Side sweeping swing arm device and sweeping robot

Abstract

The invention provides a side sweeping swing arm device and a sweeping robot, and relates to the technical field of sweeping robots, and the side sweeping swing arm device comprises a swing arm assembly, an elastic piece and an angle control assembly. One end of the swing arm assembly is rotatably arranged on a chassis of the cleaning equipment, and the other end is provided with a cleaning head; the other end of the elastic piece is connected with a chassis of the cleaning equipment; the angle control assembly comprises a driving piece and a limiting piece in transmission connection with the driving piece. The driving piece drives the limiting piece to act or loosen the swing arm assembly, so that the swing arm assembly can be switched between the state that the elastic piece is in the elastic deformation state, the swing arm assembly is kept at the retracting position and the state that the elastic piece is in the reset state, and the swing arm assembly is located at the extending limit position. Therefore, the cleaning device has the advantages of being adjustable in cleaning range and good in cleaning effect.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping robots, and in particular to a side-sweeping swing arm device and a sweeping robot. Background Art

[0002] With the development of technology, sweeping robots are becoming more and more popular in households. Generally, a sweeping robot includes a sweeping robot body, a roller brush rotatably arranged in the chassis of the sweeping robot body, and a side-sweeping swing arm device; the roller brush and the side-sweeping swing arm device are used to effectively clean the floor.

[0003] However, in the prior art, due to the limitation of the shape of the sweeping machine, it is often impossible to clean at corners, resulting in blind spots in cleaning, causing poor cleaning effects and affecting the user experience.

[0004] Therefore, a side-sweeping swing arm device and a sweeping robot with an adjustable cleaning range and good cleaning effect need to be designed. Summary of the invention

[0005] The purpose of the present invention is to provide a side-sweeping swing arm device and a sweeping robot to address the defects and shortcomings of the prior art, and to solve at least one of the above-mentioned technical problems. The device has the advantages of an adjustable cleaning range and good cleaning effect.

[0006] To achieve the above object, the present invention provides a side sweeping swing arm device, comprising:

[0007] A swing arm assembly, one end of which is rotatably arranged on the chassis of the cleaning device, and the other end of which is provided with a cleaning head;

[0008] An elastic member, one end of which is connected to the swing arm assembly, and the other end of which is connected to the chassis of the cleaning device;

[0009] An angle control assembly, comprising a driving member and a limiting member drivingly connected to the driving member;

[0010] The driving member drives the limiting member to act or release the swing arm assembly, so that the swing arm assembly can switch between the retracted position when the elastic member is in the elastic deformation state and the extended limit position when the elastic member is in the reset state.

[0011] Optionally, one end of the swing arm assembly has a first rotating shaft, and its outer periphery has an arc groove concentrically arranged with the first rotating shaft; the driving member is a first driving motor, and the limiting member is a rotation angle limiting member connected to the first driving motor through a worm; the worm and the first driving motor are arranged on one side of the swing arm assembly; one end of the rotation angle limiting member is rotatably connected to the first rotating shaft, and the other end has a swing arm limiting column matching the arc groove, and has an arc circumferential wall meshing with the worm.

[0012] Optionally, the rotation angle limiter includes a connecting portion cooperating with the first rotating shaft, an engaging portion having an arc-shaped peripheral wall, and a fan-shaped extending portion connecting the connecting portion and the engaging portion; the swing arm limit column is arranged at one end of the extending portion away from the connecting portion.

[0013] Optionally, the side-sweeping swing arm device further includes an upper shell and a lower shell, wherein the upper shell and the lower shell cover the interior to form an assembly cavity; the swing arm assembly is rotatably configured in the assembly cavity; and the first drive motor is fixedly mounted on one side of the upper shell.

[0014] Optionally, the upper shell or the lower shell is configured with a first blocking member that limits the rotation angle limit member from exceeding a first limit angle position when the swing arm assembly reaches the retracted limit position; and / or a second blocking member that limits the rotation angle limit member from exceeding a second limit angle position when the swing arm assembly reaches the extended limit position.

[0015] Optionally, the first blocking member is an elastic blocking block configured in the lower shell.

[0016] Optionally, the outer wall of the lower shell is located on one side of the first rotating shaft and has a stud, a retaining rib, and an arc-shaped hole concentrically arranged with the stud; the second blocking member is a torsion spring sleeved on the stud, one end of the torsion spring abuts against the retaining rib, and the other end passes through the arc-shaped hole, so as to abut and block the rotation angle limit member when the swing arm assembly exceeds the extension limit position.

[0017] Optionally, the elastic member is a tension spring, and when the tension spring is in a pulled state, the corresponding swing arm assembly is in a retracted position, and when the tension spring is in a reset state, the corresponding swing arm assembly is in an extended position; or, the elastic member is a compression spring, and when the compression spring is in a compressed state, the corresponding swing arm assembly is in a retracted position, and when the compression spring is in a reset state, the corresponding swing arm assembly is in an extended position.

[0018] Optionally, the swing arm assembly further includes a swing arm housing, a gear set disposed in the swing arm housing and connected to the output shaft of the second drive motor; and the cleaning head is drivingly connected to the gear set.

[0019] Another aspect of the present invention provides a sweeping robot, comprising a robot body, wherein the chassis of the robot body is provided with the side-sweeping swing arm device as described above.

[0020] Compared with the prior art, the advantages of this application are:

[0021] Because the swing arm assembly of the side-sweeping swing arm device can rotate and limit the swing arm assembly under the cooperation of the elastic member and the angle control member, when the swing arm assembly is kept in the retracted position, the elastic member is in an elastic deformation state, and when the swing arm assembly is in the extended limit position, the elastic member is in a reset state; so as to realize the extension or retraction of the swing arm assembly. In this way, when cleaning blind spots such as corners, the swing arm assembly of the sweeping swing arm device can be extended to increase the cleaning area and realize the cleaning of blind spots in corners; and when cleaning non-corner areas, the swing arm assembly of the sweeping swing arm device can be retracted for cleaning to reduce the size of the sweeping robot. In this way, the side-sweeping swing arm device has the advantages of adjustable cleaning range and good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0023] Figure 1 It is a bottom view of the assembly of the side sweeping swing arm device and the chassis according to an embodiment of the present invention, wherein the side sweeping swing arm device is in a retracted position;

[0024] Figure 2 It is a top view of the assembly of the side sweeping swing arm device and the chassis according to an embodiment of the present invention, wherein the side sweeping swing arm device is in a retracted position;

[0025] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0026] Figure 4 It is a bottom view of the assembly of the side-sweeping swing arm device and the chassis according to an embodiment of the present invention, wherein the side-sweeping swing arm device is in the extended limit position;

[0027] Figure 5 It is a top view of the assembly of the side sweeping swing arm device and the chassis according to an embodiment of the present invention, wherein the side sweeping swing arm device is in the extended limit position;

[0028] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0029] Figure 7It is a schematic structural diagram of a side sweeping swing arm device according to an embodiment of the present invention;

[0030] Figure 8 It is a partial structural exploded schematic diagram of a side sweep swing arm device according to an embodiment of the present invention;

[0031] Fig. 9 It is a partial structural exploded schematic diagram of the side sweeping swing arm device according to an embodiment of the present invention, wherein the rotation angle limiter is at a first extreme angle position;

[0032] Fig.10 It is a partial structural exploded schematic diagram of the side sweeping swing arm device according to an embodiment of the present invention, wherein the rotation angle limiter is at a first extreme angle position;

[0033] Fig.11 It is a partial structural exploded schematic diagram of another perspective of the side sweeping swing arm device according to an embodiment of the present invention, wherein the rotation angle limiter is at a first extreme angle position;

[0034] Fig.12 It is a partial structural exploded schematic diagram of the side sweeping swing arm device according to an embodiment of the present invention, wherein the rotation angle limiter is at the second extreme angle position;

[0035] Fig.13 It is a schematic diagram of partial structural decomposition of a swing arm assembly according to an embodiment of the present invention.

[0036] Description of Reference Numerals

[0037] 100-side sweeping swing arm device;

[0038] 1-swing arm assembly; 11-swing arm housing; 111-first rotating shaft; 12-second driving motor; 13-gear set; a-arc groove; 14-cleaning head; 141-rotating shaft; 142-side brush holder; 143-side brush arm;

[0039] 2-tension spring;

[0040] 3-angle control assembly; 31-first drive motor; 32-worm; 33-rotation angle limiter; 331-connecting portion; o1-shaft hole; 332-extension portion; 333-engaging portion; 334-swing arm limiter column; 335-arc-shaped peripheral wall;

[0041] 41-upper shell; 42-lower shell; c-assembly groove; 421-stud; 422-retaining rib; o2-arc hole;

[0042] 5-Elastic blocking block;

[0043] 6-torsion spring;

[0044] 7-Screws;

[0045] 8-Hanging column;

[0046] 200-Chassis. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "back", "side", "circumferential" and the like in the present invention indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the words "first", "second" and the like are only used to distinguish multiple components or structures with the same or similar structures, and do not represent any special limitation on the arrangement order or connection relationship.

[0049] Embodiment 1

[0050] Please refer to Figures 1 to 13 The embodiment of the present invention provides a side-sweeping swing arm device 100, which is used to be assembled on a chassis 200 of a sweeping robot (not shown in the figure) to clean dust, debris and other debris on the floor. The side-sweeping swing arm device 100 includes: a swing arm assembly 1, an elastic member and an angle control assembly 3.

[0051] One end of the swing arm assembly 1 is rotatably arranged on the chassis 200 of the cleaning device, and the other end is provided with a cleaning head 14. The cleaning head 14 generally includes a rotating shaft 141, a side brush seat 142 fixedly connected to the rotating shaft 141, and a side brush arm 143 located around the side brush seat 142. The rotation of the rotating shaft 141 drives the side brush arm 143 to rotate, thereby cleaning the cleaning area.

[0052] One end of the elastic member is connected to the swing arm assembly 1, and the other end is connected to the chassis 200 of the cleaning device; specifically, one end of the elastic member is hung on the swing arm assembly 1, and the other end is hung on the chassis 200 of the cleaning device.

[0053] The angle control assembly 3 includes a driving member and a limiting member, which is transmission-connected to the driving member; it is used to control the rotation of the swing arm assembly 1 and limit the swing arm assembly 1 with the cooperation of the elastic member, so as to extend or retract the swing arm assembly 1.

[0054] The driving member drives the limiting member to act or release the swing arm assembly 1, so that the swing arm assembly 1 can switch between the retracted position when the elastic member is in the elastic deformation state and the extended limit position when the elastic member is in the reset state.

[0055] It can be understood that when the elastic part is in an elastic deformation state, the driving part of the angle control assembly 3 overcomes the force of the elastic part on the swing arm assembly 1 through the force of the limit part on the swing arm assembly 1, so that it remains in the recovered position; when the elastic part is in a reset state, the angle control assembly 3 only plays a limiting role on the swing arm assembly 1; and when the swing arm assembly 1 is in the process of swinging out or recovering, the angle control assembly 3 gradually adjusts the limiting position and force of the swing arm assembly 1, thereby releasing or pushing the swing arm assembly 1 to rotate relative to the chassis 200.

[0056] Since the swing arm assembly 1 of the side-sweeping swing arm device 100 can rotate the swing arm assembly 1 and limit the swing arm assembly 1 under the cooperation of the elastic member and the angle control member 3, when the swing arm assembly 1 is kept in the retracted position, the elastic member is in an elastic deformation state, and when the swing arm assembly 1 is in the extended limit position, the elastic member is in a reset state; so as to realize the extension or retraction of the swing arm assembly 1. In this way, when cleaning blind spots such as corners, the swing arm assembly 1 of the sweeping swing arm device can be extended to increase the cleaning area and realize the cleaning of the blind spots at corners; and when cleaning non-corner areas, the swing arm assembly 1 of the sweeping swing arm device can be retracted for cleaning to reduce the size of the sweeping robot. In this way, the side-sweeping swing arm device 100 has the advantages of adjustable cleaning range and good cleaning effect.

[0057] In order to achieve the angle adjustment of the swing arm assembly 1 and have an anti-collision buffering effect when the swing arm assembly 1 is in the extended state, optionally, please refer to Figures 8 to 12 In this embodiment, the swing arm assembly 1 has a first rotating shaft 111 at one end, and the outer periphery of the swing arm assembly 1 has an arc groove a arranged concentrically with the first rotating shaft 111. The driving member is a first driving motor 31. The limiting member is a rotation angle limiting member 33 connected to the first driving motor 31 through a worm 32. The first driving motor 31 and the worm 32 are both arranged on one side of the swing arm assembly 1; the worm 32 is connected to the first driving motor 31 in a transmission connection. One end of the rotation angle limiting member 33 is connected to the first rotating shaft 111 for rotation, and the other end has a swing arm limiting column 334 matched with the arc groove a, and has an arc peripheral wall 335 meshing with the worm 32 for transmission.

[0058] In this way, the first driving motor 31 drives the rotation angle limiter 33 to rotate through the worm 32, and the rotation angle limiter 33 realizes the limit of the swing arm assembly 1 and the adjustment of the force through the cooperation of the swing arm limiter column 334 and the arc groove a of the swing arm assembly 1, thereby overcoming the force of the elastic member on the swing arm assembly 1, or not providing force to the swing arm assembly 1. Thus, the swing arm assembly 1 is extended or retracted.

[0059] In this embodiment, the swing arm assembly 1 is extended, and the recovery principle and movement process are roughly as follows:

[0060] When the swing arm assembly 1 is kept at the retracted limit position, the elastic member is in an elastic deformation state, and the rotation angle limit member 33 is kept at the first limit angle position under the action of the first drive motor 31 and the worm 32. At this time, the swing arm limit column 334 of the rotation angle limit member 33 provides a reaction force of the elastic member on the swing arm assembly 1 to the groove wall of the arc groove a, so that it is kept at the retracted limit position. When the swing arm assembly 1 needs to be extended, the first drive motor 31 rotates forward, driving the rotation angle limit member 33 to rotate clockwise. Since the swing arm limit column 334 of the rotation angle limit member 33 releases the force on the groove wall of the arc groove a, the elastic member releases elastic potential energy, pushing the swing arm assembly 1 to rotate clockwise and then extend. When reaching the second limit angle position, the first drive motor 31 stops moving, so that the rotation angle limit member 33 is kept at the second limit angle position. At this time, the elastic member is in a reset state. When the swing arm assembly 1 is in the extended limit position, if the swing arm assembly 1 is hit by an external force, due to the existence of the arc groove a, the swing arm assembly 1 can rotate counterclockwise for a certain distance. At this time, the swing arm assembly 1 causes the elastic member to deform elastically. When the external force is released, the elastic member recovers and causes the swing arm assembly 1 to extend. When the swing arm assembly 1 moves from the extended limit position to the retracted limit position, the first drive motor 31 rotates in the opposite direction, thereby driving the rotation angle limit member 33 to rotate counterclockwise. The swing arm limit column 334 of the rotation angle limit member 33 provides the groove wall of the arc groove a with a force to overcome the reaction force of the elastic member on the swing arm assembly 1, thereby driving the swing arm assembly 1 to rotate counterclockwise, so that the swing arm assembly 1 is retracted. The first limit angle position of the above-mentioned rotation angle limit member 33 corresponds to the swing arm assembly 1 being in the retracted limit position, and the second limit angle position corresponds to the swing arm assembly 1 being in the extended limit position. It can be understood that the above-mentioned forward rotation, reverse rotation, clockwise rotation, and counterclockwise rotation are only explanations with reference to the accompanying drawings for the convenience of public understanding, and are not limitations of the present technical solution.

[0061] Optionally, see Fig.10 and Fig.11In this embodiment, the rotation angle limiter 33 includes: a connecting portion 331, an extending portion 332 and a meshing portion 333. The connecting portion 331 has an axial hole o1 that is matched and connected with the first rotating shaft 111. The meshing portion 333 has an arc-shaped peripheral wall 335. The extending portion 332 connects the connecting portion 331 and the meshing portion 333 and is fan-shaped. The swing arm limiter 334 is arranged at the end of the extending portion 332 away from the connecting portion 331.

[0062] Optionally, see Figure 8 In the present embodiment, the side sweeping swing arm device 100 further includes an upper shell 41 and a lower shell 42; the upper shell 41 and the lower shell 42 cover the interior to form an assembly cavity (not shown in the figure). Specifically, the upper shell 41 and the lower shell 42 can be fixed by screws 7. The swing arm assembly 1 is rotatably configured in the assembly cavity. The first drive motor 31 is fixedly mounted on one side of the upper shell 41. In this way, the sweeping swing arm device is fixedly mounted on the chassis 200 of the cleaning equipment through the upper shell 41 and the lower shell 42. The swing arm assembly 1 is rotatably connected to the chassis 200 of the cleaning equipment by being rotatably connected to the assembly cavity.

[0063] In order to prevent the swing arm assembly 1 from continuing to rotate when it reaches the retracted limit position and / or the extended limit position, thereby separating from the worm 32 or damaging the swing arm assembly 1. Figure 8 , Fig. 9 and Fig.12 In this embodiment, the upper shell 41 or the lower shell 42 is provided with a first blocking member for limiting the rotation angle limiter 33 from exceeding the first limit angle position when the corresponding swing arm assembly 1 reaches the retracted limit position; and / or a second blocking member for limiting the rotation angle limiter 33 from exceeding the second limit angle position when the corresponding swing arm assembly 1 reaches the extended limit position. Furthermore, the first drive motor 31 of the side sweeping swing arm device 100 is also electrically connected to a controller (not shown in the figure). When the rotation angle limiter 33 hits the first blocking member and / or the second blocking member, the controller controls the first drive motor 31 to stop moving.

[0064] Optionally, please refer to FIG. 9 , in this embodiment, the first blocking member is an elastic blocking block 5 disposed in the lower shell 42 . Specifically, the elastic blocking block 5 is inserted and fixed in the assembly groove c in the lower shell 42 .

[0065] Optionally, see Figure 8 and Fig.12In this embodiment, the outer wall of the lower shell 42 is located on one side of the first rotating shaft 111 and has a stud 421, a retaining rib 422, and an arc-shaped hole o2 arranged concentrically with the stud 421. The second blocking member is a torsion spring 6 sleeved on the stud 421. One end of the torsion spring 6 abuts against the retaining rib 422, and the other end passes through the arc-shaped hole o2, so as to abut against and block the rotation angle limiter 33 when the swing arm assembly 1 exceeds the extended limit position. In this way, when the rotation angle limiter 33 hits one end of the torsion spring 6, the torsion spring 6 can buffer a certain angle along the arc-shaped hole o2, so as to avoid rigidly blocking the rotation angle limiter 33 and damaging the rotation angle limiter 33, the first drive motor 31 or the worm 32.

[0066] Optionally, see Figure 3 and Figure 6 In this embodiment, the elastic member is a tension spring 2, one end of which is hung on the hanging column 8 of the swing arm assembly 1, and the other end is hung on the hanging column 8 of the chassis 200 of the cleaning device. When the tension spring 2 is in the pulled-up state, the corresponding swing arm assembly 1 is in the retracted position, and when the tension spring 2 is in the reset state, the corresponding swing arm assembly 1 is in the extended position. Specifically, when the distance between the hanging column 8 of the corresponding chassis 200 and the center of the cleaning device is greater than the distance between the hanging column 8 of the swing arm assembly 1 and the center of the cleaning device, when the tension spring 2 is in the pulled-up state, the corresponding swing arm assembly 1 is in the retracted position, and when the tension spring 2 is in the reset state, the corresponding swing arm assembly 1 is in the extended position.

[0067] In order to realize the rotation of the cleaning head 14 of the swing arm assembly 1. Optionally, please refer to Fig.13 In this embodiment, the swing arm assembly 1 further includes a swing arm housing 11, a second drive motor 12, and a gear set 13. The second drive motor 12 and the gear set 13 are both disposed in the swing arm housing 11, and the gear set 13 is connected to the output shaft of the second drive motor 12 and is in transmission connection with the cleaning head 14.

[0068] Embodiment 2

[0069] This embodiment is basically the same as the first embodiment, and the only difference is the type of elastic member. That is, the elastic member is a compression spring (not shown in the figure), and when the compression spring is in a compressed state, the corresponding swing arm assembly 1 is in a retracted position, and when the compression spring is in a reset state, the corresponding swing arm assembly 1 is in an extended position. At this time, the connection positions at both ends of the compression spring also need to be adjusted accordingly, that is, the distance between the position of the hanging column 8 of the chassis 200 and the center of the cleaning device is set to be smaller than the distance between the position of the hanging column 8 of the swing arm assembly 1 and the center of the cleaning device. In this way, it can be achieved that when the tension spring 2 is in a compressed state, the corresponding swing arm assembly 1 is in a retracted position, and when the compression spring is in a reset state, the corresponding swing arm assembly 1 is in an extended position.

[0070] Another aspect of the embodiment of the present invention provides a sweeping robot (not shown in the figure), including a robot body, and a chassis 200 of the robot body is provided with the above-mentioned side-sweeping swing arm device 100. Since the sweeping robot has all the structures and connection relationships of the side-sweeping swing arm device 100, it has all the advantages of the side-sweeping swing arm device 100, which will not be described in detail here.

[0071] 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A side sweeping swing arm device, comprising: A swing arm assembly (1), one end of which is rotatably arranged on a chassis (200) of a cleaning device, and the other end of which is provided with a cleaning head (14); An elastic member, one end of which is connected to the swing arm assembly (1), and the other end of which is connected to the chassis (200) of the cleaning device; An angle control assembly (3) comprises a driving member and a limiting member drivingly connected to the driving member; The driving member drives the limiting member to act or release the swing arm assembly (1), so that the swing arm assembly (1) can switch between the state in which the elastic member is in an elastic deformation state and the swing arm assembly (1) remains in a retracted position and the state in which the elastic member is in a reset state and the swing arm assembly (1) is in an extended limit position.

2. The side sweeping swing arm device according to claim 1, characterized in that: The swing arm assembly (1) has a first rotating shaft (111) at one end, and an arc groove (a) is arranged concentrically with the first rotating shaft (111) on its outer periphery; the driving member is a first driving motor (31), and the limiting member is a rotation angle limiting member (33) connected to the first driving motor (31) via a worm (32); the worm (32) and the first driving motor (31) are arranged on one side of the swing arm assembly (1); one end of the rotation angle limiting member (33) is rotationally connected to the first rotating shaft (111), and the other end has a swing arm limiting column (334) matched with the arc groove (a), and has an arc peripheral wall (335) meshing with the worm (32) for transmission.

3. The side sweep swing arm device according to claim 2, characterized in that: The rotation angle limiting member (33) comprises a connecting portion (331) matched with the first rotating shaft (111), a meshing portion (333) having the arc-shaped peripheral wall (335), and a fan-shaped extending portion (332) connecting the connecting portion (331) and the meshing portion (333); the swing arm limiting column (334) is arranged at one end of the extending portion (332) away from the connecting portion (331).

4. The side sweeping swing arm device according to claim 2, characterized in that: It also comprises an upper shell (41) and a lower shell (42), wherein the upper shell (41) and the lower shell (42) cover each other to form an assembly cavity; the swing arm assembly (1) is rotatably arranged in the assembly cavity; and the first drive motor (31) is fixedly arranged on one side of the upper shell (41).

5. The side sweep swing arm device according to claim 4, characterized in that: The upper shell (41) or the lower shell (42) is provided with a first blocking member for limiting the rotation angle limit member (33) from exceeding a first limit angle position when the swing arm assembly (1) reaches a retracted limit position; and / or a second blocking member for limiting the rotation angle limit member (33) from exceeding a second limit angle position when the swing arm assembly (1) reaches an extended limit position.

6. The side sweep swing arm device according to claim 5, characterized in that: The first blocking member is an elastic blocking block (5) disposed in the lower shell (42).

7. The side sweep swing arm device according to claim 5, characterized in that: The outer wall of the lower shell (42) is located on one side of the first rotating shaft (111) and has a stud (421), a retaining rib (422), and an arc-shaped hole (o2) arranged concentrically with the stud (421); the second blocking member is a torsion spring (6) sleeved on the stud (421), one end of the torsion spring (6) abuts against the retaining rib (422), and the other end passes through the arc-shaped hole (o2), so as to abut and block the rotation angle limit member (33) when the swing arm assembly (1) exceeds the extension limit position.

8. The side sweeping swing arm device according to claim 1, characterized in that: The elastic member is a tension spring (2), and when the tension spring (2) is in a pulled-up state, the corresponding swing arm assembly (1) is in a retracted position; when the tension spring (2) is in a reset state, the corresponding swing arm assembly (1) is in an extended position; or, the elastic member is a compression spring, and when the compression spring is in a compressed state, the corresponding swing arm assembly (1) is in a retracted position; when the compression spring is in a reset state, the corresponding swing arm assembly (1) is in an extended position.

9. The side sweep swing arm device according to claim 1, characterized in that: The swing arm assembly (1) further comprises a swing arm housing (11), a second drive motor (12) disposed in the swing arm housing (11), and a gear set (13) disposed in the swing arm housing (11) and connected to an output shaft of the second drive motor (12); the cleaning head (14) is transmission-connected to the gear set (13).

10. A sweeping robot, characterized in that: It comprises a robot body, the chassis (200) of which is provided with a side-sweeping swing arm device as claimed in any one of claims 1 to 9.

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