4 , Figure 5 and Figure 6 As can be seen, the side brush 222 extends roughly along the length direction C of the connecting arm 221. That is, each side brush assembly 220 is rod-shaped. The connecting arm 221 drives the side brush 222 to rotate around the rotation axis 223 of the side brush device 200 to perform cleaning work. The connecting arm 221 can also drive the side brush 222 to rotate upward relative to the support assembly to prevent the side brush 222 from contacting the sticky dirt on the ground.

[0109] Further integration Figure 16 , Figure 16 An exploded view of the side brush assembly of one embodiment of the self-moving cleaning device of the present invention, as shown below. Figure 16 As shown, the connecting arm 221 includes a first arm body 2212 and a second arm body 2213. The first arm body 2212 and the second arm body 2213 are connected as one unit by a plug-in connection. In order to facilitate replacement and maintenance, the first arm body 2212 and the second arm body 2213 should be detachably connected.

[0110] like Figure 16 As shown, the end of the second arm 2213 connected to the side brush 222 is slightly raised, that is, the second arm 2213 is set at an angle. The purpose of this setting is to adjust the tilt angle between the side brush 222 and the ground, which can expand or reduce the cleaning area of ​​the side brush 222; it can also adjust the height at which the end of the side brush 222 or the entire side brush 222 rotates upward.

[0111] from Figure 16 It can also be seen that a portion 2211 on the connecting arm 221 is located at one end of the first arm body 2212. When the drive rod 310 applies force to this portion 2211, the connecting arm 221 can drive the side brush 222 to rotate upward around its rotation axis 223. Furthermore, since the side brush 222 is located at the end of the connecting arm 221 away from this portion 2211, the side brush 222 can be raised to a higher height.

[0112] In one embodiment of the present invention, the driving device 300 includes a first driving motor 320 and a first transmission member 330. The first driving motor 320 can be configured as a stepper motor. The output shaft of the stepper motor is connected to one end of the first transmission member 330. Under the driving action of the stepper motor, the other end of the first transmission member 330 rotates around the output shaft of the stepper motor by a certain arc. The other end of the first transmission member 330 is connected to the driving rod 310, which can make the driving rod 310 move according to a predetermined motion trajectory. At the same time, the driving rod 310 moves toward a portion 2211 of the connecting arm 221 and drives the connecting arm 221 to rotate upward around the support assembly.

[0113] In this embodiment, the first transmission member 330 has an eccentric structure, in which a first end is provided, which abuts against the connecting arm 221. The first transmission member 330 is connected to the first drive motor 320 in a transmission connection. The first transmission member 330 has a drive end 3711 on one side of the eccentric structure, and the drive end 3711 abuts against a part of the structure of the connecting arm 221.

[0114] Figure 7 This is an exploded view of the side brush device and the drive device of the self-moving cleaning device according to the first embodiment of the present invention. Figure 8 This is a structural diagram of the first transmission component of the self-moving cleaning device according to the first embodiment of the present invention, as shown below. Figure 7 and Figure 8 As shown, the driving device 300 includes a first driving motor 320 and a first transmission member 330. The first transmission member 330 is provided with a first transmission hole 331 and a first driving surface 332. The first driving motor 320 is provided with a first output shaft 321. The first driving motor 320 cooperates with the first transmission hole 331 of the first transmission member 330 through the first transmission shaft to drive the first transmission member 330 to move along a predetermined trajectory, thereby driving the driving rod 310 connected to the first transmission member 330 to move along a predetermined trajectory.

[0115] like Figure 7 As shown, the first transmission member 330 is also provided with a first driving surface 332. The first driving surface 332 extends from the first transmission hole 331 in a direction away from the first transmission hole 331. The first driving surface 332 abuts against the driving rod 310, so that the first driving motor 320 can move the driving rod 310 towards a part of the connecting arm 2211 through the first driving surface 332 of the first transmission member 330, and apply a force to the part of the connecting arm 2211, so that the connecting arm 221 forms a certain bending moment relative to the support component, so that the connecting arm 221 can drive the side brush 222 to rotate upward.

[0116] like Figure 8As shown, the first transmission member 330 also includes a second driving surface 333. Along the rotation direction of the first transmission member 330, the distance between different points on the second driving surface 333 and the center line of the first transmission hole 331 increases or decreases sequentially. The second driving surface 333 is provided on the first transmission member 330 to drive the limit switch 340 which is electrically connected to the first drive motor 320.

[0117] When the first transmission member 330 rotates, the second driving surface 333 drives the travel end 341 of the limit switch 340 to control the first drive motor 320 connected to the limit switch 340. The start and stop of the first drive motor 320 are controlled by the relative movement between the second driving surface 333 of the first transmission member 330 and the limit switch 340.

[0118] The limit switch 340 can be configured as any one of a position sensor, an optocoupler switch, or a Hall switch.

[0119] Combination Figure 7 The driving device 300 also includes a reset member 350. One end of the reset member 350 is connected to the driving rod 310, and the other end is connected to the housing 101 of the self-moving cleaning device 100. In this embodiment, by setting the reset member 350, when the driving rod 310 moves toward the connecting arm 221 and applies force to a part of the area 2211 of the connecting arm 221, the driving rod 310 can return to its initial position. At the same time, the connecting arm 221 and the side brush 222 return to the downward tilted position under the action of gravity. Therefore, in the cleaning mode, the self-moving cleaning device 100 in this embodiment can start or stop the side brush 222 lifting mode according to the actual situation during the cleaning process. After starting the side brush 222 mode, the side brush 222 rotates upward to move away from the ground. After stopping the side brush 222 lifting mode, the side brush 222 returns to the state of contact with the ground, so that the cleaning of the ground can continue.

[0120] In this invention, the self-moving cleaning device 100 does not limit the specific structural form of the reset member 350, which can be set as a spring. The initial state of the spring can be a compressed state or a stretched state. That is, the force exerted by the spring on the drive rod 310 can be provided by the compressed spring or the stretched spring.

[0121] The reset element 350 in the drive unit 300 can also reset the drive rod 310 by electromagnetic force. Designers can make specific arrangements according to the application environment of the sweeping robot and the limited space inside the self-moving cleaning device 100.

[0122] In one embodiment of the present invention, such as Figure 7As shown, the driving device 300 also includes a second driving motor 360 and a reduction device 370. The second driving motor 360 is provided with a second output shaft 361. The second output shaft 361 is connected to the support assembly through the reduction device 370 to drive the support assembly and the side brush assembly 220 to rotate together.

[0123] In this embodiment, the self-moving cleaning device 100, by setting a separate second drive motor 360 and a reduction gear 370, can set the driving force and rotation speed of the side brush 222 in the side brush device 200. The driving force and rotation speed of the side brush 222 will affect the cleaning effect of the side brush 222 on the ground. Different debris or dirt on the ground requires different cleaning forces. In order to improve cleaning efficiency, it is also necessary to set different rotation speeds of the side brush 222 according to different dirt on the ground.

[0124] In one embodiment of the present invention, the combination continues... Figure 7 The reduction gear 370 includes a first transmission gear 371 and a second transmission gear 372 that are meshed together. The driving end 3711 of the first transmission gear 371 is connected to the second output shaft 361. The second transmission gear 372 has a first connecting end 3722 on its end face 3721 facing the support assembly. The first connecting end 3722 is connected to the support assembly in a transmission manner. In this embodiment, the self-moving cleaning device 100 uses two meshed transmission gears, namely the first transmission gear 371 and the second transmission gear 372. The driving force in the support assembly of the side brush device 200 and the rotation speed of the support assembly can be set by the transmission ratio between the first transmission gear 371 and the second transmission gear 372.

[0125] In this embodiment of the self-moving cleaning device, the second drive motor 360 indirectly drives the support assembly through the reduction device 370. The rotation speed of the side brush assembly 220 connected to the support assembly can be further set by setting the gears of the first transmission gear 371 and the second transmission gear 372, as well as the transmission ratio of the first transmission gear 371 and the second transmission gear 372.

[0126] It should be noted that in this embodiment, the self-moving cleaning device 100 has a second drive motor 360 that drives the side brush device 200 to rotate as a whole through a reduction gear 370. One or more side brush assemblies 220 are connected to the support assembly. The side brush assembly 220 and the support assembly rotate together around the rotation axis 223 to clean the ground.

[0127] Figure 17 This is a connection diagram of the side brush device and the drive device according to a second embodiment of the self-moving cleaning device of the present invention, as shown below. Figure 17As shown, in this embodiment, the self-moving cleaning device 100 has only a second drive motor 360 in the drive device 300. The second drive motor 360 can drive the side brush assembly 220 to rotate to clean the ground, and can also provide power for the side brush assembly 220 to rotate upward relative to the support assembly, so that the side brush assembly 220 can move away from the ground and avoid contact with the sticky dirt on the ground.

[0128] Specifically, when the second output shaft 361 of the second drive motor 360 rotates in one direction, it provides power for driving the side brush assembly 220 to clean the ground. When the second output shaft 361 of the second drive motor 360 rotates in another direction, it provides power for driving the side brush assembly 220 to rotate upward relative to the support assembly.

[0129] It is understood that the self-moving cleaning device 100 in this embodiment includes a speed reduction device 370, and the second drive motor 360 is connected to the side brush assembly 220 through the speed reduction device 370, or the second drive motor 360 is connected to the support assembly and the side brush assembly 220 through the speed reduction device 370, so that the rotation speed of the side brush assembly 220 and the magnitude of the driving force applied to the side brush assembly 220 can be set according to the speed reduction device 370.

[0130] The reduction gear 370 in this embodiment is the same as the reduction gear 370 in the above embodiments, both including a first transmission gear 371 and a second transmission gear 372. The differences between this embodiment and the reduction gear 370 in the above embodiments are explained in detail below:

[0131] In one embodiment of the present invention, the drive rod 310 is provided with a first rod segment 311 and a second rod segment 312; the second transmission gear 372 is provided with a second transmission hole 3723 in its central region along the direction of the rotation axis 223, the first rod segment 311 is axially movable and passes through the second transmission hole 3723, and is in transmission cooperation with the second transmission hole 3723.

[0132] The first segment 311 and the second segment 312 of the drive rod 310 can be arranged adjacent to each other, or the first segment 311 and the second segment 312 can be arranged at intervals according to the actual structural design requirements.

[0133] The first rod segment 311 is axially movable in the second transmission hole 3723, so that the first transmission rod can move axially to a part of the connecting arm 2211 and apply force to the connecting arm 221. At the same time, the first rod segment 311 is also in transmission engagement with the second transmission hole 3723. While the second transmission gear 372 is rotating, the drive rod 310 can rotate and move together with the second transmission gear 372.

[0134] In this embodiment, the driving device 300 of the self-moving cleaning device 100 further includes a second transmission member 380. The second transmission member 380 is disposed on the housing 101 of the reduction device 370. The second transmission member 380 is provided with a threaded hole 381. A second rod segment 312 passes through the threaded hole 381 and is in transmission engagement with the threaded hole 381 to control the axial movement of the driving rod 310. One end of the first rod segment 311 abuts against a portion 2211 of the connecting arm 221. The second rod segment 312 of the driving rod 310 is a threaded rod and can be in transmission engagement with the threaded hole 381 of the second transmission member 380. When the second transmission member 380 is disposed on the housing 101 of the reduction device 370, the driving rod 310 can be moved axially through the transmission engagement between the threaded hole 381 of the second transmission member 380 and the second rod segment 312 of the driving rod 310, thereby moving towards a portion 2211 of the connecting arm 221 and applying force to the connecting arm 221.

[0135] Figure 18 This is a cross-sectional view of the side brush device and drive device of a second embodiment of the self-moving cleaning device of the present invention, as shown below. Figure 18 As shown, when the second drive shaft of the second drive motor 360 rotates in one direction, the second drive shaft transmits power to the support assembly that is engaged with the second drive gear 372 through the meshing first drive gear 371 and second drive gear 372 in the reduction device 370, thereby driving the support assembly and the side brush assembly 220 to rotate around the rotating shaft 223 to clean the ground.

[0136] When the second drive shaft of the second drive motor 360 rotates in another direction, the second drive gear 372 drives the drive rod 310 to rotate in another direction. The thread on the second segment 312 of the drive rod 310 meshes with the threaded hole 381 on the second transmission member 380. Since the second transmission member 380 is located on the housing 101 of the reduction device 370, it can drive the second segment 312 to move axially relative to the second transmission member 380. The drive rod 310 moves axially, causing one end of the first segment 311 of the drive rod 310 to apply a force to a portion 2211 of the connecting arm 221, causing the connecting arm 221 to rotate upward relative to the support assembly.

[0137] In one embodiment of the present invention, the self-moving cleaning device 100 has a cleaning mode and a side brush 222 lifting mode. When the self-moving cleaning device 100 is in the cleaning mode, under the action of the second drive motor 360, the second transmission gear 372 of the drive device 300 rotates around its rotation axis 223 in the first direction A. When the self-moving cleaning device 100 is in the side brush 222 lifting mode, under the action of the second drive motor 360, the second transmission gear 372 of the drive device 300 rotates around its rotation axis 223 in the second direction B.

[0138] Wherein, the first direction A and the second direction B are set oppositely, and the helical direction of the thread in the second transmission hole 3723 is the second direction B.

[0139] In this embodiment, the self-moving cleaning device 100 has the same thread direction in the threaded hole 381 of the second transmission member 380, the same thread direction on the second rod segment 312 of the drive rod 310, and the same rotation direction of the second transmission gear 372 in the side brush 222 lifting mode. All of these are along the second direction B. When the second transmission gear 372 rotates around its rotation axis 223 along the second direction B, the second rod segment 312 of the drive rod 310 meshes with the threaded hole 381 on the second transmission member 380 under the transmission of the second transmission gear 372, and rotates relative to the second transmission member 380 along the second direction B. One end of the first rod segment 311 of the drive rod 310 applies a force to a portion of the connecting arm 221, driving the connecting arm 221 to rotate upward relative to the support assembly, and the side brush assembly 220 moves away from the ground.

[0140] The thread in the second transmission hole 3723 can be set as a right-hand thread or, as needed, a left-hand thread.

[0141] In one embodiment of the present invention, such as Figure 20 As shown, the axial length of the thread on the second segment 312 of the drive rod 310 is L1, combined with... Figure 18 The movable distance of one end of the first segment 311 of the drive rod 310 is L3, which is the axial movable distance of the drive rod 310. Where L1≥L3, when the thread on the second segment 312 of the drive rod 310 engages with the threaded hole 381 of the second transmission member 380, it can ensure that one end of the first segment 311 of the drive rod 310 has sufficient axial travel to drive a part of the connecting arm 221.

[0142] like Figure 20 As shown, the length of the first segment 311 of the drive rod 310 is L2, where L2 > L1. The length of the first segment 311 is set to be relatively long so that the first segment 311 of the drive rod 310 can pass through the second transmission hole 3723 of the second transmission gear 372, and one end of it can extend to a part of the area 2211 of the connecting arm 221.

[0143] Figure 19 This is an exploded view of the drive device of the second embodiment of the self-moving cleaning device of the present invention, in conjunction with... Figure 18 and Figure 19The self-propelled cleaning device 100 has a speed reduction device 370 with a mounting cap 373. The mounting cap 373 has a receiving space. The mounting cap 373 is disposed on the housing 101 of the speed reduction device 370. The end of the drive rod 310 away from the connecting arm 221 is disposed in the receiving space of the mounting cap 373. In the receiving space of the mounting cap 373, the parts that cooperate with the drive rod 310 also include an upper support seat 374 and a first elastic member 375. When it is necessary to inspect and repair the drive rod 310 and the parts that cooperate with the drive rod 310, it is only necessary to remove the mounting cap 373 from the housing 101 of the speed reduction device 370 to inspect and repair the parts in its receiving space without disassembling other parts of the speed reduction device 370.

[0144] like Figure 19 As shown, a connecting shaft 313 is provided at one end of the second rod segment 312 of the drive rod 310. The connecting shaft 313 is connected to the upper support seat 374 and can rotate relative to the upper support seat 374. A first elastic member 375 is also provided on the outside of the upper support seat 374. One end of the first elastic member 375 is connected to the inner wall of the mounting cap 373, and the other end is connected to the upper support seat 374. The first elastic member 375 can apply an elastic force to the upper support seat 374 and the drive rod 310, which is beneficial for the thread of the second rod segment 312 of the drive rod 310 to mesh with the threaded hole 381 of the second transmission member 380.

[0145] In this configuration, the second segment 312 of the drive rod 310 is located on one side of the second transmission member 380, while most of the area 2211 of the first segment 311 of the drive rod 310 is located on the other side of the second transmission member 380.

[0146] The second transmission gear 372 has a receiving cavity 232 that is suitable for the first rod segment 311 of the drive rod 310 to pass through. A second elastic member 376 is provided in the receiving cavity 232. When the drive rod 310 moves upward, the second elastic member 376 can apply an elastic force to the first rod segment 311 of the drive rod 310, which is conducive to the engagement and connection between the thread on the second rod segment 312 of the drive rod 310 and the threaded hole 381 of the second transmission member 380.

[0147] Specifically, a connecting end that cooperates with the second elastic element 376 is provided on the first segment 311 of the drive rod 310. The second elastic element 376 is also connected to the inner wall of the receiving cavity 232. When the drive rod 310 moves downward to drive a portion 2211 of the connecting arm 221, causing the connecting arm 221 and the side brush assembly 220 to rotate upward relative to the support assembly, the second elastic element 376 is in a compressed state. When it is necessary to restore the side brush assembly 220 to contact the ground to clean the ground, the drive rod 310 rotates in the first direction A under the drive of the second transmission gear 372. At the same time, the drive rod 310 has an upward movement tendency due to the elastic force of the second elastic element 376, which is conducive to meshing with the thread in the threaded hole 381 of the second transmission member 380.

[0148] Combination Figure 17 and Figure 19 The two sides of the mounting cap 373 are connected to the housing 101 of the speed reducer 370 by fasteners 377. Specifically, connecting ears can be provided on both sides of the mounting cap 373, and the fasteners 377 are inserted into the connecting ears to fix the mounting cap 373.

[0149] Figure 20 This is a structural diagram of the drive rod in one embodiment of the self-moving cleaning device of the present invention, as shown below. Figure 20 As shown, the first segment 311 of the drive rod 310 is provided with a connecting surface that mates with the second transmission hole 3723 of the second transmission gear 372. This connecting surface can be a plane, or one or more planes can be provided. The multiple planes are spaced apart from the cylindrical surface, which is beneficial for applying force to the drive rod 310.

[0150] Figure 21 This is a structural diagram of the second transmission component of an embodiment of the self-moving cleaning device of the present invention, as shown below. Figure 21 As shown, the second transmission member 380 can be configured as a nut that can engage with the thread on the second segment 312 of the drive rod 310, and the nut can be configured as a hexagonal nut.

[0151] Figures 9 to 15 The side brush device of the self-moving cleaning device of the present invention, as well as its support component and side brush assembly, are illustrated from different perspectives. The side brush assembly 220 is mounted on the support component. Under the action of the drive device 300 of the self-moving cleaning device 100, the side brush assembly 220 and the support component rotate together to clean the floor. The following detailed description, using different embodiments and in conjunction with the accompanying drawings, provides further insight.

[0152] Figure 9 This is a structural diagram showing the side brush assembly of the self-moving cleaning device of the present invention installed on the support assembly. Figure 10This is an exploded view of the side brush assembly 220 and support assembly of the self-moving cleaning device 100 of the present invention, as shown below. Figure 9 As shown in Figure 10, the support assembly includes a side brush head 210 and a side brush cover 230. The side brush head 210 and the side brush cover 230 are connected to each other to form a side hole 233. An installation structure is provided at the side hole 233. The side brush assembly 220 is pivotally connected to the installation structure. The side brush assembly 220 can rotate upward relative to the side brush head 210 and the side brush cover 230, thereby causing the side brush 222 in the side brush assembly 220 to leave the ground.

[0153] Specifically, the side brush assembly 220 includes a connecting arm 221 and a side brush 222. The side brush 222 extends along the length direction C of the connecting arm 221, and the connecting arm 221 causes the side brush 222 to tilt downward. The side brush assembly 220 also includes a rotating shaft 223, which is mounted on the mounting structure of the side brush assembly 220. The connecting arm 221 rotates relative to the side brush head 210 and the side brush cover 230 through the rotating shaft 223. Driven by the connecting arm 221, the side brush 222 connected to the connecting arm 221 rotates upward.

[0154] like Figure 10 As shown, in one embodiment of the present invention, the side brush device 200 further includes a torsion spring 240, which is installed together with the rotating shaft 223 in the above-mentioned mounting structure. The torsion spring 240 has a first torsion arm 241 and a second torsion arm 242. The first torsion arm 241 is connected to the side brush cover 230 or the side brush head 210, and the second torsion arm 242 is connected to the connecting arm 221. The torsion spring 240 provides a downward rotational torque to the connecting arm 221, so that the side brush 222 connected to the connecting arm 221 can make good contact with the ground, and an interaction force is formed between the connecting arm 221 and the ground, which is beneficial for the side brush 222 to clean dirt and debris on the ground.

[0155] By adjusting the rotational torque provided by the torsion spring 240, the pressure applied to the ground by the side brush 222 can be set. Appropriate pressure can clean the ground more thoroughly; setting too much pressure between the side brush 222 and the ground will cause severe wear on the side brush 222.

[0156] like Figure 10 As shown, a partial area 2211 is provided at one end of the connecting arm 221. This partial area 2211 and the side brush 222 are respectively provided on both sides of the rotating shaft 223 of the side brush assembly 220. Thus, when the drive rod 310 applies a force to the partial area 2211 of the connecting arm 221, the side brush 222 located at the other end of the connecting arm 221 can be lifted away from the ground by using the lever principle.

[0157] In this embodiment, the lifting height and lifting speed of the side brush 222 connected to the connecting arm 221 can be adjusted by setting the length between the connecting arm 221 and the side brush 222, and the position of the rotating shaft 223 on the connecting arm 221.

[0158] In one embodiment, a portion 2211 of the connecting arm 221 is located at the end of the connecting arm 221 away from the side brush 222. The portion 2211 is set at an angle to the length direction of the side brush 222. This arrangement can adjust the lifting height of the side brush 222 and also helps to set the portion 2211 as a planar area to increase the contact area with the drive rod 310.

[0159] In practical applications, the applicant sets the side brush device 200 in this embodiment in the self-moving cleaning device 100. The height of one end of the side brush 222 from the ground can reach 43mm, which can meet the requirement that the side brush 222 avoids sticky debris on the ground.

[0160] In one embodiment of the present invention, the side brush head 210 of the support component and the side brush cover 230 together form a receiving cavity 232, which is used to receive a portion of the connecting arm 2211. The side brush cover 230 is also provided with a through hole 231 communicating with the receiving cavity 232, so that one end of the drive rod 310 can pass through the through hole 231 to extend into the receiving cavity 232 and abut against the portion of the connecting arm 2211.

[0161] The side brush head 210 of the support component is connected to the side brush cover 230 and forms a side hole 233 that communicates with the receiving cavity 232. The connecting arm 221 is pivotally connected to the mounting structure in the side hole 233, and a part of the connecting arm 221 is arranged in the receiving cavity 232.

[0162] It is understood that multiple side holes 233 can be provided in the support assembly, and multiple side brush assemblies 220 can be provided in the side brush device 200. Each side brush assembly 220 corresponds to a side hole 233. Parts 2211 of multiple connecting arms 221 in the side brush assembly 220 are all located in the receiving cavity 232. The drive rod 310 can simultaneously apply force to the parts 2211 of multiple connecting arms 221, driving the connecting arms 221 to rotate upward relative to the support assembly.

[0163] Multiple side holes 233 can be evenly arranged on the sides of the side brush head 210 and the side brush cover 230, so that multiple side brush assemblies 220 passing through different side holes 233 can be evenly distributed. When the side brush assembly 220 rotates at high speed, it can ensure that the side brush device 200 and the self-moving cleaning device 100 have high stability. Figure 11This is a schematic diagram of the structure of the self-moving cleaning device 100 of the present invention, showing the connecting arm 221 mounted on the support assembly from another perspective.

[0164] Figure 12 This is a schematic diagram showing the relative installation positions of the side brush head and side brush cover of the self-moving cleaning device of the present invention. Figure 13 This is a structural diagram illustrating the relative installation positions between the side brush head and the side brush cover of the self-moving cleaning device of the present invention, as shown below. Figure 12 As shown in Figure 13, the side brush head 210 and the side brush cover 230 are connected together by a snap fastener 211, realizing a detachable connection between the side brush head 210 and the side brush cover 230. It can be understood that the side brush head 210 and the side brush cover 230 can also be connected by a fastener 377 to realize a detachable connection, such as using screws.

[0165] like Figure 12 and Figure 13 As shown, a hole 234 and a support end 235 corresponding to the hole 234 are provided on the side brush cover 230. The hole 234 and the support end 235 together support the rotating shaft 223. When the rotating shaft 223 is installed in the hole 234 and the support end 235, it can rotate around its rotation axis 223.

[0166] Among them, hole 234 can be set as through hole 231 or blind hole 234, and the support end is set as a groove structure, which is conducive to the installation and disassembly of shaft 223;

[0167] in, Figure 12 and Figure 13 The relative positional relationship between the side brush head and the side brush cover is shown from different perspectives. After the side brush head 210 and the side brush cover 230 are connected, as shown... Figure 14 As shown, a schematic diagram of the connection between the side brush head 210 and the side brush cover 230 of the self-moving cleaning device 100 of the present invention is shown from another perspective, in which the receiving cavity 232 and the side hole 233 are shown.

[0168] Figure 15 This is a schematic diagram of the side brush head of the self-moving cleaning device of the present invention, as shown below. Figure 15 As shown, the lower part of the side brush head 210 is annular, with two notches symmetrically arranged on the annular structure. The two notches are used to form side holes 233 for accommodating part of the connecting arm 221. A partial buckle 211 structure is provided on one side of each notch, which is used to cooperate with the partial buckle 211 structure on the side brush cover 230.

[0169] A second aspect of the invention also provides a cleaning system comprising a self-moving cleaning device as described in any of the above embodiments, and a cleaning base station for the self-moving cleaning device to perform cleaning.

[0170] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A self-propelled cleaning device, characterized in that, The self-moving cleaning device includes: A side brush device, the side brush device including a support assembly and at least one side brush assembly, the side brush assembly including a connecting arm and a side brush, the connecting arm being hinged to the support assembly, the side brush extending along the length direction of the connecting arm, and the side brush being connected to the side of the connecting arm further away from the support assembly. A driving device is connected to the side brush device. The driving device is provided with a driving rod. One end of the driving rod can move toward the connecting arm to drive the connecting arm to swing relative to the support assembly in a hinged position, and the connecting arm drives the side brush to rotate. The driving device includes a first driving motor and a first transmission component. The first transmission component is provided with a first transmission hole and a first driving surface. The first driving motor is provided with a first output shaft. The first transmission component is sleeved on the first output shaft through the first transmission hole and drives the first output shaft. The first driving surface extends from the first transmission hole in a direction away from the first transmission hole and abuts against the driving rod.

2. The self-moving cleaning device according to claim 1, characterized in that, The first transmission component further includes a second driving surface, and along the rotation direction of the first transmission component, the distance between different points on the second driving surface and the center line of the first transmission hole increases or decreases sequentially. The driving device also includes a limit switch, which is electrically connected to the first driving motor, and the travel end of the limit switch can abut against the second driving surface.

3. The self-moving cleaning device according to claim 2, characterized in that, The limit switch includes an optocoupler switch or a Hall switch.

4. The self-moving cleaning device according to claim 1, characterized in that, The drive device also includes a reset component, one end of which is connected to the drive rod and the other end of which is connected to the housing of the self-moving cleaning device.

5. The self-moving cleaning device according to claim 1, characterized in that, The driving device further includes a second drive motor and a transmission assembly, wherein the second drive motor is provided with a second output shaft; The second output shaft is connected to the support assembly via the transmission assembly to drive the support assembly and the side brush assembly to rotate together.

6. The self-moving cleaning device according to claim 5, characterized in that, The transmission assembly includes a first transmission gear and a second transmission gear that mesh with each other. The driving end of the first transmission gear is connected to the second output shaft, and the second transmission gear has a first connecting end on its end face facing the support assembly. The first connecting end is connected to the support component in a transmission manner.

7. The self-moving cleaning device according to claim 6, characterized in that, The drive rod has a first segment and a second segment; The second transmission gear has a second transmission hole along its own rotation axis, and the first rod segment is axially movable and passes through the second transmission hole, and is in transmission engagement with the second transmission hole; The driving device further includes a second transmission component, which has a threaded hole. The second rod segment passes through the threaded hole and is threadedly engaged with the threaded hole to control the axial movement of the driving rod. One end of the first rod segment abuts against the connecting arm.

8. The self-moving cleaning device according to claim 7, characterized in that, The self-moving cleaning device has a cleaning mode and a side brush lifting mode. In the cleaning mode, the second transmission gear rotates in a first direction, and in the side brush lifting mode, the second transmission gear rotates in a second direction. The first direction and the second direction are set in opposite directions. The helical direction of the thread in the second transmission hole is the second direction.

9. The self-moving cleaning device according to any one of claims 1-8, characterized in that, The support assembly also includes a side brush cover and a side brush head, the side brush cover and the side brush head together forming a receiving cavity and at least one side hole communicating with the receiving cavity; A portion of the connecting arm extends through the side hole into the receiving cavity; The side brush cover has a through hole that communicates with the receiving cavity. One end of the drive rod passes through the through hole and extends into the receiving cavity, abutting against the connecting arm.

10. The self-moving cleaning device according to claim 9, characterized in that, The portion of the area is located at the end of the connecting arm away from the side brush, and the portion of the area is set at an angle to the length direction of the side brush.

11. The self-moving cleaning device according to claim 9, characterized in that, The side brush cover and the side brush head are detachably connected.

12. The self-moving cleaning device according to claim 9, characterized in that, The side brush device further includes a torsion spring having a first torsion arm and a second torsion arm. The first torsion arm is connected to the side brush cover or the side brush head, and the second torsion arm is connected to the connecting arm for providing a downward rotational torque to the connecting arm.

13. The self-moving cleaning device according to any one of claims 1-8, characterized in that, The self-moving cleaning device also includes an identification device and a controller; The identification device is equipped with at least one detector, which is oriented toward the walking direction of the self-moving cleaning device; The controller is electrically connected to both the identification device and the driving device.

14. A cleaning system, characterized in that, The cleaning system includes the self-moving cleaning device according to any one of claims 1-13.

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