Working method of cleaning equipment, cleaning equipment and single power source device

Abstract

The embodiments of the present application provide a working method of a cleaning device, a cleaning device and a single power source device. Among them, the cleaning device includes a power source and an actuator for performing cleaning tasks. The working method of the cleaning device includes: when it needs to be swung out, the power source is controlled to output a first direction power, and the actuator is swung out to be partially exposed outside the body of the cleaning device; after being swung out to the right position, the actuator is driven by the first direction power and descends while rotating; after descending to the right position, the actuator maintains the position and continues to rotate. The technical solution provided by the embodiments of the present application is powered by a power source, and controlling this power source can realize the swing, descent and rotation of the actuator. During the entire method process, there is no need to identify multiple controlled objects and then send control instructions to the target object, nor is there any need to add the logic of switching the controlled objects, the judgment of the switching timing, etc. The cleaning device only needs to continuously control the power source to output the first direction power. The working method of the cleaning device is simple and not prone to errors.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a working method of a cleaning device, a cleaning device and a single power source device. Background Art

[0002] In order to reduce blind spots in cleaning, some cleaning equipment is equipped with a retractable actuator (such as a rag). In addition to being retractable, the actuator also needs to be able to rise and fall and rotate. In order to achieve this function, the existing technology usually sets up multiple motors and corresponding transmission structures to respectively achieve the retraction, rise and fall and rotation of the actuator.

[0003] Obviously, the existing scheme has a complex structure and requires multiple power sources, which increases the difficulty of control. The control device on the cleaning equipment needs to control different power sources respectively, and the control procedure is relatively complex and prone to errors. Summary of the invention

[0004] In view of the above problems, the present application provides multiple embodiments to adopt a power source solution to simplify the control method. Specifically:

[0005] The first embodiment of the present application provides a working method of a cleaning device. The cleaning device includes a power source and an actuator for performing a cleaning task. Specifically, the method includes:

[0006] When it is necessary to swing out, the power source is controlled to output power in a first direction, and the actuator is swung out, with a portion of it exposed outside the body of the cleaning device;

[0007] After being swung out to the right position, the actuator is driven by the first directional force to descend while rotating;

[0008] After being lowered into position, the actuator maintains its position and continues to rotate under the driving force of the first direction.

[0009] A second embodiment of the present application provides a cleaning device, comprising:

[0010] An actuator is used to perform cleaning tasks;

[0011] A drive assembly having a power source, wherein the drive assembly is connected to the actuator;

[0012] The control device is electrically connected to the power source and is used to control the power source to output a first direction power when the actuator needs to be swung out, so that a portion of the actuator is swung out and exposed outside the body of the cleaning device; after being swung out to the right position, the actuator is driven by the first direction power to descend while rotating; after descending to the right position, the actuator maintains its position and continues to rotate.

[0013] Optionally, the driving assembly comprises:

[0014] a power source having a power shaft;

[0015] A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft;

[0016] A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member;

[0017] The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action; the actuator is connected to the lifting member;

[0018] Among them, the control device controls the operation of the power source, and the power shaft drives the rotating arm to rotate through the first end to change the horizontal position of the actuator; after the actuator moves to the target position, the output torque of the power source is increased, the position of the rotating arm is limited, and the power shaft drives the transmission assembly and the lifting assembly to change the height of the actuator.

[0019] The third embodiment of the present application provides a cleaning device. The cleaning device comprises a body, an actuator and a driving assembly; the actuator is arranged on the body to perform a cleaning task; the driving assembly is arranged on the body, and the driving assembly comprises:

[0020] A power source having a power shaft; the power source is arranged on a bracket;

[0021] A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft;

[0022] A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member;

[0023] A second elastic member, one end of which is connected to the first end, and the other end of which is connected to the bracket;

[0024] The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action; the actuator is connected to the lifting member;

[0025] Among them, the power source outputs power with constant torque, and with the assistance of the second elastic member, the power shaft drives the rotating arm to rotate to change the horizontal position of the actuator; after the actuator moves to the target position, the position of the rotating arm is limited, and the power shaft drives the transmission assembly and the lifting assembly to change the height of the actuator.

[0026] Optionally, the power source outputs the first-direction power of the set torque, the second elastic member assists the rotating arm to rotate, and the actuator is swung out; the power source outputs the second-direction power of the set torque, the rotating arm rotates, the actuator is recovered, and the second elastic member is deformed.

[0027] The power source outputs the first direction power of the set torque, and after the actuator is swung out into position, the actuator descends under the first direction power of the set torque; the power source outputs the second direction power of the set torque, and after the actuator is recovered into position, the actuator rises under the second direction power of the set torque.

[0028] The fourth embodiment of the present application provides a single power source device. The single power source device includes:

[0029] a power source having a power shaft;

[0030] A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft;

[0031] A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member;

[0032] The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action;

[0033] Among them, when the power source is working, the power shaft drives the rotating arm to rotate through the first end; after the rotating arm is rotated to a set position, it is limited, and by increasing the output torque of the power source, the power shaft drives the transmission assembly and the lifting assembly to enable the lifting component to output a lifting action.

[0034] The fifth embodiment of the present application provides a single power source device. The single power source device includes:

[0035] A power source having a power shaft; the power source is arranged on a bracket;

[0036] A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft;

[0037] A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member;

[0038] A second elastic member, one end of which is connected to the first end, and the other end of which is connected to the bracket;

[0039] The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action;

[0040] Among them, the power source outputs power with constant torque, and the power shaft drives the rotating arm to rotate with the help of the second elastic member; after the rotating arm rotates to a set position, it is limited, and the power shaft drives the transmission assembly and the lifting assembly to enable the lifting member to output a lifting action.

[0041] The sixth embodiment of the present application provides a working method of a cleaning device. The cleaning device includes a control device, a power source, a sensor, and an actuator for performing a cleaning task. The working method of the cleaning device includes:

[0042] When it is necessary to swing out, the control device controls the power source to output power in the first direction, and the actuator swings out, with a portion of it exposed outside the body of the cleaning device;

[0043] Acquiring detection information of the sensor to determine the swing angle of the actuator;

[0044] After being swung out to a preset angle, the actuator descends under the driving force of the first direction;

[0045] After being lowered into position, the actuator maintains the position and rotates to perform cleaning work.

[0046] The seventh embodiment of the present application provides a cleaning device. The cleaning device comprises:

[0047] An actuator is used to perform cleaning tasks;

[0048] A drive assembly having a power source, wherein the drive assembly is connected to the actuator;

[0049] A sensor, used to detect information around the cleaning device and obtain detection information;

[0050] The control device is electrically connected to the power source and the sensor, and is used to control the power source to output a first-direction power when the actuator needs to be swung out, so that the actuator is swung out with a portion exposed outside the body of the cleaning device; obtain the detection information of the sensor to determine the swinging angle of the actuator; after swinging out to a preset angle, the actuator is driven by the first-direction power to descend; after descending into place, the actuator maintains its position and rotates to perform cleaning work.

[0051] The technical solution provided by the embodiment of the present application is powered by a power source, and controlling this power source can realize the swinging out, descending and rotating of the actuator. For example, when it is necessary to swing out the actuator, the power source is controlled to output the first direction power so that the actuator can be swung out. After the actuator is swung into place, driven by the first direction power, the actuator rotates and descends; after the actuator descends into place, the actuator maintains its position and continues to rotate. During the entire method process, only one component, namely the power source, needs to be controlled; there is no need to identify multiple controlled objects and then send control instructions to the target object, nor is there any need to add the logic of switching the controlled objects, the judgment of the switching timing, etc. The cleaning equipment only needs to continuously control the power source to output the first direction power, and the actuator can complete the swinging out, rotation, descent, and maintain its position and continue to rotate after descending into place. It can be seen that the scheme provided by this embodiment is simple in the working method of the cleaning equipment and is not prone to errors.

[0052] Correspondingly, another embodiment of the present application provides a cleaning device implementation scheme corresponding to the above method. The cleaning device includes a driving component and a control device, and the control device can control the power source in the driving component, so that the driving component can drive the actuator to swing out, rotate, and descend, and maintain the position and continue to rotate after descending into place.

[0053] In a specific embodiment, a rotating arm is provided on the cleaning device, and one end of the rotating arm is connected to the power shaft so that after the power shaft of the power source outputs power, it can be rotated under power drive to extend or retract; in addition, this embodiment is also provided with a transmission assembly, which transmits the power output by the power shaft to the linkage member in the lifting assembly, and the linkage member rotates, and the lifting member of the lifting assembly performs a lifting action, so that the actuator of the cleaning device can be lifted relative to the machine body. The scheme of this embodiment also realizes the horizontal position change and height change of the actuator by changing the output torque of the power source. It can be seen that the scheme provided in the embodiment of the present application only sets one power source, and realizes the swing-out recovery, lifting and rotation of the actuator by controlling the power source to change the direction and torque of the output power. The required power source is small, and the transmission structure is simple, low cost, and compact; at the same time, it also makes the control logic of the cleaning device simple, easy to implement, and not prone to errors.

[0054] In another embodiment of the present application, a cleaning device is provided with only one power source to realize the extension, retraction, lifting and rotation of the actuator. Specifically, a rotating arm is provided on the cleaning device, and one end of the rotating arm is connected to the power shaft of the power source, so that after the power shaft of the power source outputs power, it can be rotated under power drive to extend or retract; a transmission assembly is also provided, and the transmission assembly transmits the power output by the power shaft to the linkage member in the lifting assembly, and the linkage member rotates, and the lifting member of the lifting assembly performs a lifting action, so that the actuator of the cleaning device can be lifted relative to the body. In order to further improve the swing-out and recovery stability, the present embodiment also adds a second elastic member, and the power source outputs a constant torque. The power source can efficiently drive the rotating arm to rotate with the help of the second elastic member to change the horizontal position of the actuator. After the actuator moves to the target position, the position of the rotating arm is limited, and the power shaft drives the transmission assembly and the lifting assembly to change the height of the actuator. It can be seen that the solution provided by the embodiment of the present application only sets one power source to realize the extension, retraction, lifting and rotation of the actuator, and the required power source is small, and the transmission structure is simple, low cost and compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1a A schematic diagram of the structure of a cleaning device provided in one embodiment of the present application;

[0057] Figure 1b for Figure 1a The schematic diagram of the structure of the middle dishcloth plate;

[0058] Figure 2a A schematic diagram of the structure of a handheld cleaning machine provided in one embodiment of the present application;

[0059] Figure 2b for Figure 2a Bottom schematic diagram of ;

[0060] Figure 3 A schematic diagram of the bottom structure of a cleaning device provided in one embodiment of the present application;

[0061] Figure 4a and Figure 4b A schematic diagram of a structure of an actuator in a recycling state provided in an embodiment of the present application;

[0062] Figure 5a and Figure 5bA schematic diagram of the structure of an actuator provided in an embodiment of the present application in an outward swing state;

[0063] Figure 6 for Figure 4b A cross-sectional view of

[0064] Figure 7 for Figure 5b A cross-sectional view of

[0065] Figure 8 A schematic diagram of the structure of a rotating arm provided in one embodiment of the present application;

[0066] Fig. 9 A schematic diagram of the structure of an outer sleeve provided in one embodiment of the present application;

[0067] Fig.10 A schematic diagram of the structure of a lifting member provided in an embodiment of the present application;

[0068] Fig.11 A schematic diagram of the outward swinging action of the actuator provided in one embodiment of the present application;

[0069] Fig.12 A schematic diagram of the action of the actuator descending according to an embodiment of the present application;

[0070] Fig.13 A schematic diagram of the action of recovering and ascending an actuator provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] The inventor of the present application has improved the structure of the driving assembly of the actuator 42, with the purpose of using the power of a power source 410 to realize three actions of the actuator 42: telescopic action in the horizontal direction (telescopic action includes extension action and retraction action), lifting action in the height direction and rotation action. In order to realize the telescopic action of the actuator 42, the inventor of the present application sets a rotating arm 420 between the power source 410 and the actuator 42. The rotating arm 420 has a certain length. The power source 410 drives one end of the rotating arm 420 in the length direction to rotate, and the other end of the rotating arm 420 drives the actuator 42 to move, so that the telescopic action of the actuator 42 can be realized. At the same time, a transmission assembly 430 is also set, which can transmit the power of the power source 410 at the first end 421 of the rotating arm 420 to the second end 422 of the rotating arm 420, and drive the lifting assembly 440 to rise and fall at the second end 422, thereby driving the actuator 42 to perform the lifting action. Then, the extension and retraction, lifting and rotation of the actuator 42 are realized by changing the output torque of the power source 410, or the extension, lifting and rotation of the actuator 42 are realized by setting the second elastic member 44. The specific implementation structure can be seen in the embodiments below.

[0072] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present application, not to limit the present application. It should also be noted that, for the convenience of description, only part of the structure related to the present application is shown in the accompanying drawings, not all of it. In the description of the present application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present application can be understood in specific circumstances. In the present application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature can include the first and second features directly contacting, and can also include the first and second features not being in direct contact but contacting through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature. In the description of this embodiment, the terms "upper", "lower", "right", and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0073] Cleaning equipment can be cleaning robots, handheld cleaning machines, etc. Cleaning robots, such as mopping robots, sweeping and mopping robots, etc., can move on the surface to be cleaned (such as the floor, tabletop, etc.) and clean the surface to be cleaned (such as sweeping, vacuuming, mopping, etc.). A rag is provided at the bottom of the cleaning robot, which rotates or reciprocates in a straight line to mop the surface to be cleaned. Figure 1a and Figure 1bIn the example of the cleaning robot shown, the cleaning robot has a body 1 and a walking component 2. The walking component 2 can drive the body 1 to move, such as driving the body 1 to move along the edge, or to move in a bow shape, or to move in a spiral trajectory, etc. Among them, moving along the edge includes but is not limited to: moving along the edge of an obstacle (such as a bed, table legs, trash cans, sofas, etc.), moving along the wall, etc. When moving along the edge, there is a set distance along the edge between the body 1 and the obstacle or wall. The walking component 2 may include a universal wheel and two drive wheels, and the universal wheel may be arranged at the front of the bottom of the body 1 or the rear of the bottom. The two drive wheels may be located on the left and right sides of the bottom of the body 1, respectively. Each drive wheel corresponds to a driver, and the two drive wheels can realize the steering of the body 1 by differential means. Further, the cleaning robot may also have the ability to build a map, autonomously locate, autonomously plan a path, autonomously identify obstacles in the environment, autonomously avoid obstacles, autonomously move along the planned path and perform corresponding tasks. Of course, in addition to the aforementioned capabilities, the cleaning robot also has the ability to autonomously identify low and narrow spaces in the environment, etc. In order to achieve the above capabilities, a controller and a collection device (not explicitly shown in the figure) may be provided on the body 1 of the cleaning robot. Among them, the collection device may include but is not limited to: laser radar (such as LDS (Laser Direct Structuring), TOF (Time offlight, time of flight), area array, structured light, etc.), visual sensor (such as camera), infrared sensor, etc., so that the cleaning robot has the functions of collecting surrounding information, mapping, positioning and navigation, path planning, etc. Among them, path planning is the process of the cleaning robot executing the optimal or feasible path from the starting point to a certain end point, and navigation is the process of the cleaning robot executing the planned path to accurately travel to the destination (such as the end point). The controller is electrically connected to the collection device, and the controller controls the walking module to work according to the information collected by the collection device. A rag tray 3 is provided at the bottom of the body 1, and a detachable rag is provided on the rag tray 3. The rag tray can rotate, that is, rotate around its own rotation axis (the axis perpendicular to the paper direction in the figure) to clean the ground.

[0074] like Figure 2a and Figure 2b The handheld cleaning machine shown in the figure includes a body 400 and a floor brush 5. The floor brush 5 can be arranged at the bottom of the body 400, and a handle 6 can be arranged at the top of the body 400. The body 400 can be provided with, but not limited to: a clean water tank, a sterilizing device, etc. The floor brush 5 can be provided with a rag plate 3. The user can hold the handle 6 to push the floor brush 5 to move on the surface to be cleaned, the rag plate rotates, and the rag on the rag plate mops the surface to be cleaned.

[0075] No matter Figure 1a and Figure 1b Cleaning equipment shown, or Figure 2aThe handheld cleaning machine shown in the figure has a complex working scene. In order to achieve better results, that is, to maximize the coverage of the cleaning effect, most machines are designed with an expandable rag, such as Figure 1b and Figure 2b However, some existing structures for realizing the expansion and retraction of the rag require multiple power sources 410 and corresponding transmission structures to achieve the desired effect, and thus the structure is complex.

[0076] The cleaning robot body 1 may be provided with one, two or more rag trays at the bottom; there may be only one rag tray that can be expanded and retracted, or there may be multiple rag trays that can be expanded and retracted. In addition to the rag tray, the cleaning robot also has a side brush 7 (see Figure 1a ) can also be expanded and retracted relative to the body 1. Figure 1a In the example shown, two rag trays 3 are provided at the rear side of the machine body 1, and both of the two rag trays 3 can rotate relative to the machine body 1, and at least one of the two rag trays 3 can also swing relative to the machine body 1 while rotating to change the extension amount of the rag on the rag tray 3 extending out of the machine body 1. For example, at least one of the two rag trays 3 is in an outward swing state under normal conditions, and is in a retracted state when encountering an obstacle (such as a wall, a table leg, a bed edge, etc.). Alternatively, at least one of the two rag trays 3 is in a retracted state under normal conditions, and is in an outward swing state when encountering an obstacle (such as a wall, a table leg, a bed edge, etc.).

[0077] See also Figure 1b , the rag plate 3 at the right rear bottom of the machine body 1, the black solid line indicates the position of the rag plate 3 in the outward swing state, and the dotted line indicates the position of the rag plate 3 in the retracted state. Along the moving direction of the machine body 1, the bottom of the machine body 1 has a central axis L. In the outward swing state, the center of the rag plate 3 is at a distance D2 from the central axis L, and in the retracted state, the center of the rag plate 3 is at a distance D1 from the central axis L. Among them, D2 is greater than D2.

[0078] In a specific embodiment, the rag tray 3 can be hidden in the projection area of ​​the body 1 in the retracted state, and a part of the rag tray 3 can be exposed outside the body 1 in the outward swing state.

[0079] In another possible embodiment, Figure 3 As shown, the extension amount of the rag on the rag tray 3 extending out of the machine body 1 in the swing-out state is L1, and the extension amount of the rag on the rag tray 3 extending out of the machine body 1 in the retracted state is L2; ​​L1 is greater than L2. If the rag tray 3 is hidden in the projection area of ​​the machine body 1 in the retracted state, the corresponding extension amount L2 can be considered to be zero. Of course, the outer edge of the rag tray 3 can also exceed the outer edge of the machine body 1 in the retracted state, and this embodiment does not limit this.

[0080] The rag plate recovery state can also be called the initial state (e.g. Figure 4a and Figure 4bAs shown), that is, when the cleaning robot is in the off state, in the self-cleaning mode, or docked in the base station, the rag plate 3 is in the Figure 1a The user can start the cleaning robot by using the power button on the body 1, or the client APP application, or voice interaction, and the cleaning robot can start working from Figure 1a The initial state shown becomes Figure 1b At least one rag disc is shown in an outward swing state, and then the floor is cleaned according to the planned path. Figure 5a and Figure 5b A schematic diagram showing a rag tray in an outward swing state is shown.

[0081] The above text uses a rag disc as an example, but it can actually be a roller. The roller has long fluff on it and rotates around its own axis to clean the floor. Therefore, in the following text, the rag disc and the roller, etc., which are used to clean the floor, are collectively referred to as the actuator 42. Before introducing the working method of the cleaning device provided by the present application, the structure of the cleaning device is first introduced.

[0082] An embodiment of the present application provides a cleaning device, which uses a power source 410 to achieve the extension, lifting and rotation of the actuator 42. Figure 4a~Figure 5b As shown, the cleaning device includes a body 1, an actuator 42, a drive assembly 41 and a control device. The actuator 42 is arranged on the body 1 to perform cleaning tasks; the drive assembly 41 is arranged on the body 1, and the drive assembly 41 has a power source 410, and the drive assembly 41 is connected to the actuator 42 to provide the actuator 42 with power to perform cleaning tasks. The control device is electrically connected to the power source 410, and is used to control the power source 410 to output a first direction power when the actuator 42 needs to be swung out. Under the action of the first direction power, the actuator 42 swings out a part of the body 1 of the cleaning device, and after swinging out to the right position, under the drive of the first direction power, the actuator 42 rotates and descends, and after descending to the right position, the descending to the right position at this time can be descending to contact with the surface to be cleaned (or abutting with the surface to be cleaned with a certain force), and the actuator 42 maintains the position and continues to rotate, that is, at this time, the actuator 42 maintains abutment with the surface to be cleaned and continues to rotate to clean the surface to be cleaned. The actuator 42 provided in the embodiment of the present application can be the above-mentioned side brush 7, rag plate 3 or roller, etc. The actuator 42 extends when it is needed to extend, and is placed on the body 1 when it is not needed to extend, and does not contact the surface to be cleaned. For example, when the cleaning robot walks along the edge of the area to be cleaned, the actuator 42 extends to clean the edge that the cleaning robot cannot cover, or when the cleaning robot walks to an obstacle, the actuator 42 extends to clean the edge of the obstacle. When the cleaning robot cleans a carpet or a blanket, the actuator 42 retracts into the body 1, and the actuator 42 does not contact the surface to be cleaned, so as to avoid wetting the carpet or the blanket.

[0083] Therefore, in some embodiments of the present application, the control device is also used to control the power source 410 to stop outputting power in the first direction to stop the actuator 42 from rotating when the actuator 42 is recovered, and then control the power source 410 to output power in the second direction to recover the actuator 42 into the body 1. After being recovered into place, the actuator 42 is reversed and lifted to be separated from the surface to be cleaned, thereby completing the transition of the actuator 42 from an extended state to a retracted state.

[0084] In an achievable embodiment, the control device controls the power source 410 to output a first direction power, and the actuator 42 swings out; after being swung out to the right position, the actuator 42 rotates and descends under the drive of the first direction power, which can be specifically used for:

[0085] The power source 410 is controlled to output the first direction power within the first torque range, and the actuator 42 is swung out;

[0086] After being swung into place, the power source 410 is controlled to output the first direction power within the second torque range, and the actuator 42 is rotated and descended;

[0087] The torque within the first torque range is smaller than the torque within the second torque range.

[0088] Furthermore, the control device controls the power source 410 to output the second direction power, and the actuator 42 is recovered; after the recovery is in place, the actuator 42 is reversed and lifted, specifically for:

[0089] Control the power source 410 to output the second direction power with torque within a fourth torque range, and the actuator 42 recovers the power;

[0090] After recovery is completed, the power source 410 is controlled to output the second direction power with a torque within the fifth torque range, and the actuator 42 is reversed and lifted;

[0091] The torque within the fourth torque range is smaller than the torque within the fifth torque range.

[0092] The fourth torque range may be the same as the first torque range, or different from the first torque range, but the torque in the fourth torque range is smaller than the torque in the second torque range. The fifth torque range may be the same as the second torque range, or different from the first torque range, but the torque in the first torque range is smaller than the torque in the fifth torque range.

[0093] In addition, after the actuator 42 is lowered to the position, the actuator 42 is driven by the first direction power to maintain the position and continue to rotate. The control device can be specifically used to: after the actuator 42 is lowered to the position, control the power source 410 to output the first direction power within the third torque range, and the actuator 42 maintains the position and continues to rotate. The torque within the third torque range is greater than or equal to the torque within the second torque range.

[0094] It should be added here that the specific values ​​of the first torque range, the second torque range, the third torque range, the fourth torque range and the fifth torque range are not limited in this embodiment and can be determined based on actual product characteristics.

[0095] In some embodiments of this application, please refer to Figure 4a to Figure 7 , the driving assembly 41 includes: a power source 410, a rotating arm 420, a transmission assembly 430 and a lifting assembly 440. Among them, the power source 410 includes a power shaft. The rotating arm 420 has a first end 421 and a second end 422, and the first end 421 is connected to the power shaft. The transmission assembly 430 includes an input member 431 located at the first end 421 and an output member 432 located at the second end 422. The input member 431 is connected to the power shaft, and the transmission assembly 430 transmits the power received by the input member 431 to the output member 432. The lifting assembly 440 includes a linkage member 441 and a lifting member 442; the linkage member 441 is connected to the output member 432 and rotates with the output member 432; when the linkage member 441 rotates, the lifting member 442 performs a lifting action. The actuator 42 is connected to the lifting member 442.

[0096] The control device controls the operation of the power source 410, and the power shaft drives the rotating arm 420 to rotate through the first end 421 to change the horizontal position of the actuator 42, so that the actuator 42 extends out of the body 1, or retracts into the body 1. After the actuator 42 moves to the target position, the position of the rotating arm 420 will be limited, so that the rotating arm 420 can no longer continue to rotate. At this time, the output torque of the power source 410 is increased, and the power shaft drives the transmission assembly 430 to transfer power to the actuator 42, so that the actuator 42 rotates relative to the surface to be cleaned. At the same time, the power shaft drives the lifting assembly 440 to drive the actuator 42 to rise and fall to change the height of the actuator 42.

[0097] In a feasible solution, the power source 410 can be a DC motor, and by changing the voltage of the DC motor, the torque of the power output by the DC motor can be controlled. That is, the cleaning device provided in this embodiment may also include a controller and a power supply circuit. Among them, the power supply circuit is electrically connected to the power source 410. The controller is used to control the power supply circuit to provide a first voltage to the power source 410, and the power source 410 outputs power within the first torque range; control the power supply circuit to provide a second voltage to the power source 410, and the power source 410 outputs power within the second torque range.

[0098] The first voltage is lower than the second voltage. The power source 410 outputs a first direction power with a torque within a first torque range, and the rotating arm 420 rotates; after the output torque of the power source 410 is increased, the power source 410 outputs a first direction power with a torque within a second torque range, the position of the rotating arm 420 is limited, and the power shaft drives the transmission assembly 430 and the lifting assembly 440 to move.

[0099] When the power source 410 outputs a first direction power with a torque within the first torque range, the first end 421 of the rotating arm 420 and the power shaft of the power source 410 are in a locked state, so that when the power source 410 rotates, the rotating arm 420 rotates accordingly to achieve the swinging out of the actuator 42. However, when the power source 410 outputs a first direction power with a torque within the first torque range, there is no power transmission in the connection between the power shaft and the receiving member 431 of the transmission assembly 430, that is, the power shaft cannot transmit power to the transmission assembly 430. Only when the power source 410 outputs a torque that is increased to a torque within the second torque range, the connection between the first end 421 of the rotating arm 420 and the power shaft of the power source 410 can be regarded as disconnected, that is, the power of the power shaft can no longer drive the rotating arm 420 to rotate, but the power can be transmitted to the transmission assembly 430, and then transmitted to the lifting assembly 440 by the transmission assembly 430, and the lifting assembly 440 drives the actuator 42 to rotate and descend.

[0100] When the actuator 42 needs to be recovered, the power source 410 stops outputting the first direction power. The power source 410 outputs the second direction power with a torque within the fourth torque range, and the first end 421 of the rotating arm 420 and the power shaft of the power source 410 are in a locked state, and the rotating arm 420 can rotate with the power shaft to realize the recovery of the actuator 42. However, when the power source 410 outputs the second direction power with a torque within the fourth torque range, there is no power transmission in the connection between the power shaft and the access part 431 of the transmission assembly 430, that is, the power shaft cannot transmit power to the transmission assembly 430. When the power source 410 outputs the second direction power with a torque within the fifth torque range, the first end 421 of the rotating arm 420 is disconnected from the power shaft of the power source 410, and the power shaft is connected to the transmission assembly 430 to function, and the power shaft transmits power to the lifting assembly 440 through the transmission assembly 430 to drive the actuator 42 to reverse and lift.

[0101] In addition, the present application needs to supplement the explanation that the first direction power and the second direction power are two different directions, one of the two directions is the clockwise direction, and the other direction is the counterclockwise direction.

[0102] To achieve the above process, in a feasible technical solution, as Figure 6~Figure 7 As shown, the access member 431 can be connected to the power shaft through a clutch 434. In a specific implementation, the clutch 434 can be a torque limiting clutch. Among them, the state of the clutch 434 is related to the output torque of the power source 410. The power source 410 outputs power within the first torque range, the clutch 434 is in the first state, the power shaft is connected to the first end 421 to drive the rotating arm 420 to rotate, and the power shaft is disconnected from the access member 431. The power output is within the second torque range, the clutch 434 is in the second state, the first end 421 is disconnected from the power shaft, and the power shaft is connected to the access member 431 to drive the transmission assembly 430 and the lifting assembly 440 to move. When the clutch 434 is in the second state, the first end 421 is disconnected from the power shaft, that is, the rotating arm 420 is disconnected from the power shaft, and the power output of the power shaft cannot drive the rotating arm 420 to move. When the clutch 434 is in the first state, the power shaft is disengaged from the access member 431 of the transmission assembly 430, that is, the power shaft is disconnected from the access member 431, and the power output by the power shaft cannot be transmitted to the access member 431. The access member 431 cannot receive power, and the transmission assembly 430 and the lifting assembly 440 have no power input.

[0103] The linkage member 441 in this embodiment can be implemented as follows: Figure 6 and Figure 7The structure shown is realized. The linkage member 441 includes a coupling 4411, an outer sleeve 4412 and a first bearing 4413. One end of the coupling 4411 is sleeved on the output end of the output member 432, and the other end is sleeved on the rotating shaft above the actuator 42, so that the coupling 4411 can rotate along with the rotation of the output member 432, the first bearing 4413 is sleeved on the outer periphery of the coupling 4411, the coupling 4411 is in contact with the inner periphery of the first bearing 4413, and the outer sleeve 4412 is sleeved on the outer periphery of the first bearing 4413, so that when the output member 432 outputs the power of the actuator 42 to rotate in the first direction, since the inner periphery and the outer periphery of the first bearing 4413 can rotate relatively, the outer sleeve 4412 will not rotate along the first direction along with the output member 432.

[0104] The end of the coupling 4411 that faces away from the output member 432 has a hollow cavity. The rotating shaft on the actuator 42 is adapted to the hollow cavity and can rotate under the drive of the coupling 4411 and can also rise and fall in the hollow cavity. A spiral structure 4a is provided on the outer wall of the outer sleeve 4412. The first bearing 4413 is arranged between the coupling 4411 and the outer sleeve 4412; the first bearing 4413 is a one-way bearing.

[0105] The lifting member 442 is provided with a slider 4422 that cooperates with the spiral structure 4a. When the actuator 42 performs the cleaning task, it rotates in the first direction. When the output member 432 outputs the power in the first direction, the one-way bearing works, the coupling 4411 rotates under the drive of the output member 432, and the outer sleeve 4412 does not move; when the output member 432 outputs the second direction opposite to the first direction, the one-way bearing is locked, and the coupling 4411 and the outer sleeve 4412 rotate synchronously under the drive of the output member 432.

[0106] In some possible embodiments, Figure 6 and Figure 7 As shown, the lifting member 442 includes a lifting cylinder 4421. The lifting cylinder 4421 is located outside the outer sleeve 4412. The slider 4422 is arranged on the inner cylinder wall of the lifting cylinder 4421. A limiting structure 4423 is arranged on the outer wall of the lifting cylinder 4421 to limit the linear movement of the lifting cylinder 4421 along the lifting direction. A second bearing 4424 is arranged at the bottom cylinder mouth of the lifting cylinder 4421, and the connecting shaft of the actuator 42 is connected to the lifting cylinder 4421 through the second bearing 4424.

[0107] Furthermore, the cleaning device further comprises a first elastic member 43. The first elastic member 43 is located between the coupling 4411 and the second bearing 4424; the first elastic member 43 assists the actuator 42 to descend.

[0108] The spiral structure 4a includes two spiral tracks 41a, which are respectively located on the outer wall of the outer sleeve 4412 on both sides of the central symmetry plane. The lifting member 442 is correspondingly provided with two sliders 4422, which are respectively matched with the two spiral tracks 41a.

[0109] The limiting structure 4423 is a protrusion disposed on the outer wall of the lifting cylinder 4421; the bottom of the second end 422 of the rotating arm 420 is provided with a first shell 427 extending downward, and the first shell 427 is provided with a guide track 4231 extending along the lifting direction; Figure 7 As shown, the protrusion is adapted to the guide track 4231.

[0110] In order to improve the rotation stability of the rotating arm 420, a second elastic member 44 may be added in this embodiment. One end of the second elastic member 44 is connected to the rotating arm 420, and the other end is connected to the bracket. The power source 410 is arranged on the bracket; the power source 410 outputs power in the first direction, and the second elastic member 44 assists the rotating arm 420 to rotate; the power source 410 outputs power in the second direction, the rotating arm 420 rotates, and the second elastic member 44 deforms. The second elastic member 44 can assist the rotating arm 420 to swing out, reducing the probability of failure of the actuator 42 to swing out. In addition to assisting the actuator 42 to swing out, the second elastic member 44 can also be used to control the stop position of the actuator 42. For example, the control device can control the stop position of the actuator 42 by calculating the elastic force of the second elastic member 44 and the magnitude of the torque output by the power source 410 (such as a motor). The content of the calculation control will be described in detail below, see below.

[0111] In a specific embodiment, the second elastic member 44 may be a torsion spring or the like.

[0112] Furthermore, the transmission assembly 430 in this embodiment may include multiple gears, and the power is transmitted through multiple gears meshing with each other. Alternatively, the transmission assembly 430 may include multiple gears and a synchronous belt, and the multiple gears and the synchronous belt mesh to transmit the power.

[0113] Fig.11 , Fig.12 and Fig.13 The process of swinging out, rotating, descending, recovering and then lifting the actuator 42 in the solution provided by the embodiment of the present application is shown. Fig.11 As shown, Fig.11 Figure (a) shows a schematic diagram of the actuator 42 in the initial state, where the actuator 42 is in the raised state at the inner limit position. At this time, the power source 410 (such as a motor) outputs a first direction power. When the torque output by the power source 410 reaches the first torque, the rotating arm 420 rotates along with the power shaft of the power source 410, and the actuator 42 swings out to the position shown in FIG. Fig.11Assume that Fig.11 Figure (b) shows that when the actuator 42 is swung out to the outer limit position and the torque output by the power source 410 reaches the second torque, the rotating arm 420 does not move, that is, the actuator 42 is fixed in the swing position, see Fig.12 In (c), the transmission assembly transmits the power of the power source 410 to the lifting assembly 440, and the lifting assembly 440 drives the actuator 42 to rotate and descend (such as Fig.12 (d)). When the torque output by the power source 410 reaches the third torque, the actuator 42 drops to the ground while keeping rotating to start cleaning the ground. Fig.13 As shown in (e), (f) and (g), when the actuator 42 needs to be recovered, the power source 410 stops outputting the first direction power and outputs the second direction power. When the torque output by the power source 410 reaches the fourth torque, the one-way bearing works and the actuator 42 does not rotate, but the rotating arm 420 rotates with the power shaft of the power source 410 to drive the actuator 42 to the inner limit position; when the torque output by the power source 410 reaches the fifth torque, since the actuator 42 has reached the inner limit position, the actuator 42 is lifted up by the torque and returns to the initial position.

[0114] Among them, the first torque is a torque within a first torque range, the second torque is a torque within a second torque range, the third torque is a torque within a third torque range, the fourth torque is a torque within a fourth torque range, and the fifth torque is a torque within a fifth torque range.

[0115] It is mentioned above that the output torque of the power source 410 can be controlled by controlling the voltage provided to the power source 410. The working method of the cleaning device in the embodiment of the present application is described below from the perspective of controlling the power supply voltage of the power supply circuit. Fig.11 When the actuator 42 swings from the inside to the outside: the control power supply circuit provides the first voltage to the power source 410, and the power source 410 outputs the first direction power. Although the one-way bearing is in the forward state and has not reached the critical value of the rotation state of the actuator 42, it has exceeded the critical value of the swing state of the actuator 42. At this time, the power shaft of the power source 410, the rotating arm 420 (or the transmission component) and the lifting component 440 can be simplified into a "Z"-shaped motor shaft, so they will swing outward as a whole. That is, when the voltage of the power source 410 is the first voltage, the torque required for the rotation force of the actuator 42> the torque provided by the power source 410> the torque required for the swing of the actuator 42. The torque provided by the power source 410 can only drive the actuator 42 to swing, but is not enough to drive the actuator 42 to rotate. See. Fig.12As shown, when the actuator 42 is swung out to the outer limit position, the power source 410 is controlled to continuously output the first direction power, and the power supply circuit is controlled to provide the second voltage to the power source 410. The output torque of the power source 410 is increased, which is enough to drive the actuator 42 to rotate. At this time, the normal rotation of the one-way bearing can drive the actuator 42 to rotate, and the actuator 42 descends. Fig.13 , when the voltage of the power source 410 rotating in the reverse direction (i.e., the second direction power) is the third voltage, it is lower than the critical value of the one-way bearing rotation state (the one-way bearing does not rotate in the reverse direction) and higher than the critical value of the actuator 42 swinging state. At this time, the power shaft, the rotating arm 420 (or the transmission component) and the lifting component 440 can be simplified into a "Z" type motor shaft, so the actuator 42 swings inward. That is, when the voltage of the power source 410 is the third voltage, the torque provided by the power source 410 is greater than the torque required for the actuator 42 to swing. After swinging to the inner limit position (such as Fig.13 In (f)), the power source 410 is controlled to continuously output the second direction power, and the power supply circuit is controlled to provide the fourth voltage to the power source 410. At this time, the one-way bearing does not rotate, and the actuator 42 is lifted to the initial state (such as Fig.13 (g) in the figure.

[0116] This embodiment does not specifically limit the specific values ​​of the first voltage, the second voltage, the third voltage, and the fourth voltage.

[0117] The present application also provides a cleaning device, the structure of which is the same as that of the above embodiment, that is, the cleaning device includes a body 1, an actuator 42 and a driving assembly 41. The actuator 42 is arranged on the body 1 to perform cleaning tasks; the driving assembly 41 is arranged on the body 1. The driving assembly 41 includes: a power source 410, a rotating arm 420, a transmission assembly 430, a second elastic member 44 and a lifting assembly 440. Among them, the power source 410 has a power shaft; the power source 410 is arranged on a bracket. The rotating arm 420 has a first end 421 and a second end 422, and the first end 421 is connected to the power shaft. The transmission assembly 430 includes an access member 431 located at the first end 421 and an output member 432 located at the second end 422. The access member 431 is connected to the power shaft, and the transmission assembly 430 transmits the power received by the access member 431 to the output member 432. One end of the second elastic member 44 is connected to the first end 421, and the other end is connected to the bracket. The lifting assembly 440 includes a linkage member 441 and a lifting member 442. The linkage member 441 is connected to the output member 432 and rotates with the output member 432. When the linkage member 441 rotates, the lifting member 442 performs the lifting action; the actuator 42 is connected to the lifting member 442. This embodiment is different from the above embodiment in terms of control, and the difference is:

[0118] The power source 410 outputs power with a constant torque, and with the help of the second elastic member 44, the power shaft drives the rotating arm 420 to rotate to change the horizontal position of the actuator 42; after the actuator 42 moves to the target position, the position of the rotating arm 420 is limited, and the power shaft drives the transmission assembly 430 and the lifting assembly 440 to change the height of the actuator 42.

[0119] Optionally, the power source 410 outputs a first direction power of a set torque, the second elastic member 44 assists the rotating arm 420 to rotate, and the actuator 42 swings out; the power source 410 outputs a second direction power of a set torque, the rotating arm 420 rotates, the actuator 42 is recovered, and the second elastic member 44 is deformed.

[0120] The solution provided in this embodiment is mainly to swing out the actuator 42 by the elastic force of the second elastic member 44, and to swing back the actuator 42 by controlling the power source 410 to output reverse power and the action of the one-way bearing. That is, when controlling the power source 410, this embodiment does not change the torque of the power output by the power source 410, but only controls the direction of the power output by the power source 410.

[0121] The specific structure of the cleaning device provided in this embodiment can be found in the content of the above embodiment, and will not be repeated here. The working method of the cleaning device provided in this embodiment is specifically as follows:

[0122] 1. The torque of the power output by the power source 410 remains unchanged. The power source 410 outputs power in the first direction. The actuator 42 swings from the inside to the outside, relying on the elastic force of the second elastic member 44;

[0123] 2. When the actuator 42 swings out to the outer limit position, the one-way bearing rotates normally, and the power output by the power source 410 drives the actuator 42 to rotate and descend through the transmission assembly 430 and the lifting assembly 440;

[0124] 3. When the actuator 42 needs to be retracted, the power source 410 outputs the second direction power, and the one-way bearing does not rotate in the reverse direction. At this time, the power shaft of the power source 410, the transmission assembly 430 and the lifting assembly 440 are simplified into a "Z"-shaped motor shaft, which will drive the actuator 42 to swing inward;

[0125] 4. When the actuator 42 reaches the inner limit position, the actuator 42 will be lifted to the initial state under the continuous action of the second direction power of the power source 410.

[0126] During the whole process, the torque of the power source 410 outputting power remains unchanged, and only the direction of the outputting power is changed. The output torque of the power source 410 may be a torque within the second torque range or a torque within the fifth torque range mentioned above.

[0127] Furthermore, the cleaning equipment provided in the above embodiments may also include a sensor. The sensor may be the acquisition device mentioned above. Among them, the acquisition device may include but is not limited to: laser radar (such as LDS (Laser Direct Structuring), TOF (Time of flight, time of flight), area array, structured light, etc.), visual sensor (such as camera), infrared sensor, etc. Correspondingly, the control device is electrically connected to the sensor, and is used to control the power source 410 to output the first direction power when the actuator 42 needs to be swung out, and the actuator 42 is swung out, and a part is exposed outside the body 1 of the cleaning equipment; the detection information of the sensor is obtained to determine the swing angle of the actuator 42; after swinging to a preset angle, the actuator 42 is driven by the first direction power, and the actuator 42 descends; after descending to the position, the actuator 42 maintains the position and rotates to perform cleaning work.

[0128] See also Figure 1b As shown, the swing-out angle may be: the angle a between the line from the center of the actuator 42 to the center of the body 1 and the central axis. Of course, the control device may determine the position information of the actuator 42 at the bottom of the body 1 instead of the swing-out angle, and the position information may include the x, y and z coordinate values ​​in the coordinate system of the body 1; of course, it may also be polar coordinates, which is not limited in this embodiment. Assuming that the position information includes the x, y and z coordinate values ​​in the coordinate system of the body 1, the plane where the xy axis is located is parallel to the bottom surface of the body 1, the x and y axis coordinate values ​​are the horizontal position information of the actuator 42, and the z axis is perpendicular to the ground, that is, the height direction of the body 1, then the z coordinate value is the vertical position information of the actuator 42.

[0129] In some embodiments of this application, please refer to Figure 1a , provides a cleaning device, which includes a body 1, a walking component 2 and a rag plate 3 at the bottom of the body 1, wherein the rag plate 3 abuts against the area to be cleaned to perform cleaning work, and the walking component 2 drives the body 1 to move as a whole to achieve cleaning of the entire area to be cleaned.

[0130] The machine body 1 is usually provided with an obstacle avoidance component that can avoid obstacles. The obstacle avoidance component can accurately identify obstacles in the movement of the machine body 1, and drive the machine body 1 to walk around the obstacles to avoid collisions, so as to protect the machine body 1. Based on this, the rag plate 3 is set within the bottom edge range of the machine body 1, and there is a safe distance between the outermost end of the rag plate 3 and the edge of the machine body 1 on the corresponding side, which can ensure that the cleaning actuator 42 will not collide with obstacles when the machine body 1 performs cleaning tasks, and at the same time make the whole machine body 1 more compact and easy to store. However, this results in that when the machine body 1 moves along the corners of the area to be cleaned or close to obstacles, it cannot be cleaned within the safe distance range, so there are cleaning dead corners, which makes the user experience poor.

[0131] In order to solve the above problems, an actuator 42 is provided on the body 1 of the embodiment of the present application. The actuator 42 can extend out of the body 1 to clean the surface to be cleaned when working, and can be accommodated on the body 1 when not working to avoid collision with obstacles. Of course, when the cleaning device is in an open space, when the user inputs an instruction for the actuator 42 to be swung out, when the cleaning device bypasses an obstacle, when the cleaning device has passed through a narrow passage, when the cleaning device needs to clean along the edge, after the cleaning device leaves the base station, and when the cleaning device performs a cleaning task, the single power source device 4 can drive the actuator 42 to extend, ensuring that a good cleaning effect is achieved in the area to be cleaned without causing a collision. When the cleaning device needs to bypass an obstacle, when the second user instructs the actuator 42 to retract, after completing the cleaning task, when it needs to pass through a narrow passage or needs to enter a set area, the actuator 42 needs to be retracted to the body 1.

[0132] The cleaning equipment of the embodiment of the present application may be, but is not limited to, a sweeping robot, a mopping robot, a sweeping and mopping robot, a large-scale field sweeper, a glass cleaning robot, a floor scrubber, etc. The actuator 42 may include, but is not limited to, a disc brush, a rag disc, a roller brush, or a roller, etc., depending on the type of the cleaning equipment. The actuator 42 of the embodiment of the present application may be located in the circumference of the body 1, or at the bottom of the body 1, or at the top of the body 1, as long as it can be extended and retracted, and there is no specific limitation on the installation position.

[0133] Next, combine Figure 4a to Figure 10 , a detailed description is given of the structure of how the actuator 42 can move up and down, swing in and out, and rotate.

[0134] In some embodiments of this application, please refer to Figure 4a and Figure 5a The cleaning device includes a single power source device 4. One possible structure of the single power source device 4 is to include a driving component 41 and an actuator 42. The driving component 41 can input driving force to the actuator 42, and drive the actuator 42 to swing outward from the body 1, or swing into the body 1, drive the actuator 42 to rotate, and drive the actuator 42 to rise or fall.

[0135] Specifically, in some embodiments of the present application, please refer to Figure 6~Figure 10The driving assembly 41 includes a power source 410, a rotating arm 420, a transmission assembly 430 and a lifting assembly 440, wherein the rotating arm 420 has a receiving cavity, the transmission assembly 430 is located in the receiving cavity, the power end of the power source 410 passes through the top wall of the receiving cavity to connect with the input end of the transmission assembly 430, and the output end of the transmission assembly 430 passes through the bottom wall of the receiving cavity to connect with the actuator 42. When the actuator 42 needs to be swung out, the power source 410 outputs a first power in a first direction. Under the drive of the first power, the transmission assembly 430 and the rotating arm 420 rotate as a whole with the rotation of the power end of the power source 410, thereby driving the actuator 42 to swing out to the outside of the machine body 1. When the actuator 42 is swung out to a predetermined position, the rotating arm 420 is limited, and at this time, the rotating arm 420 and the transmission assembly 430 as a whole no longer rotate with the rotation around the power source 410. At the same time, the power source 410 outputs a second power in the first direction to the transmission assembly 430. Driven by the second power, the transmission assembly 430 begins to transmit the rotational power of the power end of the power source 410 to the actuator 42. At this time, the actuator 42 will rotate while descending to abut against the surface to be cleaned, thereby cleaning the surface to be cleaned. When it is necessary to swing the actuator 42 outside the body 1, the power source 410 stops outputting power in the first direction to the transmission assembly 430. At this time, the actuator 42 stops rotating, the power source 410 outputs the first power in the second direction, and the actuator 42 maintains a stopped rotating state. Under the action of the second direction power, the rotating arm 420 and the transmission assembly 430 as a whole follow the power end of the power source 410 to rotate in the second direction to realize the swinging of the actuator 42. After the actuator 42 swings to the bottom of the body 1, the power source 410 outputs the second power in the second direction to the transmission assembly 430. Under the action of the second power, the actuator 42 rises to separate from the surface to be cleaned. During the process of the actuator 42 swinging out and in, it can be achieved by only one power source 410, which not only can fully utilize the power source 410, save other power sources 410, reduce costs, but also make the structure of the single power source device 4 more compact.

[0136] For more information, see Figure 6~Figure 10Due to the existence of gravity and static friction, the transmission assembly 430 has a certain starting torque. When the input torque is greater than the starting torque, the transmission assembly 430 can transmit power. When the input torque is less than the starting torque, the transmission assembly 430 does not transmit power. At this time, the transmission assembly 430 can be regarded as an integral rigid body. Since the transmission assembly 430 has a certain length, it can be similar to a rotating rod mounted on the power end of the power source 410. When the power end of the power source 410 outputs rotational power, it can drive the rotating rod to rotate with the power end of the power source 410, so as to swing the actuator 42 out of the body 1, or retract the actuator 42 onto the body 1. That is to say, the first power along the first direction and the first power along the second direction output by the power source 410 are both less than the starting torque of the transmission assembly 430. Based on this, the desired action can be achieved by controlling the magnitude of the output power of the power source 410. The second power along the first direction is greater than the first power along the first direction, and the second power along the second direction is greater than the first power along the second direction.

[0137] The transmission assembly 430 may be a power device that is integrated with the power source 410, or may be a separate component that can match the power source 410. One possible structure of the transmission assembly 430 is that the transmission assembly 430 includes an input member 431 located at the first end 421 of the rotating arm 420 and an output member 432 located at the second end 422 of the rotating arm 420, the input member 431 is connected to the power end of the power source 410, and the output member 432 is connected to the actuator 42. The input member 431 and the output member 432 may be gears that mesh with each other to transmit the rotational power of the power source 410. Please refer to Figure 6~Figure 7 , the input member 431 and the output member 432 can also be two pulleys with a certain distance, and the outer periphery of the two pulleys is provided with a conveyor belt meshing with the two pulleys, one of the gears is sleeved on the power end of the power source 410, and the axle of the other gear is the power end of the transmission component 430, and the conveyor belt can transfer the output power of the power source 410 from one pulley to another pulley for output. Of course, the transmission component 430 can also be another structure, such as a combination of multiple gears and conveyor belts, as long as it can achieve the function of transmitting power, and the embodiment of the application does not make specific limitations.

[0138] In another possible technical solution, please refer to Figure 6~Figure 7, the access member 431 is connected to the power shaft through the clutch 434. In a specific implementation, the clutch 434 can be a torque limiting clutch. The state of the torque limiting clutch is related to the output torque of the power source 410. The power source 410 outputs power within the first torque range, the clutch 434 is in the first state, the power shaft is connected to the first end 421 and can drive the rotating arm 420 to rotate, and the power shaft is disconnected from the access member 431; the power outputs power within the second torque range, the clutch 434 is in the second state, the first end 421 is disconnected from the power shaft, and the power shaft is connected to the access member 431 to drive the transmission assembly 430 and the lifting assembly 440 to move. When the clutch 434 is in the second state, the first end 421 is disconnected from the power shaft, that is, the rotating arm 420 is disconnected from the power shaft, and the power output of the power shaft cannot drive the rotating arm 420 to move. When the clutch 434 is in the first state, the power shaft is disengaged from the access member 431 of the transmission assembly 430, that is, the power shaft is disconnected from the access member 431, and the power output by the power shaft cannot be transmitted to the access member 431. The access member 431 cannot receive power, and the transmission assembly 430 and the lifting assembly 440 have no power input.

[0139] It should be noted that the method of controlling the output force of the power source 410 to drive the actuator 42 to rotate and extend or retract the body 1 is only applicable to the case where the driving force that enables the transmission component 430 and the rotating arm 420 to rotate as a whole following the power end of the power source 410 is less than the starting power when the transmission component 430 can transmit power. When the driving force that enables the transmission component 430 and the rotating arm 420 to rotate as a whole following the power end of the power source 410 is greater than or equal to the starting power when the transmission component 430 can transmit power, or the power initially output by the power source 410 is less than the driving force required for the transmission component 430 and the rotating arm 420 to rotate as a whole following the power end of the power source 410, and is less than the starting power when the transmission component 430 can transmit power, an auxiliary component needs to be provided to drive the transmission component 430 to rotate around the power end of the power source 410 as a whole. Please refer to Figure 3~Figure 5bIn some embodiments of the present application, the single power source device 4 also includes a second elastic member 44. The second elastic member 44 is sleeved at the power end of the power source 410, one end of the second elastic member 44 abuts against the bracket, the power source 410 is arranged on the bracket, and the other end abuts against the rotating arm 420. When the actuator 42 is located in the body 1, the second elastic member 44 is in a compressed state. When the actuator 42 is swung out of the body 1, the second elastic member 44 follows the rotating arm 420 to reset. Then, during the resetting process, the elastic force in the second elastic member 44 can increase the torque of the actuator 42 to swing out of the body 1, thereby ensuring that the actuator 42 can be smoothly swung out. When the actuator 42 is retracted into the body 1, the second elastic member 44 is compressed at the same time when the rotating arm 420 drives the actuator 42 to swing into the body 1, so as to ensure that the second elastic member 44 is in a compressed state when the actuator 42 is in the body 1.

[0140] Further, in some embodiments of the present application, please refer to Figure 6~Figure 10 The rotating arm 420 is provided with a mounting groove 423 at the abutment position of the second elastic member 44. One end of the second elastic member 44 abuts against the bracket, and the other end is located in the mounting groove 423. One side of the mounting groove 423 is connected to the limiting groove 424, and the end of the second elastic member 44 located in the mounting groove 423 is limited in the limiting groove 424. The second elastic member 44 can be a torsion spring, and one end of the torsion spring away from the power source 410 is located in the mounting groove 423, and the foot at the end located in the mounting groove 423 is located in the limiting groove 424. The foot located in the limiting groove 424 abuts against the groove wall of the limiting groove 424 to transmit the elastic force of the torsion spring to the rotating arm 420, or the rotating arm 420 applies force to the foot of the torsion spring located in the limiting groove 424 through the groove wall of the limiting groove 424 to compress the torsion spring. When the power source 410 outputs the first power in the first direction, the second elastic member 44 applies elastic torque to the transmission assembly 430, driving the transmission assembly 430 to rotate around the power end to extend the actuator 42 out of the body 1. In addition, the torque of the second elastic member 44 for resetting decreases as the driving transmission assembly 430 rotates, and when the rotating arm 420 rotates to the limit state, the actuator 42 will stay in the current position. Therefore, by calculating the torque value of the second elastic member 44 and the first power of the power source 410, the stop position of the actuator 42 can be controlled to ensure that the actuator 42 covers the dead angle area. When the actuator 42 completes the cleaning task and is retracted to the body 1, the power source 410 outputs the first power in the second direction, and the actuator 42 cannot rotate in the opposite direction. At this time, the rotating arm 420 and the transmission assembly 430 can be regarded as a rigid body, and the power source 410 drives the transmission assembly 430 to rotate in the opposite direction around the power end of the power source 410 in the second direction until the actuator 42 is reset, while compressing the second elastic member 44. In this way, the driving program of the power source 410 can be simplified.

[0141] Please refer to Figure 6~Figure 7The outer periphery of the second elastic member 44 is provided with a mounting member 45, so that the second elastic member 44 is isolated from the outside world, preventing the second elastic member 44 from being affected by the outside world, and ensuring the overall aesthetics. The upper end of the mounting member 45 is sleeved on the outer periphery of the power source 410 and is locked with the power source 410 by bolts. A mounting plate extends from the outer periphery of the mounting member 45 in a direction away from the mounting member 45. The fastener can pass through the mounting plate to mount the power source 410 on the bracket, so that the mounting member 45 is fully utilized.

[0142] For easy installation, please continue to refer to Figure 6~Figure 8 One possible structure of the rotating arm 420 is to include an upper shell 425 and a lower shell 426, wherein a plurality of blocks are provided on one of the upper shell 425 and the lower shell 426, and a card slot is provided on the other one in a one-to-one correspondence, and a guide surface is provided at the end of the block to guide the block to be inserted into the card slot when the upper shell 425 and the lower shell 426 are installed together, so as to achieve the locking of the upper shell 425 and the lower shell 426. The lower shell 426 has an open accommodating cavity facing the direction of the power source 410, and the upper shell 425 is buckled on the opening to close or open the accommodating cavity. An input through hole is provided on the upper shell 425 to allow the power end of the power source 410 to extend into, and the input through hole is located in the center of the bottom wall of the mounting groove 423. The lower shell 426 is provided with an output through hole at the actuator 42, and the upper end shaft of the actuator 42 passes through the output through hole to connect with the output member 432. The rotating arm 420 can protect the connection between the actuator 42 and the output member 432 from being damaged by external influences, and ensure the overall aesthetics of the actuator 42 .

[0143] Since the actuator 42 and the transmission assembly 430 are two independent parts, the driving force of the actuator 42 is provided by the transmission assembly 430. Therefore, in addition to being able to rotate under the action of the driving force, the actuator 42 can also ensure a stable connection with the output member 432. Therefore, in some embodiments of the present application, please refer to Figure 6~Figure 7, a coupling 4411 is provided between the output member 432 and the rotating shaft on the actuator 42, and both ends of the coupling 4411 have a rotating shaft hole, the output shaft of the output member 432 is accommodated in one of the rotating shaft holes, and the rotating shaft at the upper end of the actuator 42 is accommodated in the other rotating shaft hole, so that when the output member 432 of the transmission assembly 430 rotates, the rotating shaft of the actuator 42 is driven to rotate through the coupling 4411. A partition is provided in the center of the two rotating shaft holes on the coupling 4411, and the partition has a mounting hole facing the transmission assembly 430. The fixing member passes through the mounting hole and is screwed on the end of the output shaft of the output member 432 to lock the coupling 4411 and the output member 432 to avoid relative movement and slippage, and ensure a good force transmission effect. The mounting hole is a stepped hole or a countersunk hole to accommodate the head of the fixing member to prevent the fixing member from protruding and affecting the input shaft of the actuator 42. The fixing member can be, but is not limited to, an ordinary screw, a countersunk screw or a bolt, and a suitable fixing member can be selected according to the shape of the mounting hole. The rotating shaft at the upper end of the actuator 42 can be a polygonal column, and the rotating shaft hole matching the rotating shaft at the upper end of the actuator 42 is also a polygonal column hole. The edges and corners of the polygonal column structure can effectively avoid relative displacement between the rotating shaft at the upper end of the actuator 42 and the rotating shaft hole.

[0144] When the cleaning device performs a cleaning task at the center of the area to be cleaned, if the actuator 42 applies pressure to the surface to be cleaned, it will not only increase the friction between the body 1 and the surface to be cleaned, increase the resistance to the movement of the cleaning device, but also cause the actuator 42 to adhere to dirt, affecting the cleaning effect in the blind corners. Therefore, in some embodiments of the present application, please refer to Figure 6~Figure 7 The driving assembly 41 also includes a lifting assembly 440. The lower shell 426 has a first shell 427 facing the actuator 42. The first shell 427 has a accommodating groove on the side facing the actuator 42. The output through hole is located at the bottom of the accommodating groove. The lifting assembly 440 is located in the accommodating groove. The first shell 427 can ensure that the lifting assembly 440 will not be affected by the outside world. The lifting assembly 440 is sleeved on the rotating shaft at the upper end of the actuator 42. When the actuator 42 extends out of the body 1, the lifting assembly 440 can drive the actuator 42 to descend to abut against the surface to be cleaned. After the actuator 42 completes its work, the transmission assembly 430 gives the lifting assembly 440 a driving force to rise through the actuator 42, so that the lifting assembly 440 drives the actuator 42 to rise to the initial position, avoids abutting against the surface to be cleaned, and avoids increasing the resistance during the movement of the body 1.

[0145] Please refer to Figure 6~Figure 10 In some embodiments of the present application, a structure of the lifting component 440 that can be realized is, including a lifting member 442 and a linkage member 441, the linkage member 441 is sleeved on the outer periphery of the coupling 4411, connected to the output member 432, and rotates with the output member 432; when the linkage member 441 rotates, the lifting member 442 performs a lifting action.

[0146] Specifically, the linkage member 441 includes a coupling 4411, an outer sleeve 4412 and a first bearing 4413. The lifting member 442 includes a lifting cylinder 4421 and a slider 4422, wherein the slider 4422 is arranged on the inner wall of the lifting cylinder 4421. One end of the coupling 4411 is sleeved on the output end of the output member 432 and can rotate along with the rotation of the output member 432, and the other end is sleeved on the rotating shaft above the actuator 42. The first bearing 4413 is sleeved on the outer periphery of the coupling 4411, the coupling 4411 abuts against the inner periphery of the first bearing 4413, and the outer sleeve 4412 is sleeved on the outer periphery of the first bearing 4413, so that when the output member 432 outputs the power of the actuator 42 to rotate in the first direction, since the inner periphery and the outer periphery of the first bearing 4413 can rotate relatively, the outer sleeve 4412 will not rotate along the first direction along with the output member 432. The outer circumference of the outer sleeve 4412 has a spiral structure 4a inclined upward, and the slider 4422 abuts against the spiral structure 4a and can slide along the spiral structure 4a. The bottom end of the lifting cylinder 4421 abuts against the rotating shaft above the actuator 42. When the actuator 42 extends out of the body 1, the slider 4422 slides along the spiral structure 4a under the action of the gravity of the actuator 42, driving the actuator 42 to descend.

[0147] In some embodiments of this application, please refer to Figure 6~Figure 10 The first bearing 4413 is a one-way bearing. When the actuator 42 swings back into the body 1, since the power input from the transmission assembly 430 to the actuator 42 is rotated in the second direction, the inner and outer peripheries of the first bearing 4413 cannot move relative to each other, but the inner periphery drives the outer periphery to rotate together. The lifting member 442 also includes a second bearing 4424. The second bearing 4424 is located between the lifting cylinder 4421 and the rotating shaft at the top of the actuator 42. The inner periphery of the second bearing 4424 can rotate relative to the outer periphery. When the actuator 42 and the linkage member 441 rotate in the second direction, the spiral structure 4a rotates with the outer sleeve 4412, thereby driving the slider 4422 to rise along the spiral structure 4a. At this time, the lifting cylinder 4421 rises, so that the lifting member 442 drives the actuator 42 to rise until it is separated from the surface to be cleaned.

[0148] In some embodiments of this application, please refer to Figure 6~Figure 10The single power source device 4 also includes a first elastic member 43, which is located between the coupling 4411 and the second bearing 4424. When the actuator 42 is in a storage state where it does not abut against the surface to be cleaned, the first elastic member 43 is in a compressed state and has an elastic force inside. Since the power end of the power source 410 has a self-locking property when it is not in a working state, when the actuator 42 is not swung out, the actuator 42 cannot rotate under the self-locking effect of the power end of the power source 410, thereby maintaining a state of not contacting the surface to be cleaned. When the power end of the power source 410 outputs power in the first direction, the actuator 42 rotates, and the elastic force of the first elastic member 43 is released. Under the action of the elastic force of the first elastic member 43, the actuator 42 drops to abut against the surface to be cleaned. When the actuator 42 rises, the first elastic member 43 is compressed until the actuator 42 rises to a point where it is separated from the surface to be cleaned, and the power end of the power source 410 is locked and no longer outputs power. At this time, the actuator 42 remains above the surface to be cleaned.

[0149] It should be noted that, when the actuator 42 completes its work, the power source 410 provides the transmission assembly 430 with power in the second direction, which can only drive the transmission assembly 430 and the rotating arm 420 as a whole to rotate along the second direction with the output shaft of the power source 410, but cannot drive the transmission assembly 430 to perform power transmission, the actuator 42 first swings back into the machine body 1, the power source 410 increases the power in the second direction, drives the actuator 42 to drive the linkage member 441 to rotate in the opposite direction, and drives the actuator 42 to rise and reset. When the actuator 42 completes its work, the power source 410 provides the transmission assembly 430 with power in the second direction, which can drive the transmission assembly 430 to perform power transmission, the actuator 42 first rotates and rises in the second direction, and after rising to the limit, the actuator 42 stops rotating, the transmission assembly 430 stops transmitting, and the power end of the power source 410 drives the transmission assembly 430 to rotate in the second direction, so that the actuator 42 swings back into the machine body 1.

[0150] Furthermore, the outer circumference of the coupling 4411 is provided with a plurality of inwardly concave grooves at intervals, and the inner ring of the first bearing 4413 is provided with connection protrusions accommodated in the grooves one by one, so that the coupling 4411 is locked with the inner ring of the first bearing 4413. The bearing cover is sleeved on the end of the coupling 4411 facing away from the actuator 42, and is fixedly connected to the coupling 4411 through a locking member, and the bearing cover abuts against the inner ring of the first bearing 4413 to prevent the rotation between the inner ring and the outer ring of the first bearing 4413 from being affected, and further limits the position between the first bearing 4413 and the coupling 4411, ensuring that the first bearing 4413 will not be separated from the installation position, thereby locking the linkage 441 with the actuator 42. The locking member includes but is not limited to a countersunk screw, a flat head screw, etc., and matching with the locking member, the coupling 4411 is provided with a countersunk hole, a stepped hole, etc. that can accommodate the limiting head end of the locking member.

[0151] Please refer to Figure 6 , Figure 7 as well as Fig.10 In some embodiments of the present application, one side of the slider 4422 is a rotatable roller, and the other side is a pointed screw with a thread. The inner wall of the lifting cylinder 4421 has a threaded hole, and the screw is screwed into the threaded hole to connect the slider 4422 to the lifting cylinder 4421.

[0152] In some embodiments of the present application, the spiral structure 4a includes two spiral tracks 41a; the two spiral tracks 41a are respectively located on the outer cylinder wall on both sides of the central symmetry plane of the outer sleeve 4412. Two sliders 4422 are correspondingly provided on the lifting member 442, and the two sliders 4422 are respectively matched with the two spiral tracks 41a.

[0153] Based on the cleaning device provided in the above embodiment, another embodiment of the present application provides a working method of the cleaning device. The cleaning device includes a power source 410 and an actuator 42 for performing a cleaning task. Specifically, the working method of the cleaning device may include:

[0154] S10, the actuator 42 is located at the first position, and the power source 410 outputs a first power in a first direction;

[0155] S11, the first power output by the power source 410 is within the first torque range, and the first power drives the rotating arm 420 to rotate through the first end 421, so that the actuator 42 moves toward the second position; wherein the rotating arm 420 has a first end 421 and a second end 422, and the first end 421 is connected to the power shaft;

[0156] S12, the actuator 42 moves to the second position, the first power output by the power source 410 reaches the second torque range, the position of the rotating arm 420 is limited, and the first power drives the transmission assembly 430 and the lifting assembly 440 to change the height of the actuator 42;

[0157] The transmission assembly 430 is located in the rotating arm 420, and includes an input member 431 located at the first end 421 and an output member 432 located at the second end 422. The input member 431 is connected to the power shaft, and the transmission assembly 430 transmits the power received by the input member 431 to the output member 432. The lifting assembly 440 is connected to the output member 432. The torque within the first torque range is less than the torque within the second torque range. For the specific structure, please refer to the above content.

[0158] Furthermore, the method provided in this embodiment may also include the following steps:

[0159] S20, when it is necessary to return to the first position, the power source 410 outputs a second power in a second direction;

[0160] S21, the second power output by the power source 410 is within the first torque range, and the second power drives the rotating arm 420 to rotate, so that the actuator 42 moves toward the first position;

[0161] S22 , the actuator 42 moves to the first position, the second power output by the power source 410 reaches the second torque range, and the second power drives the transmission assembly 430 and the lifting assembly 440 to change the height of the actuator 42 .

[0162] Furthermore, the method provided in this embodiment may also include the following steps:

[0163] S30 , changing the output torque of the power source 410 by controlling the voltage provided by the power supply circuit to the power source 410 .

[0164] Based on the cleaning devices provided in the above two embodiments, another embodiment of the present application further provides a working method of the cleaning device. Figure 4a As shown, the cleaning device includes a power source 410 and an actuator 42 for performing a cleaning task. Further, the more specific structural implementation of the cleaning device can be found in the above embodiments, which will not be described here. The working method of the cleaning device includes:

[0165] When you need to display

[0166] S41, the power source 410 outputs power in the first direction, the actuator 42 swings out, and a part of it is exposed outside the body 1 of the cleaning device;

[0167] S42, after being swung into position, the actuator 42 is driven by the first direction power to descend while rotating;

[0168] S43, after being lowered into position, the actuator 42 maintains the position and continues to rotate;

[0169] The actuator 42 is lowered to the position where it contacts the surface to be cleaned, and the actuator 42 stops lowering and cleans the surface to be cleaned by rotating and rubbing against the surface to be cleaned. Although the actuator 42 is swung out of the body 1 and lowered under the first direction power output by the power source 410, the actuator 42 can be controlled to swing out or lower by controlling the magnitude of the first direction power.

[0170] Specifically, in some embodiments of the present application, the power source 410 is controlled to output a first direction power, and the actuator 42 is swung out; after being swung out to the right position, the actuator 42 is driven by the first direction power to rotate and descend, including:

[0171] S411, controlling the power source 410 to output a torque in a first direction within a first torque range, and the actuator 42 swings out;

[0172] S412, after being swung into position, the power source 410 is controlled to output a first direction power within a second torque range, and the execution function part is rotated and descended;

[0173] The torque within the first torque range is smaller than the torque within the second torque range.

[0174] It is understandable that a certain starting torque is required for the transmission assembly 430 to conduct force. When the first torque is less than the starting torque of the transmission assembly 430 but greater than the rotation of the transmission assembly 430 as a whole around the power shaft of the power source 410, the transmission assembly 430 as a whole can rotate around the power shaft of the power source 410 to swing out the actuator 42. After the actuator 42 is swung out to the right position, the power source 410 outputs a second torque greater than the starting torque of the transmission assembly 430. At this time, the transmission assembly 430 can transmit the output torque of the power source 410. Under the action of the second torque, the actuator 42 can rotate and descend until it abuts against the surface to be cleaned, thereby cleaning the surface to be cleaned.

[0175] When recycling is required

[0176] S44, responding to the recovery instruction, controlling the power source 410 to stop outputting the first direction power, and the actuator 42 to stop rotating;

[0177] S45, controlling the power source 410 to output the second direction power, and the actuator 42 to recover;

[0178] S46: After being recovered in place, the actuator 42 is reversed and lifted.

[0179] During recovery, due to the effect of the one-way bearing, the power output in the second direction by the power source 410 will not drive the actuator 42 to rotate, so the actuator 42 will stop rotating. At this time, the transmission assembly 430 will recover the actuator 42 around the output end of the power source 410 under the power in the second direction, and after the recovery is in place, the power in the second direction can be increased to make the actuator 42 follow the lifting cylinder 4421 to rotate along the limiting structure to lift the actuator 42.

[0180] Furthermore, the difference in the second direction power can be achieved by changing the magnitude of the torque output by the power source 410. Therefore, in some embodiments of the present application, controlling the power source 410 to output the second direction power, the actuator 42 is recovered, and after the recovery is in place, the actuator reverses and lifts, including:

[0181] S441, controlling the power source 410 to output a second direction power with a torque within a first torque range, and the actuator 42 recovers the power;

[0182] S442: After recovery is completed, the power source 410 is controlled to output a second direction power within a second torque range, and the actuator 42 is reversed and lifted.

[0183] The magnitude of the torque in the first direction output by the power source 410 and the magnitude of the torque in the second direction output by the power source 410 can be achieved by changing the voltage of the power source 410 .

[0184] In some embodiments of the present application, the working method of the cleaning device further includes:

[0185] S443\S413, change the output torque of the power source 410 by controlling the voltage provided by the power supply circuit to the power source 410.

[0186] It is understandable that the actuator 42 is not always in the swung-out state (or extended state) or the retracted state (or retracted state). It will be extended only when it needs to be extended, and retracted when it needs to be retracted. For example, the actuator 42 can be extended when the cleaning device is in an open space, when the user inputs an instruction for the actuator 42 to be swung out, when the cleaning device bypasses an obstacle, when the cleaning device has passed through a narrow passage, when the cleaning device needs to clean along the edge, after the cleaning device leaves the base station, and when the cleaning device performs a cleaning task. The actuator 42 can be retracted to the host when the cleaning device needs to bypass an obstacle, when the second user instructs the actuator 42 to retract, after completing the cleaning task, when it needs to pass through a narrow passage, and when it needs to enter a set area.

[0187] Furthermore, the above step S43 "after being lowered into position, the actuator 42 maintains the position and continues to rotate" can be specifically as follows:

[0188] After being lowered into position, the power source 410 is controlled to output the first direction power within the third torque range, and the actuator 42 maintains the position and continues to rotate;

[0189] The torque within the third torque range is greater than or equal to the torque within the second torque range.

[0190] Further, the cleaning device further includes a second elastic member 44, and the second elastic member 44 is used to release elastic force to assist the actuator 42 to swing out when the power source 410 outputs the first direction power within the first torque range; and the method further includes:

[0191] The stop position of the actuator 42 is controlled by calculating the elastic force of the second elastic member 44 and the output torque of the power source 410 .

[0192] That is, when the control device controls the action of the actuator 42, the elastic force of the second elastic member 44 and the output torque of the power source 410 can be calculated first, and then the power source 410 can be controlled to work according to the output torque in the calculation result. The elastic force of the second elastic member 44 in the calculation result (such as the torque of the torsion spring) is compared in real time with the elastic force of the second elastic member 44 sensed by the sensing device. When the elastic force of the second elastic member 44 sensed is equal to the elastic force in the calculation result, it indicates that the actuator 42 has swung to the target stop position.

[0193] Then, in some embodiments of the present application, whether the actuator 42 is swung out can be determined by one of the following situations:

[0194] S4,

[0195] When it is recognized that the space is open, it is determined that the actuator 42 needs to be swung out;

[0196] When the first user instruction is monitored, it is determined that the execution element 42 needs to be placed;

[0197] When it is recognized that the obstacle has been bypassed, it is determined that the actuator 42 needs to be swung out;

[0198] When it is recognized that the vehicle has passed through a narrow passage, it is determined that the actuator 42 needs to be swung out;

[0199] When cleaning along the edge is required, it is determined that the actuator 42 needs to be swung out;

[0200] After leaving the base station, it is determined that the actuator 42 needs to be swung out;

[0201] When the cleaning task is started, it is determined that the actuator 42 needs to be swung out.

[0202] Whether the execution element 42 is recycled can be determined by one of the following situations:

[0203] S04,

[0204] When it is necessary to bypass an obstacle, it is determined that the actuator 42 needs to be recovered;

[0205] When the second user instruction is monitored, it is determined that the execution component 42 needs to be recycled;

[0206] When the vehicle needs to enter the base station, it is determined that the actuator 42 needs to be recovered;

[0207] After the cleaning task is completed, it is determined that the actuator 42 needs to be recycled;

[0208] When it is necessary to pass through a narrow passage, it is determined that the actuator 42 needs to be recovered;

[0209] When the vehicle needs to enter the set area, it is determined that the actuator 42 needs to be recovered.

[0210] The present application also provides a working method of a cleaning device in an embodiment, the method comprising:

[0211] S51, when it is necessary to swing out, the control device controls the power source 410 to output power in the first direction, and the actuator 42 swings out, with a part of it exposed outside the body 1 of the cleaning device;

[0212] S52, acquiring detection information of the sensor, and determining the swinging angle of the actuator 42;

[0213] S53, after being swung to a preset angle, the actuator 42 is driven by the first directional force to descend;

[0214] S54: After being lowered into position, the actuator 42 maintains the position and rotates to perform cleaning work.

[0215] The swinging angle may not be determined in the above step S52 , and the position information of the actuator 42 relative to the machine body 1 may be determined based on the acquired detection information.

[0216] The design of using a single power source 410 to achieve telescopic, lifting and rotating of the actuator 42 in each embodiment of the present application can also be applied to other equipment as a separate module. For example, the end of the assembly robot that needs to achieve telescopic, lifting and rotating can also adopt the design described above. In this embodiment, the design of using a single power source 410 to achieve telescopic, lifting and rotating of the end is called a single power source device 4. Specifically, the single power source device 4 may include: a power source 410, a rotating arm 420, a transmission assembly 430 and a lifting assembly 440. Among them, the power source 410 has a power shaft. The rotating arm 420 has a first end 421 and a second end 422, and the first end 421 is connected to the power shaft. The transmission assembly 430 includes an access member 431 located at the first end 421 and an output member 432 located at the second end 422. The access member 431 is connected to the power shaft, and the transmission assembly 430 transmits the power received by the access member 431 to the output member 432. The lifting assembly 440 includes a linkage member 441 and a lifting member 442 ; the linkage member 441 is connected to the output member 432 and rotates with the output member 432 ; when the linkage member 441 rotates, the lifting member 442 performs a lifting action.

[0217] Among them, the power source 410 is working, and the power shaft drives the rotating arm 420 to rotate through the first end 421; after the rotating arm 420 rotates to the set position, it is limited to increase the output torque of the power source 410, and the power shaft drives the transmission assembly 430 and the lifting assembly 440 to enable the lifting member 442 to output the lifting action.

[0218] Corresponding to the above second embodiment, the present application also provides another single power source device 4. Specifically, the single power source device 4 includes: a power source 410, a rotating arm 420, a transmission assembly 430, a second elastic member 44 and a lifting assembly 440. The power source 410 has a power shaft, and the power source 410 is arranged on a bracket. The rotating arm 420 has a first end 421 and a second end 422, and the first end 421 is connected to the power shaft. The transmission assembly 430 includes an input member 431 located at the first end 421 and an output member 432 located at the second end 422, and the input member 431 is connected to the power shaft, and the transmission assembly 430 transmits the power input by the input member 431 to the output member 432. One end of the second elastic member 44 is connected to the first end 421, and the other end is connected to the bracket. The lifting assembly 440 includes a linkage member 441 and a lifting member 442; the linkage member 441 is connected to the output member 432 and rotates with the output member 432; the linkage member 441 rotates, and the lifting member 442 performs a lifting action.

[0219] Among them, the power source 410 outputs power with constant torque, and the power shaft drives the rotating arm 420 to rotate with the help of the second elastic member 44; after the rotating arm 420 rotates to the set position, it is limited, and the power shaft drives the transmission assembly 430 and the lifting assembly 440 to make the lifting member 442 output the lifting action.

[0220] Application scenario 1:

[0221] When the user uses the cleaning device to clean the surface to be cleaned, the cleaning device recognizes that it has moved to the edge of the area to be cleaned. At this time, the cleaning device drives the power source 410 to work. The initial voltage of the power source 410 is 2V. The output rotational force can drive the transmission component 430 to drive the actuator 42 to rotate, but it cannot drive the transmission component 430 to work. In this way, the actuator 42 extends out of the body 1. When the actuator 42 moves to the extreme position, the voltage output of the power source 410 increases to 8V. At this time, the transmission component 430 works, and the actuator 42 drops to abut against the surface to be cleaned. The transmission component 430 inputs rotational power to the actuator 42, and the actuator 42 rotates to clean the surface to be cleaned. When the cleaning device leaves the edge of the area to be cleaned, the cleaning work of the actuator 42 ends, and the power source 410 outputs a reverse rotational power with a voltage of 2V. At this time, the actuator 42 stops rotating, and the transmission component 430 stops working, driving the actuator 42 to rotate in the opposite direction around the output shaft of the power source 410 to retract the actuator 42 to the body 1. When the actuator 42 rotates in the reverse direction to the extreme position, the power source 410 will output a reverse rotation force with a voltage of 8V. At this time, the transmission assembly 430 works, and the actuator 42 rotates in the reverse direction and rises to reset.

[0222] Application scenario 2:

[0223] When the user uses the cleaning device to clean the surface to be cleaned, the cleaning device recognizes that it has moved to the edge of the area to be cleaned. At this time, the cleaning device drives the power source 410 to work. The initial voltage of the power source 410 is 8V. The transmission component 430 works to drive the actuator 42 to rotate. At the same time, the transmission component 430 drives the actuator 42 to extend out of the body 1 under the elastic action of the second elastic member 44. At the same time, the actuator 42 drops to abut against the surface to be cleaned and starts to perform cleaning work. When the cleaning device drives away from the edge of the surface to be cleaned, the work of the actuator 42 ends, and the power source 410 outputs a reverse rotation force with a voltage of 8V. At this time, the actuator 42 rotates in the opposite direction until the actuator 42 rises and separates from the surface to be cleaned. When the actuator 42 rises to the limit position, the actuator 42 no longer rotates. At this time, the transmission component 430 does not work, and the driving transmission component 430 of the power source 410 drives the actuator 42 to rotate in the opposite direction until the actuator 42 is reset.

[0224] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A working method of a cleaning device, characterized in that: The cleaning equipment includes a drive assembly, a control device, and an actuator for performing the cleaning task; The drive assembly comprises: a power source, including a power shaft; A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft; A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member; The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action; the actuator is connected to the lifting member; The control device controls the operation of the power source; The method comprises: When it is necessary to swing out, the power source is controlled to output power in a first direction, and the actuator is swung out, with a portion of it exposed outside the body of the cleaning device; After being swung out to the right position, the actuator is driven by the first directional force to descend while rotating; After being lowered into position, the actuator maintains the position and continues to rotate.

2. The method according to claim 1, characterized in that Control the power source to output power in a first direction, and the actuator swings out; After being swung out to the right position, the actuator is driven by the first directional force to descend while rotating, including: Control the power source to output torque in the first direction within a first torque range, and the actuator swings out; After being swung out to the right position, the power source is controlled to output torque in the first direction within the second torque range, and the actuator descends while rotating; The torque within the first torque range is smaller than the torque within the second torque range.

3. The method according to claim 2, characterized in that Also includes: When recovery is required, the power source is controlled to stop outputting the first direction power, and the actuator stops rotating; Controlling the power source to output power in a second direction, and recovering the actuator; After being recovered into place, the actuator is reversed and lifted.

4. The method according to claim 3, characterized in that The power source is controlled to output power in the second direction, and the actuator is recovered; after being recovered to the right position, the actuator is reversed and lifted, including: Controlling the power source to output torque in the second direction within a fourth torque range, and the actuator recovers the power; After the recovery is in place, the power source is controlled to output the second direction power with a torque within a fifth torque range, and the actuator is reversed and lifted; The torque within the fourth torque range is smaller than the torque within the fifth torque range.

5. The method according to claim 2 or 4, characterized in that: Also includes: The output torque of the power source is changed by controlling the voltage provided by the power supply circuit to the power source.

6. The method according to any one of claims 2 to 4, characterized in that After being lowered into position, the actuator maintains the position and continues to rotate, including: After being lowered into position, the power source is controlled to output the first direction power within the third torque range, and the actuator maintains the position and continues to rotate; The torque within the third torque range is greater than or equal to the torque within the second torque range.

7. The method according to any one of claims 2 to 4, characterized in that The cleaning device further comprises a second elastic member, which is used to release elastic force to assist the actuator to swing out when the power source outputs torque in the first direction within the first torque range; And the method further comprises: The stop position of the actuator is controlled by calculating the elastic force of the second elastic member and the output torque of the power source.

8. The method according to any one of claims 1 to 4, characterized in that Also includes at least one of the following: When it is recognized that the actuator is in an open space, it is determined that the actuator needs to be swung out; When a first user instruction is monitored, determining that the actuator needs to be placed; When it is recognized that the obstacle has been bypassed, it is determined that the actuator needs to be swung out; When it is recognized that the narrow passage has been passed, it is determined that the actuator needs to be swung out; When cleaning along the edge is required, it is determined that the actuator needs to be swung out; After driving out of the base station, it is determined that the actuator needs to be placed out; When the cleaning task is started, it is determined that the actuator needs to be swung out.

9. The method according to claim 3 or 4, characterized in that: Also includes at least one of the following: When it is necessary to bypass an obstacle, it is determined that the actuator needs to be recovered; When a second user instruction is monitored, determining that the executable component needs to be recycled; When it is necessary to drive into the base station, it is determined that the actuator needs to be recovered; After the cleaning task is completed, it is determined that the execution part needs to be recycled; When it is necessary to pass through a narrow passage, it is determined that the actuator needs to be recovered; When the vehicle needs to enter the set area, it is determined that the actuator needs to be recovered.

10. The method according to claim 1, characterized in that The cleaning device further comprises a second elastic member; and Control the power source to output power in a first direction, and the actuator is swung out; after being swung out to a certain position, the actuator is driven by the power in the first direction to descend while rotating, including: The power source is controlled to output a first direction power of a set torque, the second elastic member releases the elastic force, and the actuator swings out; After being swung into place, the actuator descends while rotating under the first direction power of the set torque.

11. A cleaning device, characterized in that: include: An actuator is used to perform cleaning tasks; A drive assembly having a power source, wherein the drive assembly is connected to the actuator; A control device is electrically connected to the power source, and is used to control the power source to output a first direction power when the actuator needs to be swung out, so that a portion of the actuator is swung out and exposed outside the body of the cleaning device; after being swung out to the right position, the actuator is driven by the first direction power to rotate and descend; After being lowered into position, the actuator maintains its position and continues to rotate under the driving force of the first direction; The drive assembly comprises: The power source includes a power shaft; A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft; A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member; The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action; the actuator is connected to the lifting member; Among them, the control device controls the operation of the power source, and the power shaft drives the rotating arm to rotate through the first end to change the horizontal position of the actuator; after the actuator moves to the target position, the output torque of the power source is increased, the position of the rotating arm is limited, and the power shaft drives the transmission assembly and the lifting assembly to change the height of the actuator.

12. The cleaning device according to claim 11, characterized in that The control device is also used to: when recovery is required, control the power source to stop outputting the first direction power and the actuator to stop rotating; control the power source to output the second direction power and the actuator to recover; after recovery is in place, the actuator reverses and rises.

13. The cleaning device according to claim 11, characterized in that The first end is connected to the power shaft via a clutch; The state of the clutch is related to the output torque of the power source; The power source outputs a torque within a first torque range, the clutch is in a first state, the power shaft is connected to the first end to drive the rotating arm to rotate, and the power shaft is disengaged from the access member; The power shaft outputs power with a torque within a second torque range, the clutch is in a second state, the first end is disengaged from the power shaft, and the power shaft is connected to the access member to drive the transmission assembly and the lifting assembly to move.

14. The cleaning device according to claim 11, characterized in that The linkage comprises: A coupling, one end of which is connected to the output member, and the other end of which has a hollow cavity, the connecting shaft on the actuator being adapted to the hollow cavity, being able to rotate under the drive of the coupling, and also being able to rise and fall in the hollow cavity; An outer sleeve, wherein the outer wall of the outer sleeve is provided with a spiral structure; and A first bearing, disposed between the coupling and the outer sleeve; Wherein, the lifting member is provided with a sliding block matched with the spiral structure; the first bearing is a one-way bearing; When the actuator performs a cleaning task, it rotates in a first direction. When the output member outputs power in the first direction, the one-way bearing works, the coupling rotates under the drive of the output member, and the outer sleeve does not move. When the output member outputs power in a second direction opposite to the first direction, the one-way bearing is locked, and the coupling and the outer sleeve rotate synchronously under the drive of the output member.

15. The cleaning device according to claim 14, characterized in that The lifting member comprises a lifting cylinder; The lifting cylinder is located outside the outer sleeve; The sliding block is arranged on the inner cylinder wall of the lifting cylinder; A limiting structure is provided on the outer wall of the lifting cylinder to limit the linear movement of the lifting cylinder along the lifting direction; A second bearing is provided at the bottom opening of the lifting cylinder, and the connecting shaft of the actuator is connected to the lifting cylinder via the second bearing.

16. The cleaning device according to claim 11, characterized in that: Also comprising a second elastic member; One end of the second elastic member is connected to the rotating arm, and the other end is connected to the bracket; The power source is arranged on the bracket; The power source outputs power in a first direction, and the second elastic member assists the rotating arm in rotating; the power source outputs power in a second direction, the rotating arm rotates, and the second elastic member deforms.

17. The cleaning device according to claim 11, characterized in that The drive assembly comprises: The power source comprises a power shaft; the power source is arranged on a bracket; A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft; A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member; The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action; the actuator is connected to the lifting member; a second elastic member, one end of the second elastic member being connected to the rotating arm, and the other end of the second elastic member being connected to the bracket; Among them, the control device controls the power source to output power with constant torque, and with the assistance of the second elastic member, the power shaft drives the rotating arm to rotate to change the horizontal position of the actuator; after the actuator moves to the target position, the position of the rotating arm is limited, and the power shaft drives the transmission assembly and the lifting assembly to change the height of the actuator.

18. A single power source device, characterized in that: include: a power source having a power shaft; A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft; A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member; Lifting components, including linkage parts and lifting parts; The lifting member is connected to the actuator, and the linkage member is connected to the output member and rotates with the output member; The linkage member rotates, the lifting member drives the actuator to perform a lifting action, and the actuator rotates.

19. The device according to claim 18, characterized in that Also comprising a second elastic member; The power source is arranged on the bracket; the second elastic member has one end connected to the first end and the other end connected to the bracket.

20. A method for operating a cleaning device, characterized in that: The cleaning equipment includes a control device, a drive assembly, a sensor, and an actuator for performing the cleaning task; The drive assembly comprises: a power source, including a power shaft; A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft; A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member; The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action; the actuator is connected to the lifting member; Wherein, the control device controls the operation of the power source; The method comprises: When it is necessary to swing out, the control device controls the power source to output power in the first direction, and the actuator swings out, with a portion of it exposed outside the body of the cleaning device; Acquiring detection information of the sensor to determine the swing angle of the actuator; After being swung out to a preset angle, the actuator descends under the driving force of the first direction; After being lowered into position, the actuator maintains the position and rotates to perform cleaning work.

21. A cleaning device, characterized in that: include: An actuator is used to perform cleaning tasks; A drive assembly having a power source, wherein the drive assembly is connected to the actuator; A sensor, used to detect information around the cleaning device and obtain detection information; A control device, electrically connected to the power source and the sensor, for controlling the power source to output power in a first direction when the actuator needs to be swung out, so that the actuator is swung out and a part of it is exposed outside the body of the cleaning device; obtaining detection information from the sensor to determine the swinging angle of the actuator; After being swung out to a preset angle, the actuator descends under the driving force of the first direction; After being lowered into position, the actuator maintains the position and rotates to perform cleaning work; The drive assembly comprises: a power source, including a power shaft; A rotating arm having a first end and a second end, wherein the first end is connected to the power shaft; A transmission assembly, comprising an input member located at the first end and an output member located at the second end, wherein the input member is connected to the power shaft, and the transmission assembly transmits power input by the input member to the output member; The lifting component comprises a linkage member and a lifting member; the linkage member is connected to the output member and rotates with the output member; when the linkage member rotates, the lifting member performs a lifting action; the actuator is connected to the lifting member; Among them, the control device controls the operation of the power source, and the power shaft drives the rotating arm to rotate through the first end to change the horizontal position of the actuator; after the actuator moves to the target position, the output torque of the power source is increased, the position of the rotating arm is limited, and the power shaft drives the transmission assembly and the lifting assembly to change the height of the actuator.

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