Cleaning device and driving mechanism thereof

Abstract

The invention discloses a cleaning device and a driving mechanism thereof. The lifting assembly of the cleaning device is in transmission connection with the swing driving assembly through the transmission part, the transmission part is fixed to the lifting assembly, in other words, the transmission part and the lifting assembly are not switched through other switching parts any more, and the structure of the cleaning device can be simplified; and miniaturization and lightweight design of the cleaning device can be realized, and the cost of the cleaning device can be reduced. In addition, due to the fact that the transmission part is fixed to the lifting assembly, the acting force applied to the transmission part by the swing driving assembly can make the lifting assembly respond instantly to swing. Compared with the mode that the transmission part and the lifting assembly are linked through an elastic element, the response speed of the lifting assembly is high, obvious lag does not exist in the swing action of the lifting assembly, and the precision of the swing action of the cleaning assembly is high.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning device and a driving mechanism thereof. Background Art

[0002] With the development of smart homes, more and more consumers choose to use cleaning robots with rags to clean their daily home living environment. Cleaning robots with rags can scrub the floor while sweeping and dusting the floor. When the user needs the cleaning robot to clean, the rag can be lowered and rotated for cleaning, and when the cleaning robot is not needed for cleaning, the rag can be raised. At the same time, when the user needs the cleaning robot to clean, the rag can be swung out to clean the corners, and when the cleaning robot is not needed to clean the corners, the rag can be swung in. However, the current cleaning robots require a large number of motors and complex mechanisms to drive the rag to swing and lift, resulting in a more complex structure of the cleaning robot and a lower precision of the swinging motion of the rag. Summary of the invention

[0003] The present application provides a cleaning device and a driving mechanism thereof, which can simplify the structure of the cleaning device, and the swinging motion precision of the cleaning component of the present application is high.

[0004] The present application provides a cleaning device, comprising: a device body; a swing drive assembly, movably connected to the device body through an elastic member; a cleaning assembly, transmission-connected to the swing drive assembly, the swing drive assembly being used to drive the cleaning assembly to swing and switch between a first position and a second position relative to the device body, wherein the second position is closer to the outside of the device body relative to the first position, and the elastic member causes the cleaning assembly to have a tendency to swing toward the second position through the swing drive assembly; a lifting assembly, transmission-connected to the cleaning assembly, the lifting assembly being used to drive the cleaning assembly to approach or move away from a surface to be cleaned and to drive the cleaning assembly to clean the surface to be cleaned; and a transmission member, fixed to the lifting assembly, and the transmission member is transmission-connected to the swing drive assembly, the swing drive assembly drives the cleaning assembly to swing through the lifting assembly.

[0005] In one embodiment of the present application, the lifting assembly includes: a box body, rotatably connected to the device body, wherein a transmission member is fixed to the box body; a lifting system, transmission-connected to the cleaning assembly; and a lifting drive member, transmission-connected to the lifting system, and the lifting drive member drives the cleaning assembly to approach or move away from the surface to be cleaned and drives the cleaning assembly to clean the surface to be cleaned through the lifting system.

[0006] In one embodiment of the present application, the swing drive assembly is rotatably connected to the device body; wherein, during the process of the swing drive assembly driving the cleaning assembly to swing toward the second position, the elastic member limits the swing drive assembly from rotating relative to the device body along the first rotation direction; and after the swing drive assembly drives the cleaning assembly to swing to the second position, the cleaning assembly can be forced to swing toward the first position due to an obstacle, and the cleaning assembly synchronously drives the swing drive assembly to rotate relative to the device body along the first rotation direction, and the elastic member can drive the swing drive assembly to rotate relative to the device body along a second rotation direction opposite to the first rotation direction after the cleaning assembly passes through the obstacle, so as to drive the cleaning assembly to swing toward the second position.

[0007] In one embodiment of the present application, a limiting member is provided on the device body; one of the swing drive assembly and the limiting member is provided with a first limiting portion, and the other is provided with a second limiting portion. The first limiting portion and the second limiting portion can abut against each other during the process in which the swing drive assembly drives the cleaning assembly to swing toward the first position, so as to cooperate in limiting the swing drive assembly from rotating relative to the device body along the second rotation direction.

[0008] In one embodiment of the present application, the other of the swing drive assembly and the limit member is further provided with a third limit portion, the second limit portion and the third limit portion are spaced apart from each other along the first rotation direction, and the first limit portion is located between the second limit portion and the third limit portion.

[0009] In one embodiment of the present application, when the cleaning component drives the swinging drive component to rotate relative to the device body along a first rotation direction, the first limit portion can abut the third limit portion as the swinging drive component rotates relative to the device body to limit the swinging drive component from continuing to rotate relative to the device body; wherein, when the first limit portion abuts the third limit portion, the position of the cleaning component is between the first position and the second position.

[0010] In one embodiment of the present application, the first limiting portion is protruded from the outer wall of the swing drive component; the device body is provided with a mounting seat, and the interior of the mounting seat is provided with a mounting cavity with an open end, and the swing drive component is rotatably installed in the mounting cavity through the opening; the limiting member is fixed to the end of the mounting seat close to the opening, and the second limiting portion and the third limiting portion are both protruded from the side of the limiting member away from the mounting seat.

[0011] In one embodiment of the present application, the elastic member is disposed around the outer periphery of the swing driving assembly, and one end of the elastic member is fixedly connected to the swing driving assembly, and the other end is fixedly connected to the device body.

[0012] In one embodiment of the present application, the swing drive assembly includes: a swing motor, which is transmission-connected to a transmission member via a swing gear; and a fixed shell, which is connected to the elastic member, wherein the fixed shell includes: a shell body, which is rotatably connected to the device body, and the interior of the shell body has a fixed cavity, and the swing motor is accommodated in the fixed cavity; and a cover body, which is fixedly connected to the shell body, and the cover body is arranged on one end of the fixed cavity, and the swing motor is fixedly connected to the cover body.

[0013] In one embodiment of the present application, the cover body is further provided with a through hole; the swing gear is located on the side of the cover body facing away from the fixed cavity, and the swing motor has an output shaft, which passes through the through hole and is transmission-connected to the swing gear.

[0014] In one embodiment of the present application, the device body is provided with a mounting seat, and a mounting cavity with an open end is provided inside the mounting seat. The swing drive assembly is installed in the mounting cavity through the opening, and the part of the swing drive assembly located in the mounting cavity is rotatably connected to the mounting seat through a first bearing; the device body is also provided with a limiting member, which is located at the end of the mounting seat close to the opening, and the limiting member is used to cooperate with the first bearing to limit the swing drive assembly from escaping from the mounting cavity.

[0015] In one embodiment of the present application, there are multiple first bearings, and the first bearings are spaced apart and distributed along a direction perpendicular to the surface to be cleaned.

[0016] In one embodiment of the present application, the cleaning device also includes: a first limit column, which is fixed to the device body and arranged close to the first position, and is used to abut the lifting component to limit the cleaning component from rotating in a direction away from the second position; and a second limit column, which is fixed to the device body and arranged close to the second position, and is used to abut the lifting component to limit the cleaning component from rotating in a direction away from the first position.

[0017] In one embodiment of the present application, the cleaning device further includes: a fixed plate, which is fixedly connected to the device body via a first limiting column and / or a second limiting column, and the lifting assembly is rotatably connected to the fixed plate.

[0018] In one embodiment of the present application, the cleaning device further includes: a fixed plate fixedly connected to the device body, the lifting assembly rotatably connected to the fixed plate via a second bearing, and the lifting assembly is also rotatably connected to the device body via a third bearing.

[0019] Correspondingly, the present application also provides a driving mechanism for a cleaning device, the driving mechanism comprising: a swinging drive assembly, which is movably connected to the cleaning device through an elastic member, the swinging drive assembly is also used for transmission connection with the cleaning assembly of the cleaning device, the swinging drive assembly is used to drive the cleaning assembly to swing and switch between a first position and a second position relative to the cleaning device, wherein the second position is close to the outside of the cleaning device relative to the first position, and the elastic member causes the cleaning assembly to have a tendency to swing toward the second position through the swinging drive assembly; a lifting assembly, which is used for transmission connection with the cleaning assembly, the lifting assembly is used to drive the cleaning assembly to approach or move away from the surface to be cleaned and to drive the cleaning assembly to clean the surface to be cleaned; and a transmission member, which is fixed to the lifting assembly, and the transmission member is transmission connected to the swinging drive assembly, and the swinging drive assembly drives the cleaning assembly to swing through the lifting assembly.

[0020] The beneficial effect of the present application is that, different from the prior art, the present application provides a cleaning device and a driving mechanism thereof. The swing driving assembly of the cleaning device drives the cleaning assembly to swing and switch between a first position and a second position through a lifting assembly, so that the cleaning assembly can clean the corner area of ​​the surface to be cleaned after swinging to the second position, and the lifting assembly is used to drive the cleaning assembly to approach or move away from the surface to be cleaned and to drive the cleaning assembly to clean the surface to be cleaned.

[0021] The lifting assembly of the present application is connected to the swing drive assembly through a transmission member, and the transmission member is fixed to the lifting assembly, that is, the transmission member and the lifting assembly of the present application are no longer connected through other adapters, which can simplify the structure of the cleaning device, and is conducive to the miniaturization and lightweight design of the cleaning device and the reduction of the cost of the cleaning device. In addition, since the transmission member of the present application is fixed to the lifting assembly, the force applied to the transmission member by the swing drive assembly can make the lifting assembly respond immediately to swing. Compared with the linkage between the transmission member and the lifting assembly through an elastic element, the response speed of the lifting assembly of the present application is fast, and there is no obvious lag in the swinging action of the lifting assembly, so that the swinging action accuracy of the cleaning assembly is higher.

[0022] In addition, the elastic member of the present application drives the cleaning component to have a tendency to swing toward the second position through a swinging drive component, that is, the present application allows the cleaning component to avoid obstacles during the process of cleaning the corner area, and drives the cleaning component to swing toward the second position after passing the obstacle, so as to restore the cleaning component to a state of cleaning along the edge, which is beneficial to ensure the cleaning effect of the corner area. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a structural schematic diagram of an embodiment of the cleaning device of the present application;

[0025] Figure 2 It is a structural schematic diagram of an embodiment of the cleaning device of the present application in an edge cleaning state;

[0026] Figure 3 yes Figure 1 A schematic structural diagram of the cleaning device from another perspective;

[0027] Figure 4 yes Figure 3 A schematic diagram of a partial cross-sectional structure of the cleaning device shown;

[0028] Figure 5 It is a schematic cross-sectional structure diagram of an embodiment of a swing drive assembly of the present application;

[0029] Figure 6 It is a structural schematic diagram of an embodiment of the present application in which the swing drive assembly is installed on a mounting seat.

[0030] Description of reference numerals:

[0031] 10 cleaning device; 10a surface to be cleaned; 11 device body; 12 transmission member; 13 limiting member; 14 second limiting portion; 15 third limiting portion; 16 mounting seat; 161 mounting cavity; 171 first limiting column; 172 second limiting column; 18 fixing plate; 191 second bearing; 192 third bearing; 20 swing drive assembly; 21 swing motor; 211 output shaft; 22 swing gear; 23 fixed shell; 231 fixed cavity; 232 first limiting portion; 233 shell body; 234 cover body; 235 through hole; 24 first bearing; 30 elastic member; 40 cleaning assembly; 50 lifting assembly; 51 box body; 52 lifting system; 53 lifting drive member. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application and are not used to limit the present application. In the present application, unless otherwise stated, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0033] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "stacked" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] The present application provides a cleaning device and a driving mechanism thereof, which are described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0035] See also Figure 1 and Figure 2 , Figure 1 is a schematic structural diagram of an embodiment of the cleaning device of the present application, Figure 2 It is a structural schematic diagram of an embodiment of the cleaning device of the present application in an edge cleaning state.

[0036] In one embodiment, the cleaning device 10 may be a cleaning robot with cleaning functions such as floor washing, floor mopping, and floor scrubbing. The cleaning device 10 can automatically move on the surface to be cleaned 10a to clean and remove dust from the surface to be cleaned 10a it passes through, and the cleaning device 10 of this embodiment can also scrub the surface to be cleaned 10a it passes through. The surface to be cleaned 10a may be the ground, or the surface to be cleaned of an object, etc.

[0037] The cleaning device 10 includes a device body 11. The device body 11 is the main part of the cleaning device 10, and is used to carry and protect the remaining parts of the cleaning device 10. Optionally, the device body 11 may be provided with a mechanism for driving the cleaning device 10 to move, such as a driving wheel, a crawler, etc. In addition, the device body 11 may also be provided with a wiping member such as a roller brush, and in addition, the device body 11 may also have a dust collection function.

[0038] The cleaning device 10 also includes a cleaning component 40, which is used to clean the surface to be cleaned 10a. Specifically, when the cleaning device 10 is applied to a cleaning robot, the cleaning component 40 can be designed to be rotatable, that is, the surface to be cleaned 10a is scrubbed by rotating the cleaning component 40 around its own central axis. Optionally, the cleaning component 40 may include a rotatable cleaning member, etc. For example, the cleaning component 40 includes a cleaning disc and a cleaning member disposed on the cleaning disc, and the cleaning member may be a wiping member such as a rag. Of course, in other embodiments of the present application, the cleaning component 40 may also include a roller brush, a brush, etc., which are not limited here.

[0039] The cleaning device 10 also includes a driving mechanism (including the swing drive assembly 20 and the lifting assembly 50 described below). The driving mechanism is connected to the cleaning assembly 40 in a transmission manner. On the one hand, the driving mechanism is used to drive the cleaning assembly 40 to approach or move away from the surface to be cleaned 10a, that is, the driving mechanism is used to drive the cleaning assembly 40 to rise and fall. The lifting direction of the cleaning assembly 40 is perpendicular to the surface to be cleaned 10a. When the cleaning assembly 40 is needed to clean the surface to be cleaned 10a, the lifting assembly 50 drives the cleaning assembly 40 to descend so that the cleaning assembly 40 approaches the surface to be cleaned 10a, and the driving mechanism is also used to drive the cleaning assembly 40 to clean the surface to be cleaned 10a. When the cleaning assembly 40 is not needed to clean the surface to be cleaned 10a, the lifting assembly 50 drives the cleaning assembly 40 to rise so that the cleaning assembly 40 moves away from the surface to be cleaned 10a, which is conducive to improving the obstacle avoidance ability of the cleaning device 10. On the other hand, the driving mechanism is also used to drive the cleaning component 40 to swing. When the cleaning device 10 needs to clean the corner areas of the surface to be cleaned 10a, the driving mechanism drives the cleaning component 40 to swing out relative to the cleaning device 10 toward the outside of the cleaning device 10. When the cleaning device 10 does not need to clean the corner areas of the surface to be cleaned 10a, the driving mechanism drives the cleaning component 40 to swing in relative to the cleaning device 10 toward the inside of the cleaning device 10.

[0040] The driving mechanism of the embodiment of the present application is described below.

[0041] In one embodiment, the driving mechanism includes a lifting assembly 50. The lifting assembly 50 is disposed on the device body 11, and the lifting assembly 50 is in transmission connection with the cleaning assembly 40. The lifting assembly 50 is used to drive the cleaning assembly 40 to rise and fall, and the lifting assembly 50 is also used to drive the cleaning assembly 40 to clean the surface 10a to be cleaned.

[0042] The driving mechanism also includes a swing driving assembly 20. The swing driving assembly 20 is connected to the cleaning assembly 40 through the lifting assembly 50. The swing driving assembly 20 is used to drive the cleaning assembly 40 to a first position (such as Figure 1 P1 in the figure, the same below) and the second position (as shown in Figure 2 When the cleaning device 10 needs to clean the corner area of ​​the cleaning surface 10a, the swing drive assembly 20 drives the lifting assembly 50 to drive the cleaning assembly 40 to swing out relative to the device body 11 toward the outside of the device body 11, so as to swing to the second position, as shown in P2 in the figure, the same below. Figure 2 As shown, after the cleaning assembly 40 swings to the second position, it can clean the corner area of ​​the surface to be cleaned 10a; and when the cleaning device 10 does not need to clean the corner area of ​​the surface to be cleaned 10a, the swing drive assembly 20 drives the lifting assembly 50 to drive the cleaning assembly 40 to swing relative to the device body 11 toward the inside of the device body 11, so as to swing to the first position, as shown in FIG. Figure 1 shown.

[0043] For details, please refer to Figure 3 , the driving mechanism further includes a transmission member 12. The transmission member 12 is fixed to the lifting assembly 50, and the transmission member 12 is in transmission connection with the swing drive assembly 20. The swing drive assembly 20 drives the lifting assembly 50 to swing through the transmission member 12, thereby causing the lifting assembly 50 to drive the cleaning assembly 40 to swing. In this way, the lifting assembly 50 of this embodiment is in transmission connection with the swing drive assembly 20 through the transmission member 12, and the transmission member 12 is fixed to the lifting assembly 50, that is, the transmission member 12 and the lifting assembly 50 of this embodiment are no longer connected through other adapters, which can simplify the structure of the cleaning device 10, and is conducive to realizing the miniaturization and lightweight design of the cleaning device 10 and reducing the cost of the cleaning device 10.

[0044] Moreover, in this embodiment, since the transmission member 12 is fixed to the lifting assembly 50, the force applied to the transmission member 12 by the swing drive assembly 20 can make the lifting assembly 50 respond immediately to swing. Compared with the linkage between the transmission member 12 and the lifting assembly 50 through elastic elements such as springs, the response speed of the lifting assembly 50 in this embodiment is fast, and there is no obvious lag in the swinging action of the lifting assembly 50, so that the swinging action precision of the cleaning assembly 40 is high. It should be noted that the lifting assembly 50 in this embodiment is a whole, that is, under the drive of the swing drive assembly 20, the various components of the lifting assembly 50 synchronously swing relative to the device body 11, thereby accurately driving the cleaning assembly 40 to swing, and the swinging action precision of the cleaning assembly 40 can also be ensured.

[0045] For further information, please also refer to Figure 4 , the lifting assembly 50 includes a box 51. The box 51 is used to carry and protect the remaining parts of the lifting assembly 50. The box 51 is rotatably connected to the device body 11, so that the lifting assembly 50 can swing relative to the device body 11, thereby driving the cleaning assembly 40 to swing and switch between the first position and the second position. The lifting assembly 50 also includes a lifting system 52, and the lifting system 52 is transmission-connected to the cleaning assembly 40. The lifting assembly 50 also includes a lifting drive 53, and the lifting drive 53 is transmission-connected to the lifting system 52. The lifting drive 53 drives the cleaning assembly 40 to approach or move away from the surface to be cleaned 10a through the lifting system 52, and drives the cleaning assembly 40 to clean the surface to be cleaned 10a. Among them, the principle that the lifting drive 53 drives the cleaning assembly 40 to lift and lower and perform cleaning work through the lifting system 52 belongs to the understanding of those skilled in the art, and will not be repeated here.

[0046] The transmission member 12 is fixed to the box body 51, specifically, the transmission member 12 is located on the outer side wall of the box body 51, so that the transmission member 12 can be conveniently connected to the swing drive assembly 20. The transmission member 12 can be composed of a plurality of meshing teeth. The swing drive assembly 20 can include a swing motor 21 and a swing gear 22, and the swing motor 21 is connected to the swing gear 22. The swing motor 21 is connected to the transmission member 12 through the swing gear 22, specifically, the swing gear 22 and the transmission member 12 are meshed with each other to achieve transmission cooperation. Of course, in other embodiments of the present application, the transmission member 12 can also be a complete gear, which is fixedly connected to the box body 51. In addition, the transmission connection mode between the swing drive assembly 20 and the lifting assembly 50 is not limited to the above-mentioned meshing transmission. The swing drive assembly 20 and the lifting assembly 50 can also be connected to each other through belts, chains, connecting rods, cams, etc., which will not be repeated here.

[0047] For example, the cleaning device 10 also includes a fixed plate 18, which is fixedly connected to the device body 11. The lifting assembly 50 is rotatably connected to the fixed plate 18 via a second bearing 191, and the lifting assembly 50 is also rotatably connected to the device body 11 via a third bearing 192, so that the box body 51 is rotatably connected to the device body 11. The box body 51 may include an upper cover, a middle seat, and a lower cover. The upper cover and the middle seat, and the middle seat and the lower cover are fixedly connected, respectively. Specifically, the upper cover of the box body 51 is rotatably connected to the fixed plate 18 via a second bearing 191, and the lower cover is rotatably connected to the device body 11 via a third bearing 192. The center axis of the second bearing 191 coincides with the center axis of the third bearing 192, and the center axis of the second bearing 191 and the center axis of the third bearing 192 are defined as the first center axis (such as Figure 4 As shown by the dotted line O1 (hereinafter the same), the lifting assembly 50 rotates around the first central axis relative to the device body 11 to drive the cleaning assembly 40 to swing.

[0048] In one embodiment, the swing drive assembly 20 is movably connected to the device body 11 through an elastic member 30. The elastic member 30 causes the cleaning assembly 40 to have a tendency to swing toward the second position through the swing drive assembly 20. This embodiment allows the cleaning assembly 40 to avoid obstacles during the cleaning of the corner area. Figure 2 As shown, the cleaning device 10 is directed toward Figure 2 When the cleaning assembly 40 encounters an obstacle, the cleaning assembly 40 is forced to swing toward the first position (the swing direction is as shown in FIG. Figure 2 The cleaning assembly 40 is provided with a plurality of movable parts, each of which is provided with a plurality of movable parts, and each of which is provided with a plurality of movable parts. The plurality of movable parts are ...

[0049] Specifically, the swing drive assembly 20 is rotatably connected to the device body 11. In the process of the swing drive assembly 20 driving the cleaning assembly 40 to swing toward the second position, the elastic member 30 limits the swing drive assembly 20 from rotating relative to the device body 11 in the first rotation direction (such as Figure 4The swing drive assembly 20 rotates (as shown by the arrow C1 in the middle, the same below) so that the swing drive assembly 20 can reliably and stably drive the cleaning assembly 40 to swing. After the swing drive assembly 20 drives the cleaning assembly 40 to swing to the second position, the cleaning assembly 40 can be forced to swing toward the first position due to the obstacle, thereby realizing the obstacle avoidance function of the cleaning assembly 40, and the cleaning assembly 40 simultaneously drives the swing drive assembly 20 to rotate relative to the device body 11 along the first rotation direction. At this time, the swing drive assembly 20 causes the elastic member 30 to produce elastic deformation. The elastic member 30 can drive the swing drive assembly 20 to rotate relative to the device body 11 in a second rotation direction (as shown by the arrow C1 in the middle, the same below) opposite to the first rotation direction after the cleaning assembly 40 passes the obstacle. Figure 4 The cleaning assembly 40 is rotated as shown by the middle arrow C2, and the same below, to drive the cleaning assembly 40 to swing toward the second position, that is, to restore the cleaning assembly 40 to a state of cleaning along the edge.

[0050] Please also read Figure 5 and Figure 6 , Figure 5 is a schematic cross-sectional structure diagram of an embodiment of a swing drive assembly of the present application, Figure 6 It is a structural schematic diagram of an embodiment of the present application in which the swing drive assembly is installed on a mounting seat.

[0051] In one embodiment, the device body 11 is provided with a limit member 13. One of the swing drive assembly 20 and the limit member 13 is provided with a first limit portion 232, and the other is provided with a second limit portion 14. The first limit portion 232 and the second limit portion 14 can abut against each other during the process of the swing drive assembly 20 driving the cleaning assembly 40 to swing toward the first position, so as to cooperate with limiting the swing drive assembly 20 from rotating relative to the device body 11 along the second rotation direction, so that the swing drive assembly 20 can reliably and stably drive the cleaning assembly 40 to swing. Moreover, after the cleaning assembly 40 swings to the first position, the first limit portion 232 and the second limit portion 14 abut against each other, and can also limit the cleaning assembly 40 from swinging toward the second position, thereby limiting the cleaning assembly 40 to the first position.

[0052] Furthermore, the other of the swing driving assembly 20 and the limiting member 13 is further provided with a third limiting portion 15, the second limiting portion 14 and the third limiting portion 15 are spaced apart from each other along the first rotation direction, and the first limiting portion 232 is located between the second limiting portion 14 and the third limiting portion 15. When the cleaning assembly 40 drives the swing driving assembly 20 to rotate relative to the device body 11 along the first rotation direction, the first limiting portion 232 can abut against the third limiting portion 15 as the swing driving assembly 20 rotates relative to the device body 11, so as to limit the swing driving assembly 20 from continuing to rotate relative to the device body 11.

[0053] When the first limiting portion 232 abuts against the third limiting portion 15, the position of the cleaning component 40 is between the first position and the second position. In other words, in this embodiment, the maximum obstacle avoidance angle of the cleaning component 40 is limited by the cooperation between the first limiting portion 232 and the third limiting portion 15. The cleaning component 40 is forced to swing toward the first position by the obstacle until the first limiting portion 232 abuts against the third limiting portion 15, and the cleaning component 40 stops swinging toward the first position. At this time, the cleaning component 40 has not swung to the first position, that is, in this embodiment, the maximum obstacle avoidance angle of the cleaning component 40 is limited within a reasonable range, which is conducive to ensuring that the swing drive component 20 accurately drives the cleaning component 40 to swing. If the obstacle avoidance angle of the cleaning component 40 is too large, the corresponding relationship between the rotation angle of the driving swing gear 22 and the swing angle of the cleaning component 40 will be disordered, which may easily cause the subsequent swing drive component 20 to fail to drive the cleaning component 40 to swing into place.

[0054] For example, the swing drive assembly 20 further includes a fixed shell 23. The swing drive assembly 20 is connected to the elastic member 30 through the fixed shell 23. The fixed shell 23 includes a shell body 233, the shell body 233 is rotatably connected to the device body 11, and the shell body 233 has a fixed cavity 231 inside, and the swing motor 21 is accommodated in the fixed cavity 231. The fixed shell 23 also includes a cover body 234, the cover body 234 is fixedly connected to the shell body 233, and the cover body 234 is covered at one end of the fixed cavity 231, and the swing motor 21 is fixedly connected to the cover body 234. The cover body 234 is also provided with a through hole 235. The swing gear 22 is located on the side of the cover body 234 facing away from the fixed cavity 231, and the swing motor 21 has an output shaft 211, and the output shaft 211 passes through the through hole 235 and is transmission-connected to the swing gear 22. The elastic member 30 can be an elastic element such as a spiral spring. The elastic member 30 is arranged around the outer periphery of the swing drive assembly 20, and one end of the elastic member 30 is fixedly connected to the swing drive assembly 20, and the other end is fixedly connected to the device body 11. The device body 11 is provided with a mounting seat 16, and a mounting cavity 161 with an open end is arranged inside the mounting seat 16, and the swing drive assembly 20 is rotatably mounted in the mounting cavity 161 through the open end. The first limiting portion 232 is convexly arranged on the outer side wall of the swing drive assembly 20, specifically, the first limiting portion 232 is convexly arranged on the outer side wall of the shell body 233 of the fixed shell 23. The limiting member 13 is fixed to the end of the mounting seat 16 close to the open end, and the second limiting portion 14 and the third limiting portion 15 are both convexly arranged on the side of the limiting member 13 away from the mounting seat 16. In this embodiment, the first limiting portion 232, the second limiting portion 14 and the third limiting portion 15 are all boss limiting structures.

[0055] In one embodiment, the portion of the swing drive assembly 20 located in the mounting cavity 161 is rotatably connected to the mounting seat 16 via a first bearing 24. The number of the first bearings 24 can be one or more. When the number of the first bearings 24 is multiple, the first bearings 24 are spaced apart in a direction perpendicular to the surface to be cleaned 10a, and the central axes of the first bearings 24 coincide with each other. The central axis of each first bearing 24 is defined as the second central axis (e.g. Figure 4 As shown by the dotted line O2, the same below), the swing drive assembly 20 can rotate around the second central axis. Figure 4 and Figure 5 The example shows that there are two first bearings 24. The stopper 13 is used to cooperate with the first bearing 24 to limit the swing drive assembly 20 from escaping from the installation cavity 161. The uppermost first bearing 24 abuts against the stopper 13, thereby limiting the swing drive assembly 20 from escaping from the installation cavity 161.

[0056] In one embodiment, the cleaning device 10 further includes a first limiting column 171, such as Figure 1 As shown. The first limiting column 171 is fixed to the device body 11, and the first limiting column 171 is arranged near the first position, and the first limiting column 171 is used to abut the lifting assembly 50 to limit the cleaning assembly 40 from rotating in the direction away from the second position. After the cleaning assembly 40 swings to the first position, the first limiting portion 232 and the second limiting portion 14 abut against each other to limit the cleaning assembly 40 from swinging toward the second position, and the lifting assembly 50 abuts against the first limiting column 171 to limit the cleaning assembly 40 from continuing to swing in the direction away from the second position, thereby limiting the cleaning assembly 40 to the first position.

[0057] The cleaning device 10 further includes a second limiting column 172, such as Figure 3 The second limiting post 172 is fixed to the device body 11 and is disposed near the second position. The second limiting post 172 is used to abut against the lifting assembly 50 to limit the cleaning assembly 40 from rotating in a direction away from the first position. After the cleaning assembly 40 swings to the second position, the lifting assembly 50 abuts against the second limiting post 172 to limit the cleaning assembly 40 from continuing to rotate in a direction away from the first position.

[0058] It should be noted that, with regard to the above-mentioned situation in which the fixed plate 18 is fixedly connected to the device body 11, the fixed plate 18 is fixedly connected to the device body 11 via the first limiting column 171 and / or the second limiting column 172. In this embodiment, preferably, the fixed plate 18 is fixedly connected to the device body 11 via the first limiting column 171 and the second limiting column 172. In this embodiment, the first limiting column 171 and the second limiting column 172 are not only used to limit the swing angle of the cleaning component 40, but also used to fix the fixed plate 18 to the device body 11, which is beneficial to simplify the structure of the cleaning device 10.

[0059] The technical solution provided in the embodiment of the present application is described below in conjunction with specific application scenarios.

[0060] Application scenario 1:

[0061] The cleaning device 10 is a cleaning robot. The cleaning device 10 includes a device body 11. The cleaning device 10 also includes a swing drive assembly 20, which is movably connected to the device body 11 through an elastic member 30. The cleaning device 10 also includes a cleaning assembly 40, which is transmission-connected to the swing drive assembly 20, and the swing drive assembly 20 is used to drive the cleaning assembly 40 to swing and switch between a first position and a second position relative to the device body 11, wherein the second position is close to the outside of the device body 11 relative to the first position, and the elastic member 30 causes the cleaning assembly 40 to have a tendency to swing toward the second position through the swing drive assembly 20. The cleaning device 10 also includes a lifting assembly 50, which is transmission-connected to the cleaning assembly 40, and the lifting assembly 50 is used to drive the cleaning assembly 40 to approach or move away from the surface to be cleaned 10a and to drive the cleaning assembly 40 to clean the surface to be cleaned 10a. The cleaning device 10 further includes a transmission member 12 , which is fixed to the lifting assembly 50 , and is in transmission connection with the swing driving assembly 20 , and the swing driving assembly 20 drives the cleaning assembly 40 to swing through the lifting assembly 50 .

[0062] Application scenario 2:

[0063] The cleaning device 10 is a cleaning robot. The cleaning component 40 of the cleaning device 10 includes a rotatable rag. The lifting component 50 of the cleaning device 10 drives the cleaning component 40 to rise and fall. After the cleaning component 40 falls close to the ground, the lifting component 50 also drives the cleaning component 40 to rotate to clean the ground. The swing drive component 20 of the cleaning device 10 drives the cleaning component 40 to swing and switch between the first position and the second position through the lifting component 50. When the cleaning device 10 needs to clean the corner area, the swing drive component 20 drives the lifting component 50 to drive the cleaning component 40 to swing to the second position relative to the device body 11 toward the outside of the device body 11, and the cleaning component 40 can clean the corner area; and when the cleaning device 10 does not need to clean the corner area of ​​the surface 10a to be cleaned, the swing drive component 20 drives the lifting component 50 to drive the cleaning component 40 to swing to the first position relative to the device body 11 toward the inside of the device body 11. The swing drive assembly 20 is movably connected to the device body 11 through an elastic member 30. The elastic member 30 enables the cleaning assembly 40 to have a tendency to swing toward the second position through the swing drive assembly 20, so as to realize the obstacle avoidance function of the cleaning assembly 40 and restore the cleaning assembly 40 to the edge cleaning state after the cleaning assembly 40 passes through the obstacle.

[0064] When the cleaning assembly 40 is in the first position, the lifting assembly 50 drives the cleaning assembly 40 to descend. After the cleaning assembly 40 descends close to the ground, the lifting assembly 50 drives the cleaning assembly 40 to rotate to clean the ground. At this time, the output shaft 211 of the swing motor 21 is locked, and the swing motor 21 does not drive the cleaning assembly 40 to swing. The first limiting portion 232 on the fixed shell 23 and the second limiting portion 14 on the limiting member 13 abut against each other to limit the cleaning assembly 40 from swinging toward the second position, and the lifting assembly 50 abuts against the first limiting column 171 to limit the cleaning assembly 40 from swinging in the direction away from the second position, thereby limiting the cleaning assembly 40 to the first position.

[0065] When the cleaning device 10 needs to clean the corner area, the swing motor 21 drives the swing gear 22 to rotate clockwise to drive the lifting assembly 50 to drive the cleaning assembly 40 to swing counterclockwise, that is, drive the cleaning assembly 40 to swing toward the second position. In the process of the cleaning assembly 40 swinging toward the second position, since the cleaning assembly 40 also cleans the ground at the same time, the cleaning assembly 40 will be subject to resistance from the ground, and the swing motor 21 has a tendency to rotate counterclockwise (i.e., rotate along the first rotation direction). The elastic member 30 can provide an elastic restoring force to offset the tendency of the swing motor 21 to rotate counterclockwise. The elastic member 30 limits the swing drive assembly 20 to rotate relative to the device body 11 along the first rotation direction, so that the swing drive assembly 20 can reliably and stably drive the cleaning assembly 40 to swing. When the lifting assembly 50 swings to abut the second limit column 172, the cleaning assembly 40 swings to the second position, and the cleaning assembly 40 can clean the corner area.

[0066] When the cleaning component 40 is in the second position, the output shaft 211 of the swing motor 21 is locked, and the swing motor 21 does not drive the cleaning component 40 to swing. The lifting component 50 abuts the second limit column 172 to limit the cleaning component 40 from rotating in the direction away from the first position. The preset elastic force of the elastic member 30 can make the cleaning component 40 have a tendency to swing toward the second position, so as to keep the cleaning component 40 in the second position when the cleaning component 40 does not encounter an obstacle, that is, to keep the cleaning component 40 in a state of cleaning along the edge. When the cleaning component 40 encounters an obstacle, the cleaning component 40 is forced to swing toward the first position due to the obstacle, thereby realizing the obstacle avoidance function of the cleaning component 40. At the same time, the cleaning component 40 synchronously drives the swing drive component 20 to move relative to the device body 11, and the swing drive component 20 causes the elastic member 30 to produce elastic deformation. After the cleaning assembly 40 passes through the obstacle, the elastic restoring force provided by the elastic member 30 drives the swing drive assembly 20 to move, so that the swing drive assembly 20 drives the cleaning assembly 40 to swing toward the second position through the lifting assembly 50 to restore the cleaning assembly 40 to the edge cleaning state.

[0067] When the cleaning device 10 does not need to clean the corner area, the swing motor 21 drives the swing gear 22 to rotate counterclockwise to drive the lifting assembly 50 to drive the cleaning assembly 40 to swing clockwise, that is, drive the cleaning assembly 40 to swing toward the first position. In the process of the cleaning assembly 40 swinging toward the first position, the first limit portion 232 on the fixed shell 23 and the second limit portion 14 on the limit member 13 abut against each other to cooperate and offset the trend of the swing motor 21 rotating clockwise (i.e. rotating in the second rotation direction), so that the swing motor 21 can reliably and stably drive the cleaning assembly 40 to swing.

[0068] Application scenario three:

[0069] The driving mechanism of the cleaning device 10 includes a swing driving assembly 20, which is movably connected to the cleaning device 10 through an elastic member 30, and the swing driving assembly 20 is also used for transmission connection with the cleaning assembly 40 of the cleaning device 10, and the swing driving assembly 20 is used to drive the cleaning assembly 40 to swing and switch between a first position and a second position relative to the cleaning device 10, wherein the second position is closer to the outside of the cleaning device 10 relative to the first position, and the elastic member 30 makes the cleaning assembly 40 have a tendency to swing toward the second position through the swing driving assembly 20. The driving mechanism also includes a lifting assembly 50, which is used for transmission connection with the cleaning assembly 40, and the lifting assembly 50 is used to drive the cleaning assembly 40 to approach or move away from the surface to be cleaned 10a and to drive the cleaning assembly 40 to clean the surface to be cleaned 10a. The driving mechanism also includes a transmission member 12, which is fixed to the lifting assembly 50, and the transmission member 12 is transmission connected to the swing driving assembly 20, and the swing driving assembly 20 drives the cleaning assembly 40 to swing through the lifting assembly 50.

[0070] The cleaning device and its driving mechanism provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A cleaning device, characterized in that: include: Device body; A swing driving assembly, movably connected to the device body through an elastic member; A cleaning assembly is in transmission connection with the swing drive assembly, the swing drive assembly is used to drive the cleaning assembly to swing and switch between a first position and a second position relative to the device body, wherein the second position is closer to the outside of the device body relative to the first position, and the elastic member makes the cleaning assembly have a tendency to swing toward the second position through the swing drive assembly; A lifting assembly, which is in driving connection with the cleaning assembly, and is used to drive the cleaning assembly to approach or move away from the surface to be cleaned and to drive the cleaning assembly to clean the surface to be cleaned; as well as A transmission member is fixed to the lifting assembly, and the transmission member is in transmission connection with the swing driving assembly, and the swing driving assembly drives the cleaning assembly to swing through the lifting assembly.

2. The cleaning device according to claim 1, characterized in that The lifting assembly comprises: a box body, rotatably connected to the device body, wherein the transmission member is fixed to the box body; A lifting system, drivingly connected to the cleaning assembly; and The lifting drive member is in driving connection with the lifting system. The lifting drive member drives the cleaning component to approach or move away from the surface to be cleaned through the lifting system, and drives the cleaning component to clean the surface to be cleaned.

3. The cleaning device according to claim 1 or 2, characterized in that: The swing drive assembly is rotatably connected to the device body; Wherein, during the process of the swing drive assembly driving the cleaning assembly to swing toward the second position, the elastic member limits the swing drive assembly from rotating relative to the device body along a first rotation direction; and after the swing drive assembly drives the cleaning assembly to swing to the second position, the cleaning assembly can be forced to swing toward the first position due to an obstacle, and the cleaning assembly synchronously drives the swing drive assembly to rotate relative to the device body along the first rotation direction, and the elastic member can drive the swing drive assembly to rotate relative to the device body along a second rotation direction opposite to the first rotation direction after the cleaning assembly passes through the obstacle, so as to drive the cleaning assembly to swing toward the second position.

4. The cleaning device according to claim 3, characterized in that: The device body is provided with a limiting member; one of the swing drive assembly and the limiting member is provided with a first limiting portion, and the other is provided with a second limiting portion, and the first limiting portion and the second limiting portion can abut against each other when the swing drive assembly drives the cleaning assembly to swing toward the first position, so as to cooperate in limiting the swing drive assembly from rotating relative to the device body along the second rotation direction.

5. The cleaning device according to claim 4, characterized in that: The other of the swing drive assembly and the limiting member is further provided with a third limiting portion, the second limiting portion and the third limiting portion are spaced apart from each other along the first rotation direction, and the first limiting portion is located between the second limiting portion and the third limiting portion.

6. The cleaning device according to claim 5, characterized in that: During the process of the cleaning component driving the swing drive component to rotate relative to the device body along the first rotation direction, the first limiting portion can abut against the third limiting portion as the swing drive component rotates relative to the device body, so as to limit the swing drive component from continuing to rotate relative to the device body; wherein, when the first limiting portion abuts against the third limiting portion, the position of the cleaning component is between the first position and the second position.

7. The cleaning device according to claim 5, characterized in that: The first limiting portion is protruding from the outer side wall of the swing driving assembly; The device body is provided with a mounting seat, and a mounting cavity with an open end is provided inside the mounting seat, and the swing drive component is rotatably mounted in the mounting cavity through the open end; the limiting member is fixed to the end of the mounting seat close to the open end, and the second limiting portion and the third limiting portion are both convexly arranged on the side of the limiting member away from the mounting seat.

8. The cleaning device according to claim 3, characterized in that: The elastic member is arranged around the outer periphery of the swing driving assembly, and one end of the elastic member is fixedly connected to the swing driving assembly, and the other end of the elastic member is fixedly connected to the device body.

9. The cleaning device according to claim 3, characterized in that: The swing drive assembly comprises: A swing motor is connected to the transmission member via a swing gear; and A fixed shell connected to the elastic member, wherein the fixed shell comprises: A shell body is rotatably connected to the device body, and the shell body has a fixed cavity inside, and the swing motor is accommodated in the fixed cavity; and The cover body is fixedly connected to the shell body, and the cover body is arranged to cover one end of the fixed cavity, and the swing motor is fixedly connected to the cover body.

10. The cleaning device according to claim 9, characterized in that The cover body is also provided with a through hole; the swing gear is located on the side of the cover body facing away from the fixed cavity; the swing motor has an output shaft, and the output shaft passes through the through hole and is transmission-connected with the swing gear.

11. The cleaning device according to claim 3, characterized in that: The device body is provided with a mounting seat, the mounting seat is provided with a mounting cavity with an open end, the swing drive assembly is installed in the mounting cavity through the open end, and the portion of the swing drive assembly located in the mounting cavity is rotatably connected to the mounting seat through a first bearing; The device body is also provided with a limiting member, which is located at the end of the mounting seat close to the opening, and is used to cooperate with the first bearing to limit the swing drive assembly from escaping from the mounting cavity.

12. The cleaning device according to claim 11, characterized in that There are multiple first bearings, and the first bearings are spaced apart in a direction perpendicular to the surface to be cleaned.

13. The cleaning device according to claim 1 or 2, characterized in that: The cleaning device also includes: a first limiting column fixed to the device body and disposed close to the first position, the first limiting column being used to abut against the lifting assembly to limit the cleaning assembly from rotating in a direction away from the second position; and A second limiting column is fixed to the device body and is disposed close to the second position. The second limiting column is used to abut against the lifting assembly to limit the cleaning assembly from rotating in a direction away from the first position.

14. The cleaning device according to claim 13, characterized in that The cleaning device also includes: The fixed plate is fixedly connected to the device body through the first limiting column and / or the second limiting column, and the lifting assembly is rotatably connected to the fixed plate.

15. The cleaning device according to claim 1 or 2, characterized in that: The cleaning device also includes: The fixed plate is fixedly connected to the device body, the lifting assembly is rotatably connected to the fixed plate via a second bearing, and the lifting assembly is also rotatably connected to the device body via a third bearing.

16. A driving mechanism of a cleaning device, characterized in that: The driving mechanism comprises: A swing drive assembly is movably connected to the cleaning device through an elastic member, and the swing drive assembly is also used for transmission connection with the cleaning assembly of the cleaning device, and the swing drive assembly is used to drive the cleaning assembly to swing and switch between a first position and a second position relative to the cleaning device, wherein the second position is closer to the outside of the cleaning device relative to the first position, and the elastic member makes the cleaning assembly have a tendency to swing toward the second position through the swing drive assembly; A lifting assembly, which is connected to the cleaning assembly in a driving manner, and is used to drive the cleaning assembly to approach or move away from the surface to be cleaned and to drive the cleaning assembly to clean the surface to be cleaned; and A transmission member is fixed to the lifting assembly, and the transmission member is in transmission connection with the swing driving assembly, and the swing driving assembly drives the cleaning assembly to swing through the lifting assembly.

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