Cleaning module, cleaning equipment and cleaning system

Abstract

The embodiment of the invention discloses a cleaning module, cleaning equipment and a cleaning system, and the cleaning module comprises a cleaning support which is provided with a first matching part and a second matching part which are arranged back to back in the axial direction; the cleaning part is arranged at the first end of the cleaning bracket; an avoiding through hole corresponding to the first matching part in position is formed in the cleaning piece; the first matching part is used for being detachably connected with a first output part of a driving assembly of the cleaning base station through the avoiding through hole; and the second matching part is used for being detachably connected with a machine body of the cleaning equipment.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a cleaning module, a cleaning device and a cleaning system. Background Art

[0002] In the related art, a sweeping robot is used to clean the floor. The sweeping robot can mop the floor through a mop structure. The mop structure of the sweeping robot needs to be cleaned frequently. Generally, the sweeping robot cooperates with a station to clean the mop structure, which makes the sweeping robot cleaning the mop structure relatively complicated. Summary of the invention

[0003] In view of this, embodiments of the present application hope to provide a cleaning module, a cleaning device and a cleaning system.

[0004] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0005] The present application provides a cleaning module, comprising:

[0006] The cleaning bracket has a first matching portion and a second matching portion which are arranged back to back in the axial direction;

[0007] A cleaning member is arranged at the first end of the cleaning bracket; the cleaning member is provided with an avoidance through hole corresponding to the position of the first matching portion;

[0008] The first matching portion is used to be detachably connected to the first output portion of the driving assembly of the cleaning base station through the avoidance through hole; the second matching portion is used to be detachably connected to the body of the cleaning device.

[0009] In some optional implementations, the first mating portion includes a first connecting structure, which is used to be detachably connected to a first limiting structure of the first output portion and is fixedly arranged with the first limiting structure in a rotational direction.

[0010] In some optional implementations, the first connection structure includes:

[0011] The first concave-convex structure is radially arranged at the first end of the cleaning bracket; the first concave-convex structure is used to cooperate with the first convex-concave structure of the first output part.

[0012] In some optional implementations, the third convex portion of the first concave-convex structure includes:

[0013] A second mating top surface is arranged along the axis of the first mating portion to the circumferential side of the first mating portion and away from the second mating portion;

[0014] The two second mating side surfaces are located on opposite sides of the second mating top surface in the circumferential direction; the distance between the two second mating side surfaces gradually increases in the direction from the top end of the third protrusion to the bottom end of the third protrusion.

[0015] In some optional implementations, the second mating side surface and the second mating top surface are connected by a curved surface.

[0016] In some optional implementations, the second mating top surface is a plane; or, the second mating top surface is a curved surface.

[0017] In some optional implementations, the first connection structure further includes:

[0018] The second concave-convex structure is arranged on the outer peripheral side of the first matching part and corresponds to the position of the first concave-convex structure; the third convex part of the first concave-convex structure extends to the fourth convex part of the second concave-convex structure, and the second concave-convex structure is used to cooperate with the second convex-concave structure of the first output part.

[0019] In some optional implementations, the first concave-convex structure includes:

[0020] The second guide bottom surface is located at the first end of the cleaning bracket; the second guide bottom surface is inclined along the axis of the first matching portion to the peripheral direction of the first matching portion and away from the second matching portion.

[0021] In some optional implementations, the first matching portion is provided with a second mounting groove at the axis, and the first concave-convex structure is provided on the outer peripheral side of the second mounting groove;

[0022] The cleaning module also includes:

[0023] A second connecting member, disposed in the second mounting groove;

[0024] The second connecting member is used to be connected to the first connecting member of the cleaning base station through magnetic attraction.

[0025] In some optional implementations, the first connection structure includes:

[0026] The second connecting member is arranged on the first matching part; the second connecting member is used to be connected to the first connecting member of the first output part through magnetic attraction, and the first output part is used to fix the position of the cleaning module in the rotation direction through magnetic attraction.

[0027] In some optional implementations,

[0028] The first matching portion is used to be connected to the first output portion of the cleaning base station through magnetic attraction, and the first output portion is used to fix the position of the cleaning module in the rotation direction through magnetic attraction.

[0029] In some optional implementations, the method further includes:

[0030] The third connecting member is arranged on the second matching portion; the third connecting member is used to be detachably connected to the fourth connecting member of the body of the cleaning device.

[0031] In some optional implementations, the third connecting member is used to connect to the fourth connecting member through magnetic attraction.

[0032] In some optional implementations, the first matching portion is a recessed structure; and / or the second matching portion is a raised structure.

[0033] In some optional implementations, the second matching portion is used to drive the cleaning bracket to rotate;

[0034] When the second matching portion drives the cleaning bracket to rotate, the cleaning member is used to contact the bearing surface to clean the bearing surface.

[0035] The embodiment of the present application further provides a cleaning device, comprising: a main body and the cleaning module described in the embodiment of the present application, wherein the second matching portion of the cleaning module is detachably connected to the main body.

[0036] In some optional implementations, the cleaning module includes:

[0037] A third connecting member, disposed on the second matching portion;

[0038] The fuselage has a fourth connecting member, and the third connecting member is used to be detachably connected to the fourth connecting member.

[0039] In some optional implementations, the method further includes:

[0040] A lifting device, arranged on the body, so as to drive the cleaning module to move;

[0041] The fourth connecting member is arranged on the lifting device.

[0042] In some optional implementations, the method further includes:

[0043] A separation structure is provided on the lifting device; the separation structure is used to separate the cleaning module from the lifting device; or,

[0044] The fourth connecting member is an electromagnetic structure, so that the fourth connecting member and the third connecting member are in a connected state or a separated state.

[0045] In some optional implementations, the lifting device further includes:

[0046] A lifting assembly is arranged on the body and defines a limiting hole; the fourth connecting member is arranged on the lifting assembly and is located at the bottom of the limiting hole; the second matching portion is used to be detachably inserted into the limiting hole;

[0047] A second motor is disposed on the body;

[0048] The second transmission assembly is arranged on the fuselage; the second motor is used to drive the lifting assembly to move through the second transmission assembly.

[0049] In some optional implementations, the cross-section of the limiting hole is non-circular;

[0050] The lifting device also includes:

[0051] A housing, rotatably disposed on the body;

[0052] The lifting assembly is arranged on the housing;

[0053] The second motor is disposed on the housing;

[0054] The second transmission assembly is disposed on the housing;

[0055] A third motor is used to drive the shell to rotate relative to the body about the axis of the limiting hole;

[0056] When the second matching portion is separated from the limiting hole, the third motor is used to drive the housing to rotate so that the limiting hole and the second matching portion correspond in circumferential position.

[0057] In some optional implementations, the magnetic attraction force used to detachably connect the second matching portion to the body is greater than the magnetic attraction force used to detachably connect the first matching portion to the first output portion.

[0058] The embodiment of the present application further provides a cleaning device, a cleaning system, characterized in that it comprises a cleaning base station and the cleaning device of the embodiment of the present application, wherein the cleaning base station comprises a driving component;

[0059] In a cleaning state, the cleaning module is separated from the body, and the cleaning module is detachably connected to the first output portion of the driving component, and the driving component is used to drive the cleaning module to rotate.

[0060] The cleaning module of the present application, the first mating part is used to be detachably connected to the first output part of the driving component of the cleaning base station through the avoidance through hole. The cleaning base station can directly drive the cleaning module to rotate and clean the cleaning module through the first output part of the driving component, without the participation of cleaning equipment, thereby greatly improving the adaptability of the cleaning module. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is an optional structural diagram of a cleaning system in an embodiment of the present application;

[0062] Figure 2 This is an optional structural diagram of the cleaning device in the embodiment of the present application, wherein the cleaning module is in a raised position;

[0063] Figure 3 This is an optional structural diagram of the cleaning device in the embodiment of the present application, wherein the cleaning module is in the cleaning position;

[0064] Figure 4 This is an optional structural diagram of a cleaning base station in an embodiment of the present application;

[0065] Figure 5 for Figure 4 Schematic diagram of the local structure;

[0066] Figure 6 This is a schematic diagram of an optional structure of the first output unit in the embodiment of the present application;

[0067] Figure 7 for Figure 4 A cross-sectional view of

[0068] Figure 8 for Figure 7 A partial diagram of

[0069] Fig. 9 for Figure 7 A partial diagram of

[0070] Fig.10 This is a schematic diagram of an optional partial structure of a cleaning base station in an embodiment of the present application;

[0071] Fig.11 This is a schematic diagram of an optional partial structure of a cleaning base station in an embodiment of the present application;

[0072] Fig.12 This is an optional structural diagram of a cleaning component in an embodiment of the present application;

[0073] Fig.13 An optional structural explosion diagram of a cleaning component in an embodiment of the present application;

[0074] Fig.14 An optional structural cross-sectional view of the cleaning module in the embodiment of the present application;

[0075] Fig.15 This is an optional structural diagram of a cleaning module in an embodiment of the present application;

[0076] Fig.16 This is a schematic diagram of an optional partial structure of a cleaning module in an embodiment of the present application;

[0077] Fig.17 This is a schematic diagram of an optional partial structure of a cleaning device in an embodiment of the present application;

[0078] Fig.18 for Fig.17 sectional view of .

[0079] Reference numerals: 10, cleaning base station; 100, body assembly; 101, first space; 110, fixed shaft; 120, connecting frame; 200, cleaning assembly; 210, cleaning plate; 211, first connecting through hole; 212, first cylindrical portion; 213, cleaning space; 220, cleaning member; 221, step cylinder; 222, cleaning portion; 230, cleaning bracket; 231, first mounting hole; 240, bearing; 250, shielding member; 251, first through hole; 300, driving assembly; 3 10. first output part; 311. first mounting groove; 320. first limiting structure; 321. first convex-concave structure; 3211. first convex part; 3212. first matching top surface; 3213. first matching side surface; 322. second convex-concave structure; 3221. second convex part; 330. first guide bottom surface; 351. first connecting member; 360. first output shaft; 370. first motor; 380. first transmission assembly; 381. second transmission member; 382. third transmission member; 390. first Second output unit; 40, cleaning device; 400, body; 500, cleaning module; 510, cleaning bracket; 520, first matching unit; 530, second matching unit; 540, cleaning member; 541, avoidance through hole; 550, first connection structure; 551, first concave-convex structure; 5511, third convex part; 5512, second matching top surface; 5513, second matching side surface; 552, second concave-convex structure; 5521, fourth convex part; 560, second guide bottom surface; 570, second mounting groove ; 581, second connecting member; 582, third connecting member; 600, lifting device; 610, second motor; 620, second transmission assembly; 621, output gear; 6211, second slide groove; 630, lifting assembly; 631, first lifting cylinder; 632, second lifting cylinder; 633, damping member; 634, elastic member; 640, shell; 641, first slide groove; 650, separation structure; 660, fourth connecting member; 710, driving wheel; 720, driven wheel; 730, bearing surface. DETAILED DESCRIPTION

[0080] The technical solution of the present application is further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments of the specification.

[0081] In the embodiments of the present application, it should be noted that, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection or a connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0082] It should be noted that the terms "first\second\third" involved in the embodiments of the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that the specific order or sequence of "first\second\third" can be interchanged where permitted. It should be understood that the objects distinguished by "first\second\third" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0083] The following combination Figures 1 to 18 The cleaning base station, cleaning module, cleaning equipment and cleaning system described in the embodiments of the present application are described in detail.

[0084] In the related art, a sweeping robot is used to clean the floor, and the sweeping robot can mop the floor through a mop structure; the mop structure of the sweeping robot needs to be cleaned frequently. Generally, the sweeping robot cooperates with a machine station to clean the mop structure. As an example, the machine station provides a cleaning tank, and the sweeping robot rotates the mop structure at the cleaning tank at the machine station to clean the mop structure. Since the sweeping robot needs to cooperate with the machine station to clean the mop structure, it is relatively complicated for the sweeping robot to clean the mop structure.

[0085] like Figure 1 As shown, the embodiment of the present application provides a cleaning system, including a cleaning base station 10 and a cleaning device 40. The cleaning device 40 includes a body 400 and a cleaning module 500 detachably disposed on the body 400. The cleaning base station 10 includes a driving assembly 300.

[0086] In the cleaning state, the cleaning module 500 is separated from the body 400 , and the cleaning module 500 is detachably connected to the first output portion 310 of the driving component 300 of the cleaning base station 10 . The driving component 300 is used to drive the cleaning module 500 to rotate to clean the cleaning module 500 .

[0087] Here, the cleaning base station 10 may have a cleaning space 213 , and the driving assembly 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213 .

[0088] Here, the cleaning module 500 can be cleaned by the cleaning base station 10 without the participation of the cleaning device 40 , thereby greatly simplifying the structure of the cleaning module 500 .

[0089] In the embodiment of the present application, the structure of the cleaning device 40 is not limited. For example, the cleaning device 40 may be a sweeping robot.

[0090] In the embodiment of the present application, in the cleaning state, at least part of the cleaning device 40 may be located in the first space 101 defined by the cleaning base station 10, such as Figure 1 Of course, in the cleaning state, the cleaning device 40 can also be located outside the cleaning base station 10, where the cleaning device 40 can be in a non-working state. Of course, the cleaning device 40 can also be in a working state; for example, the cleaning device 40 is in a sweeping state.

[0091] In the embodiments of the present application, Figure 2 and Figure 3 As shown, the cleaning device 40 may further include a driving wheel 710 and a driven wheel 720 disposed at the bottom of the body 400. The driving wheel 710 is used to drive the body 400 to travel, and the driven wheel 720 is used to support the body 400 together with the driving wheel 710. Of course, in other embodiments, the cleaning device 40 may also include only the driving wheel 710, but not the driven wheel 720.

[0092] In the embodiment of the present application, the cleaning device 40 may further include a cleaning device disposed at the bottom of the body 400 , and the cleaning device is used to clean the carrying surface 730 .

[0093] The cleaning module 500 is movably disposed at the bottom of the body 400, and the cleaning module 500 has a lifting position and a cleaning position relative to the body 400. Figure 2 As shown, when the cleaning module 500 is in the raised position, the cleaning module 500 does not clean the carrying surface 730. Figure 3 As shown, when the cleaning module 500 is in the cleaning position, the cleaning module 500 can clean the carrying surface 730 ; here, the cleaning module 500 can rotate relative to the body 400 to contact with the carrying surface 730 to clean the carrying surface 730 .

[0094] Embodiment 1, as Figure 4As shown, the embodiment of the present application describes a cleaning base station 10, including a body component 100, a cleaning component 200 and a driving component 300. The cleaning component 200 is arranged on the body component 100 and defines a cleaning space 213; the driving component 300 is arranged on the body component 100; the first output part 310 of the driving component 300 is located in the cleaning space 213; the first output part 310 of the driving component 300 is used to be detachably connected to the cleaning module 500 of the cleaning device 40 to drive the cleaning module 500 to rotate in the cleaning space 213; the cleaning base station 10 can complete the cleaning of the cleaning module 500 without the participation of the cleaning device 40, thereby greatly simplifying the structure of the cleaning module 500.

[0095] In the embodiment of the present application, the structure of the body component 100 is not limited. For example, the body component 100 can define a storage space, the cleaning component 200 is disposed in the storage space and defines a cleaning space 213; the driving component 300 is disposed in the storage space; so that the cleaning component 200 and the driving component 300 can be protected by the body component 100. Of course, in other embodiments, the cleaning component 200 can also be directly disposed on the top side of the body component 100, and part of the driving component 300 can also be disposed on the top side of the body component 100.

[0096] In the embodiment of the present application, the structure of the drive assembly 300 is not limited. For example, the drive assembly 300 may include a first motor 370, and the first motor 370 may be fixed to the body assembly 100 by a clamping structure, a screw structure, etc. The drive shaft of the first motor 370 may directly form the first output portion 310, or the first output portion 310 may be arranged on the drive shaft of the first motor 370. For another example, the drive assembly 300 also includes: a first motor 370 and a first transmission assembly 380, and the first motor 370 is connected to the first output portion 310 through the first transmission assembly 380.

[0097] As an example, Figure 4 and Figure 5 As shown, the cleaning component 200 defines two cleaning spaces 213, and the main body component 100 defines a first accommodating space for accommodating the cleaning component 200, and a second accommodating space; the driving component 300 also includes: a first motor 370 and a first transmission component 380, the first motor 370 is arranged in the second accommodating space, and the first motor 370 is connected to the two first output parts 310 through the first transmission component 380; the two first output parts 310 are correspondingly located in the two cleaning spaces 213; the two first output parts 310 are driven to rotate at the same time by one motor, so that two cleaning modules 500 can be cleaned simultaneously by one motor.

[0098] Here, the second accommodating space and the first accommodating space are at least partially overlapped in the height direction, and the projection areas of the second accommodating space and the first accommodating space on the bearing surface 730 are staggered, that is, the second accommodating space and the first accommodating space can be located at the same level in the height direction, thereby reducing the setting size of the main body component 100 in the height direction and realizing the lightness and thinness of the main body component 100 set in the cleaning component 200 and the driving component 300 area.

[0099] In some optional implementations of the embodiments of the present application, after the driving component 300 drives the cleaning module 500 to rotate forward for a set time, the driving component 300 is also used to drive the cleaning module 500 to rotate reversely; so that the cleaning module 500 can be rotated in both directions by the driving component 300 to improve the cleaning effect of the cleaning module 500.

[0100] Here, the setting time is not limited. For example, the setting time can be 1 minute, 30 seconds, or 2 minutes.

[0101] In the embodiment of the present application, the structure of the first output part 310 is not limited, as long as the first output part 310 can be detachably connected to the cleaning module 500 of the cleaning device 40, and the driving assembly 300 can drive the cleaning module 500 to rotate through the first output part 310. For example, the first output part 310 is used to connect with the first matching part 520 of the cleaning module 500 through magnetic attraction, and the first output part 310 is used to fix the position of the cleaning module 500 in the rotation direction through magnetic attraction. Here, the first output part 310 and the first matching part 520 can both be magnetic structures, and the magnetism of the first output part 310 and the first matching part 520 can be opposite. Of course, the first output part 310 and the first matching part 520 can also have only one of the magnetic structure and the other of the iron structure.

[0102] In example 1, the first output portion 310 may include a first limiting structure 320 ; the first limiting structure 320 is used to be detachably connected to the first connecting structure 550 of the cleaning module 500 , and is fixedly disposed with the first connecting structure 550 in the rotation direction.

[0103] When the first limiting structure 320 is detachably connected to the first connecting structure 550 of the cleaning module 500 , the first output portion 310 is connected to the first connecting structure 550 through the first limiting structure 320 and can drive the cleaning module 500 to rotate.

[0104] In Example 1, the form of the first limiting structure 320 is not limited.

[0105] For example, Figure 6As shown, the first limiting structure 320 may include: a first convex-concave structure 321, which is radially arranged on the top side of the first output part 310; the first convex-concave structure 321 is used to cooperate with the first concave-convex structure 551 of the cleaning module 500.

[0106] When the first convex-concave structure 321 cooperates with the first concave-convex structure 551 of the cleaning module 500, the first output part 310 and the cleaning module 500 are fixedly arranged in the rotation direction. The first output part 310 can drive the cleaning module 500 to rotate through the cooperation between the first convex-concave structure 321 and the first concave-convex structure 551, thereby cleaning the cleaning module 500.

[0107] In this example, the specific shape of the first convex-concave structure 321 is not limited. Figure 6 As shown, the first convex part 3211 of the first convex-concave structure 321 may include: a first mating top surface 3212 and two first mating side surfaces 3213. The first mating top surface 3212 is inclined toward the bottom side of the first output part 310 from the axis of the first output part 310 to the circumferential direction of the first output part 310; the two first mating side surfaces 3213 are located on opposite sides of the first mating top surface 3212 in the circumferential direction; the distance between the two first mating side surfaces 3213 gradually increases in the direction from the top end of the first convex part 3211 to the bottom end of the first convex part 3211. Thus, the first mating top surface 3212 and the two first mating side surfaces 3213 can provide a guiding effect for the mating of the first concave-convex structure 551 with the first convex-concave structure 321.

[0108] In one application, after the cleaning device 40 moves to the position corresponding to the cleaning module 500 and the first output part 310, here, the first connecting structure 550 of the cleaning module 500 is located directly above the first output part 310, when the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-concave structure 321 based on the guiding effect provided by the first matching top surface 3212 and the two first matching side surfaces 3213 of the first convex-concave structure 321, and here, the convex part of the first concave-convex structure 551 can automatically slide into the recessed area of ​​the first convex-concave structure 321 based on the guiding effect provided by the first matching top surface 3212 and the two first matching side surfaces 3213, thereby realizing the automatic matching connection between the first concave-convex structure 551 and the first convex-concave structure 321.

[0109] In this example, the first mating side surface 3213 and the first mating top surface 3212 can be connected by an arc surface, so that the first concave-convex structure 551 and the first convex-concave structure 321 can be automatically mated and connected more smoothly. Of course, the first mating side surface 3213 and the first mating top surface 3212 can also be connected by an inclined surface.

[0110] In this example, the first mating top surface 3212 can be a plane for easy processing. Here, in the process of mating and connecting the first concave-convex structure 551 and the first convex-concave structure 321, if the third convex portion 5511 of the first concave-convex structure 551 just contacts the first mating top surface 3212 and cannot enter the recessed area of ​​the first convex-concave structure 321, after the first output portion 310 of the drive assembly 300 starts to rotate, the first convex-concave structure 321 will rotate to stagger with the first concave-convex structure 551, and based on the gravity of the cleaning module 500, the third convex portion 5511 of the first concave-convex structure 551 will enter the recessed area of ​​the first convex-concave structure 321, thereby realizing the mating and connection of the first concave-convex structure 551 and the first convex-concave structure 321. Of course, the first mating top surface 3212 can also be a curved surface, and here, the third convex portion 5511 of the first concave-convex structure 551 will directly enter the recessed area of ​​the first convex-concave structure 321 based on the guiding effect of the first mating top surface 3212.

[0111] In this example, the first convex-concave structure 321 may include: a first guide bottom surface 330. The first guide bottom surface 330 is located at the top side of the first output portion 310; the first guide bottom surface 330 is inclined toward the bottom side of the first output portion 310 along the axis of the first output portion 310 to the circumferential direction of the first output portion 310, so that the first convex-concave structure 321 and the first concave-convex structure 551 are more closely matched through the first guide bottom surface 330.

[0112] Here, the first guide bottom surface 330 is an inclined surface, and the first convex-concave structure 321 is formed into a structure similar to a frustum through the first guide bottom surface 330, so that the axis of the first convex-concave structure 321 and the axis of the first concave-convex structure 551 can be more aligned, so that the first convex-concave structure 321 and the first concave-convex structure 551 can be more tightly matched and connected.

[0113] Of course, in other examples, the first guide bottom surface 330 may also be a plane.

[0114] In this example, the first limiting structure 320 may also include: a second convex-concave structure 322, which is arranged on the outer peripheral side of the first output part 310 and corresponds to the position of the first convex-concave structure 321; the first convex portion 3211 of the first convex-concave structure 321 extends to the second convex portion 3221 of the second convex-concave structure 322, and the second convex-concave structure 322 is used to cooperate with the second concave-convex structure 552 of the cleaning module 500.

[0115] When the first convex-concave structure 321 cooperates with the first concave-convex structure 551 of the cleaning module 500, and the second convex-concave structure 322 cooperates with the second concave-convex structure 552, the first output part 310 and the cleaning module 500 are more reliably fixed in the rotation direction. The first output part 310 can more reliably drive the cleaning module 500 to rotate through the cooperation of the first convex-concave structure 321 with the first concave-convex structure 551, and the cooperation of the second convex-concave structure 322 with the second concave-convex structure 552, thereby achieving more reliable cleaning of the cleaning module 500.

[0116] Here, since the first convex portion 3211 of the first convex-concave structure 321 extends to the second convex portion 3221 of the second convex-concave structure 322 , the second convex portion 3221 of the second convex-concave structure 322 automatically enters the concave region of the second concave-convex structure 552 based on the guiding effect of the first convex-concave structure 321 .

[0117] In this example, if Figure 6 As shown, the top side of the first output portion 310 may be provided with a first mounting groove 311 at the axis, and the first convex-concave structure 321 is arranged on the outer peripheral side of the first mounting groove 311; the driving assembly 300 may also include: a first connecting member 351, the first connecting member 351 is arranged in the first mounting groove 311; the first connecting member 351 is used to provide a magnetic attraction to the second connecting member 581 of the cleaning module 500 to move toward the side close to the first connecting member 351, as shown in FIG. Figure 7 As shown; the magnetic attraction between the first connecting member 351 and the second connecting member 581 can enable the first output part 310 and the first connecting structure 550 of the cleaning module 500 to be better aligned and connected, and can also enable the axis of the first output part 310 and the axis of the first connecting structure 550 to be better aligned, so that the first convex-concave structure 321 and the first concave-convex structure 551 fit more closely.

[0118] The first connecting member 351 can be set in the first installation groove 311 by bonding, clamping, etc. The structures of the first connecting member 351 and the second connecting member 581 are not limited. For example, the first connecting member 351 and the second connecting member 581 can both be magnetic structures, and the magnetism of the first connecting member 351 and the second connecting member 581 can be opposite. Of course, only one of the first connecting member 351 and the second connecting member 581 can be a magnetic structure, and the other can be an iron structure.

[0119] In this example, the first output part 310 and the first connection structure 550 of the cleaning module 500 can be better aligned and connected through the first mating top surface 3212 and the two first mating side surfaces 3213; the first output part 310 and the first connection structure 550 of the cleaning module 500 can also be better aligned and connected through the first guide bottom surface 330, and the first output part 310 and the first connection structure 550 of the cleaning module 500 can also be better aligned and connected through the first connecting member 351 and the second connecting member 581. Here, the cleaning base station 10 can be set to one of the above three groups of structures, or any two of the above three groups of structures, or three of the above three groups of structures.

[0120] In other examples, the alignment structure may not be provided between the first output part 310 and the first connection structure 550 of the cleaning module 500. As an example, the first limiting structure 320 may include: a first convex-concave structure 321. The cleaning device 40 can detect the relative position of the first convex-concave structure 321 of the first output part 310 in the circumferential direction, and the relative position of the first concave-convex structure 551 in the circumferential direction. Here, the cleaning device 40 is used to drive the first concave-convex structure 551 to rotate relative to the first concave-convex structure 551 in the circumferential direction until the positions of the first concave-convex structure 551 and the first convex-concave structure 321 in the circumferential direction correspond, and then separate the cleaning module 500 from the fuselage 400, so that the first concave-convex structure 551 of the cleaning module 500 and the first convex-concave structure 321 are just matched and connected. Here, the cleaning device 40 can detect the relative position of the first convex-concave structure 321 in the circumferential direction through a position sensor or an image detection component. The cleaning device 40 can detect the relative position of the first concave-convex structure 551 in the circumferential direction through a position sensor or an image detection component. Here, the cleaning device 40 is used to drive the first concave-convex structure 551 to rotate relative to each other in the circumferential direction until the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction. For example, the cleaning device 40 may also include: a lifting device 600, the lifting device 600 may be rotatably arranged on the body 400 of the cleaning device 40, the lifting device 600 is used to drive the cleaning module 500 to work, and the cleaning device 40 may drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor, so that the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction.

[0121] Of course, in other examples, the first limiting structure 320 may also be a structure of other forms.

[0122] For example, the first limiting structure 320 may include: a first connecting member 351, the first connecting member 351 is arranged on the first output part 310; the first connecting member 351 is used to connect with the second connecting member 581 of the cleaning module 500 through magnetic attraction, and the first output part 310 is used to fix the cleaning module 500 in the rotation direction through magnetic attraction. Here, the first output part 310 can drive the cleaning module 500 to rotate through the magnetic attraction between the first connecting member 351 and the second connecting member 581, and here, the first output part 310 does not need to be provided with other limiting structures, so that the structure of the first output part 310 can be greatly simplified.

[0123] Here, the first connecting member 351 can be directly arranged at the axis of the top side of the first output part 310, and the first connecting member 351 can be in an exposed state or not. Here, the first output part 310 can include a first annular inclined surface or not. When the first output part 310 includes a first annular inclined surface, the first annular inclined surface can be located on the outer peripheral side of the first connecting member 351, and the first annular inclined surface is used to cooperate with the second annular inclined surface of the first matching part 520 of the cleaning module 500; the first annular inclined surface cooperates with the second annular inclined surface of the first matching part 520 to make the first matching part 520 more aligned with the axis of the first output part 310.

[0124] In some optional implementations of the embodiments of the present application, the first output part 310 may include an electromagnetic structure so that the first output part 310 and the cleaning module 500 are in a connected state or a disconnected state; thereby realizing that the cleaning module 500 is separated from the first output part 310 and connected to the body 400. Here, when the first output part 310 and the cleaning module 500 are in contact, when the power is on, there is a magnetic attraction between the first output part 310 and the cleaning module 500 and they are in a connected state; when the power is off, there is no magnetic attraction between the first output part 310 and the cleaning module 500 and they are in a disconnected state. In an application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output part 310 is in a powered state, and after the cleaning module 500 is cleaned, the electromagnetic structure of the first output part 310 is in a powered state, so that the cleaning module 500 is connected to the body 400 of the cleaning device 40.

[0125] In some optional implementations of the embodiments of the present application, the driving assembly 300 may include: a first output shaft 360 .

[0126] Here, the first output portion 310 may be a portion of the first output shaft 360. Here, the portion of the first output shaft 360 forms the first output portion 310, thereby greatly simplifying the structure of the drive assembly 300. Of course, the first output portion 310 may also be provided on the first output shaft 360 by means of snap connection, plug connection, bonding, etc., thereby facilitating the processing and manufacturing of the drive assembly 300.

[0127] In the embodiment of the present application, the structure of the cleaning component 200 is not limited. For example, the cleaning component 200 can be detachably arranged on the main body component 100 by means of snap connection, plug connection, etc., so that the cleaning component 200 can be removed from the cleaning base station 10 for thorough cleaning; the cleaning component 200 is provided with a first connecting through hole 211; the first output part 310 is used to be detachably connected to the cleaning module 500 through the first connecting through hole 211. Of course, the cleaning component 200 can also be directly fixed to the main body component 100 by means of bonding, welding, etc. and cannot be detached.

[0128] In some optional implementations of the embodiments of the present application, the cleaning component 200 may include: a cleaning tray 210, which can be detachably arranged on the main body component 100 and has a first connecting through hole 211; the cleaning tray 210 defines a cleaning space 213 so that the cleaning module 500 can be cleaned by the cleaning tray 210.

[0129] In this implementation, the cleaning tray 210 can be detachably arranged on the body assembly 100 by means of snap connection, plug connection, etc., so that the cleaning tray 210 can be removed from the cleaning base station 10 for thorough cleaning. Of course, in other implementations, the cleaning tray 210 can also be directly fixed to the body assembly 100 by means of bonding, welding, etc. and cannot be detached.

[0130] In this implementation, the cleaning tray 210 can be used to contain a cleaning liquid. The cleaning module 500 is cleaned by contacting with the cleaning liquid. The form of the cleaning liquid is not limited. For example, the cleaning liquid can include at least one of water and a cleaning agent.

[0131] In this implementation, the cleaning component 200 may also include: a cleaning piece 220, which is rotatably arranged in the cleaning space 213; the cleaning piece 220 is used to clean the cleaning space 213; the second output portion 390 of the driving component 300 is connected to the cleaning piece 220 through the first connecting hole 211 to drive the cleaning piece 220 to rotate; the cleaning space 213 can be automatically cleaned by the cleaning piece 220, thereby greatly improving the automatic cleaning ability of the cleaning component 200; at the same time, the driving component 300 can drive the cleaning module 500 to rotate, and can also drive the cleaning piece 220 to rotate, which can greatly simplify the structure of the cleaning base station 10.

[0132] Of course, in other examples, the cleaning assembly 200 can also drive the cleaning member 220 to rotate in other ways. For example, the cleaning assembly 200 drives the cleaning member 220 to rotate through other driving motors.

[0133] In this implementation, the second output portion 390 of the driving assembly 300 is connected to the cleaning member 220 via the first connecting through hole 211, and the implementation method for driving the cleaning member 220 to rotate is not limited.

[0134] For example, the driving component 300 may include: a first output shaft 360, the first output shaft 360 is located at the first connecting through hole 211; the second output part 390 is arranged on the first output shaft 360; the first output part 310 is arranged at the top end of the first output shaft 360; thereby, the first output part 310 and the second output part 390 are driven to rotate at the same time through the first output shaft 360 of the driving component 300.

[0135] It should be noted that the top side and bottom side recorded in the embodiments of the present application are based on the device being placed on the carrying surface 730 . Taking the carrying surface 730 as a reference, the bottom side refers to the side close to the carrying surface 730 , and the top side refers to the side away from the carrying surface 730 .

[0136] In this example, the second output portion 390 and the first output portion 310 may be directly fixed to the first output shaft 360 by bonding, clamping, or the like.

[0137] In this example, the second output portion 390 and the cleaning member 220 can be connected by snapping, plugging, bonding, or the like.

[0138] Example 2: Figure 7 As shown, the cleaning disc 210 may have a first cylindrical portion 212 located in the cleaning space 213 on the peripheral side of the first connecting through hole 211; at least part of the second output portion 390 is located in the cavity of the first cylindrical portion 212, and the cleaning piece 220 is sleeved outside the first cylindrical portion 212 and blocks the gap between the second output portion 390 and the first cylindrical portion 212, so that the cleaning liquid can be prevented from entering the first output shaft 360 through the first cylindrical portion 212, the second output portion 390 and the cleaning piece 220.

[0139] In Example 2, the first cylindrical portion 212 can prevent the cleaning fluid from entering the first output shaft 360 from the first connecting hole.

[0140] In Example 2, by having the cleaning piece 220 sleeved outside the first cylindrical portion 212 and covering the gap between the second output portion 390 and the first cylindrical portion 212, it is possible to prevent the cleaning liquid from entering the first output shaft 360 from the gap between the second output portion 390 and the first cylindrical portion 212 during the cleaning process of the cleaning module 500.

[0141] In Example 2, the shape of the second output portion 390 is not limited. For example, the second output portion 390 may be a cylindrical structure.

[0142] In Example 2, the shape of the cleaning member 220 is not limited. For example, the cleaning member 220 may be a cylindrical structure.

[0143] As an example, Figure 8 and Fig. 9 As shown, the second output part 390 can be a stepped cylindrical structure, the second output part 390 is sleeved outside the first output shaft 360, the large end of the second output part 390 is located in the cavity of the first cylindrical part 212, and the small end of the second output part 390 is located outside the first cylindrical part 212; at least part of the first output part 310 is located on the side of the small end of the second output part 390 away from the large end of the second output part 390; the cleaning part 220 may include: a stepped cylindrical part 221 and a cleaning part 222, the large end of the stepped cylindrical part 221 is sleeved outside the first cylindrical part 212, and the small end of the stepped cylindrical part 221 is sleeved outside the small end of the second output part 390; the cleaning part 222 is strip-shaped and is arranged outside the large end of the stepped cylindrical part 221; thereby, the cleaning liquid can be prevented from entering the first output shaft 360 through the stepped cylindrical part 221 of the cleaning part 220, and the cleaning space 213 can be cleaned through the cleaning part 222.

[0144] In Example 2, if Fig.10 As shown, the cleaning assembly 200 may also include: a cleaning bracket 230, which is arranged on the top side of the cleaning disc 210 and is used to contact the cleaning module 500; the cleaning bracket 230 has a first mounting hole 231 corresponding to the position of the first connecting through hole 211, and the small end of the step cylinder 221 can be rotatably arranged at the first mounting hole 231.

[0145] Here, the cleaning bracket 230 may be provided with a channel for guiding out the cleaning liquid, so that the cleaning module 500 may be stained with the cleaning liquid when in contact with the cleaning bracket 230. The cleaning bracket 230 may also be provided with a cleaning protrusion, so that the cleaning module 500 may be cleaned by contacting and rubbing with the cleaning protrusion.

[0146] Here, the small end of the stepped cylinder portion 221 may be rotatably disposed at the first mounting hole 231 via a bearing 240 .

[0147] When the cleaning member 220 is a cylindrical structure, the cleaning member 220 can also be rotatably arranged at the first mounting hole 231 through a bearing structure. Of course, in other examples, the cleaning member 220 can also be rotatably arranged at the first cylindrical portion 212 through a bearing structure.

[0148] In Example 2, if Fig. 9 and Fig.10As shown, the cleaning component 200 may also include: a shielding member 250, the shielding member 250 is provided with a cleaning bracket 230; the shielding member 250 covers the top side of the gap between the cleaning bracket 230 and the small end of the second output part 390; the shielding member 250 has a first through hole 251, and at least a part of the first output part 310 is detachably connected to the cleaning module 500 through the first through hole 251; the shielding member 250 can further prevent the cleaning liquid from entering the first output shaft 360.

[0149] Here, the shielding member 250 can be disposed on the cleaning bracket 230 by plugging, snapping, etc.

[0150] In this example, the manner in which the second output portion 390 is connected to the first output shaft is not limited. For example, the second output portion 390 is cylindrical and is sleeved outside the first output shaft 360. As an example, the second output portion 390 can be directly set on the first output shaft by bonding, clamping, etc. As another example, the cleaning base station 10 can also include: a first transmission member, the first transmission member is set on the first output shaft, and is connected to the second output portion 390. Here, the first transmission member and the second output portion 390 can be connected by a convex-concave structure or a gear structure. As another example, Figure 8 and Fig.11 As shown, the cleaning base station 10 may further include: a second transmission member 381 and at least two third transmission members 382. The second transmission member 381 may be arranged on the first output shaft by bonding, clamping, etc.; at least two third transmission members 382 may be rotatably arranged on the body assembly 100; the third transmission member 382 may be respectively connected with the second transmission member 381 and the second output part 390 by a convex-concave structure, a gear structure, etc. Here, at least two third transmission members 382 may be rotatably arranged on the body assembly 100 by a rotating shaft structure.

[0151] In one application, the cleaning base station 10 may further include: a second transmission member 381, at least two fixed shafts 110, at least two third transmission members 382 and a connecting frame 120. The second transmission member 381 is arranged on the first output shaft 360; at least two fixed shafts 110 are arranged at intervals along the circumference of the second transmission member 381 on the outside of the second transmission member 381, and the first end of the fixed shaft 110 is fixed to the body assembly 100; at least two third transmission members 382 are rotatably arranged on at least two fixed shafts 110 respectively; the connecting frame 120 is respectively connected to the second ends of at least two fixed shafts 110; the second output part 390 is cylindrical and sleeved outside the at least two third transmission members 382; the third transmission member 382 is respectively connected to the second transmission member 381 and the second output part 390; the stability of the position of at least two fixed shafts 110 can be improved by the connecting frame 120. Of course, the cleaning base station 10 may also not include the connecting frame 120.

[0152] Here, the rotation direction of the first output shaft 360 is opposite to the rotation direction of the second output portion 390 , which can improve the ability of the cleaning member 220 to clean the cleaning space 213 .

[0153] Here, the second transmission member 381 may be a sun gear, the third transmission member 382 may be a planetary gear, and the connecting frame 120 may be a planetary carrier.

[0154] In this implementation, if Fig.12 As shown, the cleaning component 200 can be directly plugged in so that the cleaning component 200 can be removed from the cleaning base station 10 as a whole, so as to thoroughly clean the cleaning component 200.

[0155] In this implementation, if Fig.13 As shown, the cleaning bracket 230 can also be directly plugged in and arranged, so that the cleaning bracket 230 can be removed from the cleaning base station 10 alone, so as to thoroughly clean the cleaning bracket 230. The cleaning member 220 can also be directly plugged in and arranged. After the cleaning bracket 230 is removed, the cleaning member 220 can also be removed from the cleaning plate 210 alone, so as to thoroughly clean the cleaning member 220.

[0156] Of course, in other embodiments, the cleaning assembly 200 may not include the cleaning bracket 230 .

[0157] As an example, the cleaning base station may further include a cleaning bracket 230 disposed on the top side of the cleaning space 213 and used to contact the cleaning module 500 so as to more thoroughly clean the cleaning module 500 through the contact between the cleaning bracket 230 and the cleaning module 500 .

[0158] Of course, in other examples, the cleaning module 500 can be cleaned by rotating unidirectionally or bidirectionally in the cleaning space 213 .

[0159] Here, the cleaning bracket 230 can be detachably arranged or fixedly arranged. The cleaning bracket 230 can be detachably arranged on the body component 100 by plugging, clamping, threaded structure, etc. The cleaning bracket 230 can also be fixedly arranged on the body component 100 by bonding, welding, etc. When the cleaning bracket 230 is detachably arranged, it is convenient to remove the cleaning bracket 230 for thorough cleaning.

[0160] Embodiment 2, as Fig.14As shown, the embodiment of the present application also describes a cleaning module 500, including a cleaning bracket 510 and a cleaning member 540. The cleaning bracket 510 has a first matching portion 520 and a second matching portion 530 that are arranged back to back in the axial direction; the cleaning member 540 is arranged at the first end of the cleaning bracket 510; the cleaning member 540 is provided with an avoidance through hole 541 corresponding to the position of the first matching portion 520; the first matching portion 520 is used to be detachably connected to the first output portion 310 of the driving assembly 300 of the cleaning base station 10 through the avoidance through hole 541; the second matching portion 530 is used to be detachably connected to the body 400 of the cleaning device 40.

[0161] In the embodiment of the present application, the cleaning module 500 can be detachably connected to the body 400 of the cleaning device 40 to clean the carrying surface 730, and the cleaning module 500 can also be detachably connected to the first output part 310 of the driving component 300 of the cleaning base station 10 to clean the cleaning module 500. At the same time, the cleaning base station 10 can directly drive the cleaning module 500 to rotate and clean the cleaning module 500 through the first output part 310 of the driving component 300, without the participation of the cleaning device 40, thereby greatly improving the adaptability of the cleaning module 500.

[0162] In the embodiment of the present application, the structure of the cleaning support 510 is not limited. For example, the cleaning support 510 may be a disc-shaped structure.

[0163] As an example, the cleaning bracket 510 has a first end and a second end that are arranged opposite to each other in the axial direction; the first end of the cleaning bracket 510 has a first matching portion 520 , and the second end of the cleaning bracket 510 has a second matching portion 530 .

[0164] In the embodiment of the present application, the structure of the cleaning member 540 is not limited. For example, the cleaning member 540 may be a fabric structure so that the cleaning member 540 cleans the carrying surface 730. As an example, the cleaning member 540 may be a mop.

[0165] Here, the cleaning member 540 may be disposed on the first end of the cleaning bracket 510 by bonding, clamping, or the like.

[0166] In the embodiment of the present application, the structure of the first matching portion 520 is not limited, as long as the first matching portion 520 can be detachably connected to the first output portion 310 of the driving assembly 300. For example, the first matching portion 520 is used to connect to the first output portion 310 of the cleaning base station 10 through magnetic attraction, and the first output portion 310 is used to fix the position of the cleaning module 500 in the rotation direction through magnetic attraction. The first output portion 310 can directly drive the cleaning module 500 to rotate based on the magnetic attraction between the first matching portion 520 and the first output portion 310.

[0167] The shape of the first matching portion 520 is not limited. For example, the first matching portion 520 may be a concave structure, and correspondingly, the first output portion 310 may be a convex structure. For another example, the first matching portion 520 may be a convex structure, and correspondingly, the first output portion 310 may be a concave structure.

[0168] In the embodiment of the present application, the second matching portion 530 is used to drive the cleaning bracket 510 to rotate. During the process of the second matching portion 530 driving the cleaning bracket 510 to rotate, the cleaning member 540 is used to contact the bearing surface to clean the bearing surface. During the process of the cleaning member 540 contacting the bearing surface, there is friction between the cleaning member 540 and the bearing surface, and the cleaning member 540 cleans the bearing surface by rubbing against the bearing surface.

[0169] The structure of the second matching portion 530 is not limited, as long as the second matching portion 530 can be detachably connected to the body 400 of the cleaning device 40. For example, the cleaning device 40 may further include a lifting device 600 disposed on the body 400, and the lifting device 600 is used to drive the cleaning module 500 to work so as to clean the carrying surface 730. The second matching portion 530 and the lifting device 600 can be connected by magnetic attraction, and the lifting device 600 is used to fix the position of the cleaning module 500 in the rotation direction by magnetic attraction, and the lifting device 600 can directly drive the cleaning module 500 to rotate and work based on the magnetic attraction.

[0170] For another example, the second matching portion 530 may be a concave structure, and correspondingly, the lifting device 600 of the fuselage 400 may have a convex structure. For another example, the second matching portion 530 may be a convex structure, and correspondingly, the lifting device 600 of the fuselage 400 may have a concave structure. Fig.14 and Fig.15 As shown, the second matching portion 530 may be a strip structure arranged along the axial direction of the cleaning module 500 .

[0171] Example three: the first matching portion 520 may include a first connection structure 550 , which is used to be detachably connected to the first limiting structure 320 of the first output portion 310 and fixedly disposed with the first limiting structure 320 in the rotation direction.

[0172] In Example 3, the form of the first connection structure 550 is not limited.

[0173] For example, Fig.16 As shown, the first connection structure 550 may include: a first concave-convex structure 551, which is radially arranged at the first end of the cleaning bracket 510; the first concave-convex structure 551 is used to cooperate with the first convex-concave structure 321 of the first output part 310.

[0174] In this example, the specific shape of the first concave-convex structure 551 is not limited. Fig.16 As shown, the third convex part 5511 of the first concave-convex structure 551 includes: a second mating top surface 5512 and two second mating side surfaces 5513. The second mating top surface 5512 is tilted away from the second mating part 530 from the axis of the first mating part 520 to the circumferential side of the first mating part 520; the two second mating side surfaces 5513 are located on opposite sides of the second mating top surface 5512 in the circumferential direction; the distance between the two second mating side surfaces 5513 gradually increases in the direction from the top end of the third convex part 5511 to the bottom end of the third convex part 5511. Therefore, the second mating top surface 5512 and the two second mating side surfaces 5513 can provide a guiding effect for the mating of the first concave-convex structure 551 with the first convex-concave structure 321.

[0175] In one application, after the cleaning device 40 moves to the position where the cleaning module 500 corresponds to the first output part 310, here, the first connecting structure 550 of the cleaning module 500 is located directly above the first output part 310, when the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513. Here, the convex part of the first concave-convex structure 551 can automatically slide into the recessed area of ​​the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513, thereby realizing the automatic mating connection between the first concave-convex structure 551 and the first convex-concave structure 321.

[0176] In this example, the second mating side surface 5513 and the second mating top surface 5512 may be connected by an arc surface, so that the first concave-convex structure 551 and the first convex-concave structure 321 can be automatically mated and connected more smoothly. Of course, the second mating side surface 5513 and the second mating top surface 5512 may also be connected by an inclined surface.

[0177] In this example, the second mating top surface 5512 can also be a plane for easy processing. Here, in the process of mating and connecting the first concave-convex structure 551 and the first convex-concave structure 321, if the second mating top surface 5512 of the first concave-convex structure 551 just contacts the first mating top surface 3212 and cannot enter the recessed area of ​​the first convex-concave structure 321, after the first output part 310 of the drive assembly 300 starts to rotate, the first convex-concave structure 321 will rotate to stagger with the first concave-convex structure 551, and based on the gravity of the cleaning module 500, the third convex part 5511 of the first concave-convex structure 551 will enter the recessed area of ​​the first convex-concave structure 321, thereby realizing the mating and connection of the first concave-convex structure 551 and the first convex-concave structure 321. Of course, the second mating top surface 5512 can also be a curved surface, and here, the third convex part 5511 of the first concave-convex structure 551 will directly enter the recessed area of ​​the first convex-concave structure 321 based on the guiding effect of the second mating top surface 5512.

[0178] In this example, the first concave-convex structure 551 may include: a second guide bottom surface 560, the second guide bottom surface 560 is located at the first end of the cleaning bracket 510; the second guide bottom surface 560 is inclined along the axis of the first matching part 520 to the circumferential side direction of the first matching part 520 away from the second matching part 530, so that the first convex-concave structure 321 and the first concave-convex structure 551 can be more closely matched through the second guide bottom surface 560.

[0179] Here, the second guide bottom surface 560 is an inclined surface, and the first concave-convex structure 551 is formed into a cone-shaped space through the second guide bottom surface 560, so that the axis of the first convex-concave structure 321 and the axis of the first concave-convex structure 551 can be more aligned, so that the first convex-concave structure 321 and the first concave-convex structure 551 can be more closely matched and connected.

[0180] Of course, the second guide bottom surface 560 may also be a plane.

[0181] In this example, the first connecting structure 550 may also include: a second concave-convex structure 552, which is arranged on the outer peripheral side of the first matching part 520 and corresponds to the position of the first concave-convex structure 551; the third convex portion 5511 of the first concave-convex structure 551 extends to the fourth convex portion 5521 of the second concave-convex structure 552, and the second concave-convex structure 552 is used to cooperate with the second convex-concave structure 322 of the first output part 310.

[0182] Here, since the third convex portion 5511 of the first concave-convex structure 551 extends to the fourth convex portion 5521 of the second concave-convex structure 552 , the fourth convex portion 5521 of the second concave-convex structure 552 automatically enters the concave area of ​​the second convex-concave structure 322 based on the guiding effect of the first concave-convex structure 551 .

[0183] In this example, the first matching portion 520 may be provided with a second mounting groove 570 at the axis, and the first concave-convex structure 551 is arranged on the outer peripheral side of the second mounting groove 570; the cleaning module 500 may also include: a second connecting member 581, the second connecting member 581 is arranged in the second mounting groove 570; the second connecting member 581 is used to connect with the first connecting member 351 of the cleaning base station 10 through magnetic attraction, such as Figure 7 and Fig. 9 As shown, the magnetic attraction between the first connecting member 351 and the second connecting member 581 can enable the first output part 310 and the first connecting structure 550 of the cleaning module 500 to be better aligned and connected, and can also enable the axis of the first output part 310 and the axis of the first connecting structure 550 to be better aligned, so that the first convex-concave structure 321 and the first concave-convex structure 551 can fit more closely.

[0184] The second connecting member 581 can be disposed in the second mounting groove 570 by bonding, clamping, or the like.

[0185] In this example, the first output part 310 and the first connection structure 550 of the cleaning module 500 can be better aligned and connected through the second matching top surface 5512 and the two second matching side surfaces 5513; the first output part 310 and the first connection structure 550 of the cleaning module 500 can also be better aligned and connected through the second guide bottom surface 560, and the first output part 310 and the first connection structure 550 of the cleaning module 500 can also be better aligned and connected through the first connecting member 351 and the second connecting member 581. Here, the cleaning module 500 can be set to one of the above three groups of structures, or any two of the above three groups of structures, or three of the above three groups of structures.

[0186] In other examples, the alignment structure may not be provided between the first output part 310 and the first connection structure 550 of the cleaning module 500. As an example, the first limiting structure 320 may include: a first convex-concave structure 321. The cleaning device 40 can detect the relative position of the first convex-concave structure 321 of the first output part 310 in the circumferential direction, and the relative position of the first concave-convex structure 551 in the circumferential direction. Here, the cleaning device 40 is used to drive the first concave-convex structure 551 to rotate relative to the first concave-convex structure 551 in the circumferential direction until the positions of the first concave-convex structure 551 and the first convex-concave structure 321 in the circumferential direction correspond, and then separate the cleaning module 500 from the fuselage 400, so that the first concave-convex structure 551 of the cleaning module 500 and the first convex-concave structure 321 are just matched and connected. Here, the cleaning device 40 can detect the relative position of the first convex-concave structure 321 in the circumferential direction through a position sensor or an image detection component. The cleaning device 40 can detect the relative position of the first concave-convex structure 551 in the circumferential direction through a position sensor or an image detection component. Here, the cleaning device 40 is used to drive the first concave-convex structure 551 to rotate relative to each other in the circumferential direction until the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction. For example, the cleaning device 40 may also include: a lifting device 600, the lifting device 600 may be rotatably arranged on the body 400 of the cleaning device 40, the lifting device 600 is used to drive the cleaning module 500 to work, and the cleaning device 40 may drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor, so that the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction.

[0187] Of course, in other examples, the first connection structure 550 may also be other forms of structures.

[0188] For example, the first connection structure 550 may include: a second connection member 581, the second connection member 581 is arranged on the first matching portion 520; the second connection member 581 is used to connect with the first connection member 351 of the first output portion 310 through magnetic attraction, and the first output portion 310 is used to fix the cleaning module 500 in the rotation direction through magnetic attraction. Here, the first output portion 310 can drive the cleaning module 500 to rotate through the magnetic attraction between the first connection member 351 and the second connection member 581, and here, the first matching portion 520 does not need to be provided with other limiting structures, so that the structure of the first matching portion 520 can be greatly simplified.

[0189] Here, the second connecting member 581 can be directly arranged at the axis of the first matching portion 520, and the second connecting member 581 can be in an exposed state or not. Here, the first matching portion 520 can include a second annular inclined surface or not. When the first matching portion 520 includes a second annular inclined surface, the second annular inclined surface can be located on the outer peripheral side of the second connecting member 581, so that the first annular inclined surface of the first output portion 310 is matched with the second annular inclined surface of the first matching portion 520, so that the first matching portion 520 is more aligned with the axis of the first output portion 310.

[0190] In some optional implementations of the embodiments of the present application, the cleaning module 500 may also include: a third connecting member 582, which is arranged on the second matching portion 530; the third connecting member 582 is used to be detachably connected to the fourth connecting member 660 of the body 400 of the cleaning device 40.

[0191] Of course, in other implementations, the second matching portion 530 may also be directly detachably connected to the body 400 of the cleaning device 40 by means of snap connection, magnetic attraction, or the like.

[0192] In this implementation, the third connecting member 582 can be set on the second matching portion 530 by means of snap connection, bonding, etc.

[0193] In this implementation, the implementation of the detachable connection between the third connector 582 and the fourth connector 660 is not limited. For example, the third connector 582 and the fourth connector 660 can be detachably connected by a snap-on method. For another example, the third connector 582 is used to connect with the fourth connector 660 by magnetic attraction; here, the third connector 582 and the fourth connector 660 can both be magnetic structures, and the magnetism of the third connector 582 and the fourth connector 660 can be opposite. Of course, only one of the third connector 582 and the fourth connector 660 can be a magnetic structure, and the other can be an iron structure.

[0194] The present application also describes a cleaning device 40 , which includes a body 400 and a cleaning module 500 of the present application, wherein a second mating portion 530 of the cleaning module 500 is detachably connected to the body 400 .

[0195] In the embodiment of the present application, the above has described the implementation method of the detachable connection between the second matching portion 530 and the body 400, which will not be repeated here. As an example, the cleaning module 500 may include: a third connecting member 582, the third connecting member 582 is arranged on the second matching portion 530; the body 400 has a fourth connecting member 660, and the third connecting member 582 is used to be detachably connected to the fourth connecting member 660.

[0196] In some optional implementations of the embodiments of the present application, the cleaning device 40 may further include: a lifting device 600, which is disposed on the body 400 to drive the cleaning module 500 to move; and a fourth connecting member 660 is disposed on the lifting device 600.

[0197] In this implementation, the fourth connecting member 660 can be set on the lifting device 600 by means of snap connection, bonding, etc.

[0198] In this implementation, the lifting device 600 can be fixed to the fuselage 400 through a threaded structure or a clamping structure. Of course, the lifting device 600 can also be movably arranged on the fuselage 400. As an example, the lifting device 600 can be rotatably arranged on the fuselage 400.

[0199] In this implementation, the structure of the lifting device 600 is not limited. The lifting device 600 is similar to the structure of the mop lifting device driving the sweeping robot in the related art, and will not be described in detail here. The lifting device 600 can drive the cleaning module 500 to move to the lifting position and the cleaning position relative to the body 400, and the lifting device 600 can drive the cleaning module 500 to rotate.

[0200] For example, Fig.17 and Fig.18 As shown, the lifting device 600 may include: a lifting assembly 630, a second motor 610 and a second transmission assembly 620. The lifting assembly 630 is arranged on the body 400 and defines a limiting hole; the fourth connecting member 660 is arranged on the lifting assembly 630 and is located at the bottom of the limiting hole; the second matching portion 530 is used to be detachably inserted into the limiting hole; the second motor 610 can be arranged on the body 400; the second transmission assembly 620 can be arranged on the body 400; the second motor 610 is used to drive the lifting assembly 630 to move through the second transmission assembly 620.

[0201] In this example, the structure of the second transmission assembly 620 is not limited. For example, the second transmission assembly 620 may include at least one gear, and the second motor 610 is used to drive the gear of the second transmission assembly 620 to rotate, and the gear is used to drive the lifting assembly 630 to move, so as to drive the cleaning module 500 to work.

[0202] In this example, the second motor 610 can be fixed to the body 400 by means of a clamping connection, a threaded structure, etc., and the lifting assembly 630 can be lifted and lowered on the body 400. The second transmission assembly 620 can be movably disposed on the body 400.

[0203] In this example, the structure of the lifting assembly 630 is not limited. Fig.18As shown, the lifting device 600 may further include a housing 640; the second transmission assembly 620 may include an output gear 621, and the lifting assembly 630 may include: a first lifting cylinder 631, a second lifting cylinder 632, a damping member 633, and an elastic member 634. The housing 640 is provided with a through first slide groove 641 along the first direction, and the first lifting cylinder 631 is movably arranged in the first slide groove 641. A damping member 633 and an elastic member 634 are also arranged in the first slide groove 641. The elastic member 634 is arranged in the housing 640, and the damping member 633 is sandwiched between the elastic member 634 and the flange of the first lifting cylinder 631 to provide friction to the first lifting cylinder 631. Here, the elastic member 634 is located on the side of the flange of the first lifting cylinder 631 facing the bottom surface of the fuselage 400. The driving shaft of the second motor 610 is used to drive the output gear 621 to rotate. The output gear 621 is provided with a second slide groove 6211 along the first direction. The second slide groove 6211 is coaxially arranged with the first lifting cylinder 631. The second slide groove 6211 is located on the bottom side of the first slide groove 641 away from the fuselage 400. The second lifting cylinder 632 can be inserted into the second slide groove 6211 and the cavity of the first lifting cylinder 631 in a translational manner. The second lifting cylinder 632 and the first lifting cylinder 631 cooperate with each other through a spiral structure. The second motor 610 is used to drive the output gear 621 to drive the second lifting cylinder 632 to rotate. Since the second lifting cylinder 632 and the first lifting cylinder 631 cooperate with each other through a spiral structure and there is friction between the first lifting cylinder 631 and the damping member 633, there is a speed difference between the second lifting cylinder 632 and the first lifting cylinder 631, and the second lifting cylinder 632 can both rotate and move along the axial direction of the second slide groove 6211. The fourth connecting member 660 is arranged on the second lifting cylinder 632, so as to realize driving the cleaning module 500 to switch between the lifting position and the cleaning position. When the second lifting cylinder 632 rotates to the cleaning position, the second lifting cylinder 632 and the first lifting cylinder 631 can be prevented from rotating relative to the first lifting cylinder 631 by the end of the spiral structure or the limiting part arranged on the first lifting cylinder 631. Here, the second lifting cylinder 632 no longer descends, and the second lifting cylinder 632 can drive the cleaning module 500 to rotate at the cleaning position to realize cleaning the bearing surface 730. Here, the second motor 610 can be fixed to the housing 640 by a clamping structure, a threaded structure, etc., and the second transmission assembly 620 can be rotatably arranged on the housing 640 by a rotating shaft group structure. Of course, the lifting device 600 may also not include the housing 640. Here, the second motor 610, the second transmission assembly 620 and the lifting assembly 630 can be directly arranged on the fuselage 400, and the fuselage 400 is provided with a through first slide groove 641 along the first direction. Here, the first direction is not limited. For example, the first direction may be a height direction of the fuselage 400. For another example, the first direction may be a direction perpendicular to the bottom surface of the fuselage 400.

[0204] In this example, the cross section of the limiting hole can be non-circular, so that the limiting hole can provide the second matching portion 530 with a limit in the rotation direction, so that the lifting assembly 630 can more stably drive the cleaning module 500 to rotate. Of course, the cross section of the limiting hole can also be circular, and here, the lifting assembly 630 can drive the cleaning module 500 to rotate based on the connection force between the third connecting member 582 and the fourth connecting member 660.

[0205] As an example, the cross-section of the limiting hole is non-circular, and the lifting device 600 can also include: a shell 640 and a third motor, the shell 640 is rotatably arranged on the fuselage 400; the lifting assembly 630 is arranged on the shell 640; the second motor 610 is arranged on the shell 640; the second transmission assembly 620 is arranged on the shell 640; the third motor is used to drive the shell 640 to rotate relative to the fuselage 400 about the axis of the limiting hole; when the second matching part 530 is separated from the limiting hole, the third motor is used to drive the shell 640 to rotate so that the limiting hole and the second matching part 530 correspond in the circumferential position. Here, the second motor 610 can also be used to drive the lifting assembly 630 to descend to realize the automatic connection between the third connecting member 582 and the fourth connecting member 660.

[0206] Here, the axis of the cleaning module 500 , the axis of the first connecting structure 550 and the axis of the limiting hole may be the same. The third motor is also used to drive the lifting device 600 to rotate about the axis of the first connecting structure 550 .

[0207] Of course, in other examples, the cleaning module 500 can also be installed on the body 400 manually, that is, the second matching portion 530 and the limiting hole can also be manually aligned by the user.

[0208] The lifting assembly 630 , the second motor 610 and the second transmission assembly 620 have been described above and will not be repeated here.

[0209] Here, the manner in which the housing 640 is rotatably disposed on the body 400 is not limited. For example, the body 400 defines a first installation space, the first installation space is coaxially disposed with the limiting hole, a portion of the housing 640 can be rotatably disposed in the first installation space, and the third motor can drive the housing 640 to rotate relative to the first installation space through the third transmission assembly. Here, the outer side of the housing 640 can have a gear portion meshing with the gear structure of the third transmission assembly.

[0210] In this implementation, the cleaning device 40 may further include: a separation structure 650 , which is disposed on the lifting device 600 ; the separation structure 650 is used to separate the cleaning module 500 from the lifting device 600 , thereby enabling the cleaning module 500 to be automatically separated from the body 400 .

[0211] In one application, after the cleaning device 40 moves to the position where the cleaning module 500 corresponds to the first output part 310, here, the first matching part 520 of the cleaning module 500 is located directly above the first output part 310, and by automatically separating the cleaning module 500 from the body 400, the first matching part 520 and the first output part 310 can be automatically matched and connected, thereby realizing automatic cleaning of the cleaning module 500.

[0212] Here, the implementation method of the cleaning device 40 driving to the position where the cleaning module 500 corresponds to the first output unit 310 is not limited. For example, the cleaning device 40 can drive the cleaning device 40 to the target position based on the navigation structure provided on the fuselage 400, and at the target position, the first matching part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 correspond to each other. For another example, the cleaning device 40 can detect the position of the first output unit 310 based on the detection component provided on the fuselage 400, and drive the cleaning module 500 to the position where the first matching part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 correspond to each other based on the detection component detecting the position of the first output unit 310.

[0213] In this implementation, the form of the separation structure 650 is not limited, as long as the separation structure 650 can separate the cleaning module 500 from the lifting device 600 .

[0214] For example, Fig.18 As shown, the separation structure 650 can be set on the shell 640. Of course, the separation structure 650 can also be set on the fuselage 400. After the second motor 610 drives the lifting assembly 630 to rise to the lifting position, the second motor 610 can continue to drive the lifting assembly 630 to rise. Here, the separation structure 650 can contact the cleaning bracket 510 of the cleaning module 500, so that the cleaning module 500 cannot continue to rise with the lifting assembly 630, thereby forcing the cleaning module 500 to automatically separate from the fuselage 400.

[0215] Here, the separation structure 650 may be a cylindrical structure. Of course, the separation structure 650 may also be at least two block structures arranged along the circumference of the housing 640 .

[0216] In other examples, the separation structure 650 may also be slidably disposed outside the lifting device 600, and the separation structure 650 may be driven by a telescopic oil cylinder or a telescopic air cylinder to slide relative to the lifting device 600, so as to contact the cleaning bracket 510 of the cleaning module 500 and force the cleaning module 500 to automatically separate from the body 400. Of course, the separation structure 650 may also be driven by a fourth motor, where the fourth motor may drive the turbine to rotate, and a rack meshing with the turbine may be provided on the separation structure 650.

[0217] Of course, the cleaning device 40 may not be provided with the separation structure 650. For example, the fourth connecting member 660 may be an electromagnetic structure so that the fourth connecting member 660 and the third connecting member 582 are in a connected state or a separated state. When the fourth connecting member 660 is powered on, the fourth connecting member 660 is magnetic, and the fourth connecting member 660 and the third connecting member 582 can be connected by magnetic force. When the fourth connecting member 660 is powered off, the fourth connecting member 660 is not magnetic, and there is no magnetic force between the fourth connecting member 660 and the third connecting member 582. At this time, the cleaning module 500 can be automatically separated from the fuselage 400 based on gravity.

[0218] In some optional implementations of the embodiments of the present application, the magnetic attraction force of the second matching part 530 detachably connected to the main body 400 is greater than the magnetic attraction force of the first matching part 520 detachably connected to the first output part 310, so that after the cleaning module 500 is cleaned, the cleaning module 500 is separated from the first output part 310 and automatically connected to the main body 400.

[0219] In one application, after the cleaning device 40 moves to the position where the cleaning module 500 corresponds to the first output part 310, here, the first matching part 520 of the cleaning module 500 is located directly above the first output part 310. When the cleaning module 500 is separated from the body 400 of the cleaning device 40, the first matching part 520 and the first output part 310 are automatically matched and connected. The first output part 310 is used to drive the cleaning module 500 to clean in the cleaning space 213. Here, the cleaning device 40 can be located in the cleaning base station 10. Of course, the cleaning device 40 can also be located Outside the cleaning base station 10, for example, the cleaning device 40 is located outside the cleaning base station 10 to clean the carrying surface 730; after the cleaning module 500 is cleaned, the cleaning device 40 can move again to the position corresponding to the cleaning module 500 and the first output part 310, and the second motor 610 is used to drive the lifting assembly 630 to descend until the second matching part 530 contacts the lifting assembly 630 to connect the lifting assembly 630 with the cleaning module 500, and is also used to drive the lifting assembly 630 to rise to the lifting position to separate the first matching part 520 from the first output part 310.

[0220] Of course, in other implementations, the cleaning module 500 may be separated from the first output portion 310 and connected to the main body 400 in other ways.

[0221] For example, the first output part 310 may include an electromagnetic structure so that the first output part 310 and the first matching part 520 are in a connected state or a disconnected state; thereby realizing that the first matching part 520 is separated from the first output part 310 and connected to the body 400. Here, the first output part 310 and the first matching part 520 are in contact, and when the power is on, there is a magnetic attraction between the first output part 310 and the first matching part 520 and they are in a connected state; when the power is off, there is no magnetic attraction between the first output part 310 and the first matching part 520 and they are in a disconnected state. In an application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output part 310 is in a powered-on state, and after the first matching part 520 is cleaned, the electromagnetic structure of the first output part 310 is in a powered-off state, so that the first matching part 520 is connected to the body 400 of the cleaning device 40.

[0222] Embodiment 3: Figure 1 As shown, the present application also describes a cleaning system, which includes the cleaning base station 10 and the cleaning device 40 of the present application. The cleaning device 40 includes a body 400 and a cleaning module 500 detachably disposed on the body 400. The cleaning base station 10 includes a driving assembly 300.

[0223] In the cleaning state, the cleaning module 500 is separated from the body 400 and detachably connected to the first output portion 310 of the driving assembly 300 of the cleaning base station 10 . The driving assembly 300 is used to drive the cleaning module 500 to rotate so as to clean the cleaning module 500 .

[0224] Here, the cleaning base station 10 may have a cleaning space 213 , and the driving assembly 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213 .

[0225] Here, the cleaning module 500 can be cleaned by the cleaning base station 10 without the participation of the cleaning device 40 , thereby greatly simplifying the structure of the cleaning module 500 .

[0226] As an example, in the first cleaning state, the driving assembly 300 is used to drive the cleaning module 500 to rotate in the cleaning space 213, and the cleaning device 40 is located outside the cleaning base station 10, and the cleaning device 40 can be in a cleaning state. Figure 1As shown, in the second cleaning state, the driving assembly 300 is used to drive the cleaning module 500 to rotate in the cleaning space 213, and the cleaning device 40 is located in the first space 101 defined by the cleaning base station 10, so that after the cleaning module 500 completes the cleaning, the body 400 of the cleaning device 40 is detachably connected to the cleaning module 500, and the cleaning device 40 continues to clean the carrying surface 730. Here, the carrying surface 730 refers to the surface that carries the cleaning device 40, for example, the carrying surface 730 can be the ground or a desktop.

[0227] The above embodiment has described the cleaning base station 10 and the cleaning device 40, which will not be repeated here.

[0228] In some optional implementations of the embodiments of the present application, after the cleaning device 40 moves to the position where the cleaning module 500 corresponds to the first output part 310, the cleaning device 40 controls the cleaning module 500 to separate from the body 400; the first mating part 520 of the cleaning module 500 is detachably connected to the first output part 310, and the driving assembly 300 is used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0229] In this implementation, the above embodiment has described the implementation in which the cleaning device 40 moves to the position corresponding to the cleaning module 500 and the first output part 310, which will not be repeated here.

[0230] In this implementation, the manner in which the cleaning device 40 controls the cleaning module 500 to separate from the fuselage 400 is not limited. For example, the cleaning device 40 can separate the cleaning module 500 and the lifting device 600 by controlling the separation structure 650 to move relative to the cleaning module 500. As an example, the cleaning device 40 drives the lifting assembly 630 to rise through the second motor 610 so that the cleaning module 500 and the separation structure 650 are in contact, and the cleaning module 500 is separated from the fuselage 400 through the separation structure 650. For another example, the cleaning device 40 can separate the cleaning module 500 from the fuselage 400 by controlling the fourth connecting member 660 to be in a power-off state so that the fourth connecting member 660 and the third connecting member 582 are in a separated state.

[0231] In some optional implementations of the embodiments of the present application, the cleaning module 500 may include: a cleaning bracket 510, the cleaning bracket 510 having a first mating portion 520 and a second mating portion 530 arranged back to back in the axial direction; the first mating portion 520 is used to be detachably connected to the first output portion 310, and the second mating portion 530 is used to be detachably connected to the fuselage 400.

[0232] Here, the first output portion 310 may include a first limiting structure 320 ; the first matching portion 520 may include a first connecting structure 550 , and the first limiting structure 320 is used to be detachably connected to the first connecting structure 550 and fixedly arranged with the first connecting structure 550 in the rotation direction.

[0233] Here, the cleaning system may further include: a first connecting member 351 and a second connecting member 581. The first connecting member 351 is disposed on the first output portion 310; the second connecting member 581 is disposed on the first matching portion 520; the first connecting member 351 is used to connect with the second connecting member 581 through magnetic attraction, and the first output portion 310 is used to fix the cleaning module 500 in the rotation direction through magnetic attraction.

[0234] The above embodiment has described the cleaning bracket 510, the first matching portion 520, the second matching portion 530, the first limiting structure 320, the first connecting structure 550, the first connecting member 351 and the second connecting member 581, which will not be repeated here.

[0235] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A cleaning module, characterized in that: include: The cleaning bracket has a first matching portion and a second matching portion which are arranged back to back in the axial direction; A cleaning member, disposed at a first end of the cleaning bracket; The cleaning member is provided with an avoidance through hole corresponding to the position of the first matching portion; The first matching portion is used to be detachably connected to the first output portion of the driving assembly of the cleaning base station through the avoidance through hole; the second matching portion is used to be detachably connected to the body of the cleaning device.

2. The cleaning module according to claim 1, characterized in that: The first matching portion includes a first connecting structure, which is used to be detachably connected to a first limiting structure of the first output portion and is fixedly arranged with the first limiting structure in a rotation direction.

3. The cleaning module according to claim 2, characterized in that: The first connection structure comprises: The first concave-convex structure is radially arranged at the first end of the cleaning bracket; the first concave-convex structure is used to cooperate with the first convex-concave structure of the first output part.

4. The cleaning module according to claim 3, characterized in that: The third convex portion of the first concave-convex structure comprises: A second mating top surface is arranged along the axis of the first mating portion to the circumferential side of the first mating portion and away from the second mating portion; The two second mating side surfaces are located on opposite sides of the second mating top surface in the circumferential direction; the distance between the two second mating side surfaces gradually increases in the direction from the top end of the third protrusion to the bottom end of the third protrusion.

5. The cleaning module according to claim 4, characterized in that: The second mating side surface and the second mating top surface are connected via an arc surface.

6. The cleaning module according to claim 4, characterized in that: The second mating top surface is a plane; or, the second mating top surface is a curved surface.

7. The cleaning module according to claim 3, characterized in that: The first connection structure further includes: The second concave-convex structure is arranged on the outer peripheral side of the first matching part and corresponds to the position of the first concave-convex structure; the third convex part of the first concave-convex structure extends to the fourth convex part of the second concave-convex structure, and the second concave-convex structure is used to cooperate with the second convex-concave structure of the first output part.

8. The cleaning module according to claim 3, characterized in that: The first concave-convex structure comprises: The second guide bottom surface is located at the first end of the cleaning bracket; the second guide bottom surface is inclined along the axis of the first matching portion to the peripheral direction of the first matching portion and away from the second matching portion.

9. The cleaning module according to claim 3, characterized in that: The first matching portion is provided with a second mounting groove at the axis, and the first concave-convex structure is provided on the outer peripheral side of the second mounting groove; The cleaning module also includes: A second connecting member, disposed in the second mounting groove; The second connecting member is used to be connected to the first connecting member of the cleaning base station through magnetic attraction.

10. The cleaning module according to claim 2, characterized in that: The first connection structure comprises: The second connecting member is arranged on the first matching part; the second connecting member is used to be connected to the first connecting member of the first output part through magnetic attraction, and the first output part is used to fix the position of the cleaning module in the rotation direction through magnetic attraction.

11. The cleaning module according to claim 1, characterized in that: The first matching portion is used to be connected to the first output portion of the cleaning base station through magnetic attraction, and the first output portion is used to fix the position of the cleaning module in the rotation direction through magnetic attraction.

12. The cleaning module according to claim 1, characterized in that: Also includes: The third connecting member is arranged on the second matching portion; the third connecting member is used to be detachably connected to the fourth connecting member of the body of the cleaning device.

13. The cleaning module according to claim 12, characterized in that: The third connecting member is used to be connected to the fourth connecting member through magnetic attraction.

14. The cleaning module according to claim 1, characterized in that: The first matching portion is a recessed structure; and / or the second matching portion is a raised structure.

15. The cleaning module according to any one of claims 1 to 14, characterized in that: The second matching portion is used to drive the cleaning bracket to rotate; When the second matching portion drives the cleaning bracket to rotate, the cleaning member is used to contact the bearing surface to clean the bearing surface.

16. A cleaning device, characterized in that: include: A body and a cleaning module as described in any one of claims 1 to 15, wherein the second matching portion of the cleaning module is detachably connected to the body.

17. The cleaning device according to claim 16, characterized in that The cleaning module comprises: A third connecting member, disposed on the second matching portion; The fuselage has a fourth connecting member, and the third connecting member is used to be detachably connected to the fourth connecting member.

18. The cleaning device according to claim 17, characterized in that Also includes: A lifting device, arranged on the body, so as to drive the cleaning module to move; The fourth connecting member is arranged on the lifting device.

19. The cleaning device according to claim 18, characterized in that Also includes: A separation structure, arranged on the lifting device; The separation structure is used to separate the cleaning module from the lifting device; or, The fourth connecting member is an electromagnetic structure, so that the fourth connecting member and the third connecting member are in a connected state or a separated state.

20. The cleaning device according to claim 18, characterized in that Also includes: The lifting device comprises: A lifting assembly is arranged on the body and defines a limiting hole; the fourth connecting member is arranged on the lifting assembly and is located at the bottom of the limiting hole; the second matching portion is used to be detachably inserted into the limiting hole; A second motor is disposed on the body; The second transmission assembly is arranged on the fuselage; the second motor is used to drive the lifting assembly to move through the second transmission assembly.

21. The cleaning device according to claim 20, characterized in that The cross section of the limiting hole is non-circular; The lifting device also includes: A housing, rotatably disposed on the body; The lifting assembly is arranged on the housing; The second motor is disposed on the housing; The second transmission assembly is disposed on the housing; A third motor is used to drive the shell to rotate relative to the body about the axis of the limiting hole; When the second matching portion is separated from the limiting hole, the third motor is used to drive the housing to rotate so that the limiting hole and the second matching portion correspond in circumferential position.

22. The cleaning device according to any one of claims 16 to 21, characterized in that: The magnetic attraction force of the second matching portion for detachably connecting to the body is greater than the magnetic attraction force of the first matching portion for detachably connecting to the first output portion.

23. A cleaning system, characterized in that: It comprises a cleaning base station and the cleaning device according to any one of claims 16 to 22, wherein the cleaning base station comprises a driving component; In a cleaning state, the cleaning module is separated from the body, and the cleaning module is detachably connected to the first output portion of the driving component, and the driving component is used to drive the cleaning module to rotate.

Images