Deflection assembly and cleaning equipment

Abstract

The invention discloses a deflection assembly and cleaning equipment. The deflection assembly is used for cleaning equipment. The deflection assembly comprises a first transmission part and a second transmission part. The first transmission member is configured to be connected with the driving member. The first transmission member has a first rotation axis. The second transmission part is rotatably connected with the first transmission part, and the second transmission part is configured to be connected with the cleaning assembly and drive the cleaning assembly to rotate. The deflection assembly is configured to enable the deflection assembly and the cleaning assembly to swing to a first position around a first rotating axis in the second direction under the condition that the first transmission piece drives the second transmission piece to rotate to enable the cleaning assembly to rotate in the first direction and suffer from friction torque in the second direction. When the first transmission part drives the second transmission part to rotate to enable the cleaning assembly to rotate in the second direction, friction torque in the first direction is borne, the deflection assembly and the cleaning assembly swing to the second position around the first rotating axis in the first direction, and the first direction is opposite to the second direction.

Description

Technical Field

[0001] The invention relates to the field of cleaning technology, in particular to a deflection component and a cleaning device. Background Art

[0002] Sweeping robots have gradually become popular in the homes of a large number of users. As a new type of cleaning appliance that is loved by a large number of users, it also has certain pain points. For example, in blind spots such as walls, corners, and edges of obstacles, the sweeping and mopping may not be in place, leaving a certain gap. In related technologies, sweeping robots generally add a set of mechanisms with separate power actuators to drive the mop to approach the blind spot, so that the sweeping robot can clean the gap in the blind spot. However, the use of an additional set of power actuators increases costs on the one hand, and on the other hand, it also increases the complexity of the system and reduces reliability and maintainability. Summary of the invention

[0003] The embodiments of the present invention provide a deflection assembly and a cleaning device to solve at least one of the above-mentioned technical problems.

[0004] A deflection assembly according to an embodiment of the present invention is used for a cleaning device, and the deflection assembly comprises:

[0005] a first transmission member, the first transmission member being configured to connect to the driving member and having a first rotation axis;

[0006] a second transmission member, the second transmission member being rotatably connected to the first transmission member, the second transmission member being configured to be connected to a cleaning component and drive the cleaning component to rotate;

[0007] The yaw assembly is configured such that when the first transmission member drives the second transmission member to rotate so that the cleaning member rotates in the first direction and is subjected to a friction torque in the second direction, the yaw assembly and the cleaning member are swung around the first rotation axis to a first position along the second direction; and when the first transmission member drives the second transmission member to rotate so that the cleaning member rotates in the second direction and is subjected to a friction torque in the first direction, the yaw assembly and the cleaning member are swung around the first rotation axis to a second position along the first direction. The first direction is opposite to the second direction.

[0008] In the above-mentioned yaw assembly, the first transmission member can drive the second transmission member to rotate the cleaning assembly in the first direction and in the second direction. When the cleaning assembly rotates, when the cleaning assembly is subjected to friction torques in different directions (such as when the cleaning assembly contacts the ground when rotating, the cleaning assembly will be subjected to the friction torque of the reaction of the ground), the yaw assembly can swing around the first rotation axis, and then the first transmission member and the second transmission member can be used to drive the yaw assembly and the cleaning assembly without adding additional power actuators, thereby reducing complexity, cost, and improving reliability and maintainability.

[0009] In some embodiments, the deflection assembly includes a first housing, and a connection between the first transmission member and the second transmission member is located in the first housing.

[0010] In some embodiments, the yaw assembly includes a first bearing, the first housing is provided with a first through hole, the first bearing is arranged in the first through hole, the first rotation axis passes through the first bearing, and the first bearing is configured to connect to a transmission assembly, and the transmission assembly is connected to the driving member.

[0011] In some embodiments, the deflection assembly includes a second bearing, the first shell is provided with a second through hole, the second bearing is arranged in the second through hole, and the second transmission member is connected to the second bearing.

[0012] In certain embodiments, the deflection assembly includes a connection structure configured to be detachably connected to the cleaning assembly.

[0013] In some embodiments, the second transmission member is provided with a receiving groove, and the connecting structure includes a magnetic member located in the receiving groove.

[0014] A cleaning device according to an embodiment of the present invention comprises a driving component, a cleaning component and the deflection component described in any one of the above embodiments, wherein the driving component is connected to the first transmission member, the second transmission member is connected to the cleaning component, and the driving component is configured to drive the first transmission member to drive the second transmission member to rotate.

[0015] In the above-mentioned cleaning equipment, the first transmission member can drive the second transmission member to make the cleaning component rotate in the first direction and in the second direction. When the cleaning component rotates, when the cleaning component is subjected to friction torques in different directions (such as when the cleaning component contacts the ground when rotating, the cleaning component will be subjected to the friction torque of the reaction of the ground), the yaw assembly can swing around the first rotation axis, and then the first transmission member and the second transmission member can be used to drive the yaw assembly and the cleaning assembly without adding additional power actuators, thereby reducing complexity, cost, and improving reliability and maintainability.

[0016] In some embodiments, the driving assembly includes a driving member and a transmission assembly, the transmission assembly includes a first abutment member and a second abutment member, the first abutment member is connected to the driving member and the second abutment member, the second abutment member is connected to the deflection assembly, the second abutment member is provided with a track surface, the first abutment member can movably abut against the track surface, the cleaning device includes a second shell, the driving member is configured to drive the first abutment member to rotate so that the first abutment member moves on the track surface, so that the deflection assembly drives the cleaning assembly to rise and fall relative to the second shell.

[0017] In some embodiments, the track surface is respectively provided with a first limit portion and a second limit portion. When the first supporting member abuts against the first limit portion, the first limit portion is configured to limit the end point of the movement of the first supporting member on the track surface along the first direction. When the first supporting member abuts against the second limit portion, the second limit portion is configured to limit the end point of the movement of the first supporting member on the track surface along the second direction.

[0018] In some embodiments, the track surface includes a first area, a second area, and a third area. Along the first direction, the first area, the second area, and the third area are connected in sequence. When the first abutment member abuts against the first area or the third area, the deflection assembly causes the cleaning assembly to be located in a cleaning position for abutting against the ground. When the first abutment member abuts against the second area, the deflection assembly causes the cleaning assembly to be located in a ground-lift position for detaching from the ground.

[0019] In some embodiments, the cleaning device includes a mounting member, the deflection assembly includes a first shell, the first shell is provided with a first through hole, the second supporting member passes through the first through hole, and the mounting member is fixedly connected to the second supporting member and the first shell.

[0020] In some embodiments, the cleaning device is configured as:

[0021] When the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the deflection assembly causes the cleaning assembly to descend from the off-the-ground position to the cleaning position and the first abutting member abuts against the first limiting portion;

[0022] When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the deflection assembly causes the cleaning assembly to rise from the cleaning position to the ground-lifting position and the first abutting member is separated from the first limiting portion and the second limiting portion;

[0023] When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the deflection assembly causes the cleaning assembly to descend from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion;

[0024] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the deflection assembly causes the cleaning assembly to rise from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion.

[0025] In some embodiments, the cleaning device is configured as:

[0026] In the process that the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the driving member first drives the first abutting member to rotate along the second direction by a first rotation angle, and then drives the first abutting member to perform at least one reverse rotation action;

[0027] In the process of the driving member driving the first resisting member to rotate from the first area to the second area along the first direction, the driving member first drives the first resisting member to rotate along the first direction by a first rotation angle, and then drives the first resisting member to perform at least one reverse rotation action;

[0028] Wherein, the rotation angle of the reverse rotation action is a second rotation angle, and the first rotation angle is greater than the second rotation angle.

[0029] In some embodiments, the rotation angle of the driving member corresponding to the first rotation angle is [85 degrees, 95 degrees].

[0030] In some embodiments, the track surface includes a first connection area and a second connection area, the first connection area connects the third area and the second area, and the second connection area connects the second area and the first area;

[0031] The first connection area includes a first sub-area and a second sub-area, and along the second direction, the third area is connected to the second area via the second sub-area and the first sub-area in sequence, the second sub-area includes a plurality of first connection segments connected in sequence end to end, and the slope of the first sub-area is greater than the slope of at least one of the plurality of first connection segments;

[0032] The second connection area includes a third sub-area and a fourth sub-area. Along the first direction, the first area is connected to the second area through the fourth sub-area and the third sub-area in sequence. The fourth sub-area includes a plurality of second connection segments connected end to end in sequence. The slope of the third sub-area is greater than the slope of at least one of the plurality of second connection segments.

[0033] In certain embodiments, the transmission assembly includes a reset member;

[0034] When the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the restoring member is compressed by the second resisting member;

[0035] When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second abutting member to drive the deflection assembly, so that the cleaning assembly rises from the cleaning position to the ground-lifting position;

[0036] When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member;

[0037] When the driving member drives the first supporting member to rotate from the first area to the second area along the first direction, the reset member restores its length and drives the second supporting member to drive the deflection assembly, so that the cleaning assembly rises from the cleaning position to the ground-lift position.

[0038] In some embodiments, the cleaning device includes a third limiting portion, and the second abutting member is provided with a fourth limiting portion;

[0039] When the deflection assembly drives the cleaning assembly to be located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the cleaning assembly;

[0040] When the deflection assembly drives the cleaning assembly to be located at the off-ground position, the third limiting portion and the fourth limiting portion abut against each other in the circumferential direction of the cleaning assembly.

[0041] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0043] Figure 1It is a partial structural schematic diagram of a cleaning device according to an embodiment of the present invention;

[0044] Figure 2 yes Figure 1 Sectional view along line AA;

[0045] Figure 3 yes Figure 2 A magnified view of part B;

[0046] Figure 4 is a partially exploded schematic diagram of a cleaning device according to an embodiment of the present invention;

[0047] Figure 5 is another partial structural schematic diagram of the cleaning device according to an embodiment of the present invention;

[0048] Figure 6 It is another schematic diagram of the structure of a cleaning device according to an embodiment of the present invention;

[0049] Figure 7 yes Figure 6 Enlarged view of part C;

[0050] Figure 8 It is a schematic diagram of another part of the structure of the cleaning device according to the embodiment of the present invention;

[0051] Fig. 9 is a schematic structural diagram of a second abutting member according to an embodiment of the present invention;

[0052] Fig.10 is another structural schematic diagram of the second abutting member according to an embodiment of the present invention;

[0053] Fig.11 is a schematic structural diagram of the abutment between the third limiting portion and the fourth limiting portion according to an embodiment of the present invention;

[0054] Fig.12 is a schematic diagram of the development of the ring portion of an embodiment of the present invention;

[0055] Fig.13 is a schematic diagram of a trajectory of the first abutting member rotating from the third area to the second area in an embodiment of the present invention;

[0056] Fig.14 It is another schematic diagram of the trajectory of the first resisting member rotating from the third area to the second area according to an embodiment of the present invention.

[0057] Reference numerals:

[0058] 100, deflection assembly; 10, first transmission member; 12, second transmission member; 14, driving member; 16, cleaning assembly; 18, first stop member; 20, second stop member; 22, first housing; 24, first bearing; 26, first through hole; 28, transmission assembly; 30, second bearing; 32, second through hole; 34, connecting structure; 36, receiving groove; 37, connecting member; 38, magnetic member; 39, metal member; 40, driving assembly; 42, second housing; 44, mounting plate; 46, groove; 48, first stop member; 50, second stop member; 52, ring; 54, track surface; 56, push rod; 58 , gear set; 60, first limiting part; 62, second limiting part; 64, first area; 66, second area; 68, third area; 70, first connecting area; 71, second connecting area; 72, mounting member; 74, reset member; 76, accommodating chamber; 78, mounting part; 80, connecting part; 82, fixing member; 84, rotating shaft; 86, positioning part; 88, third limiting part; 90, fourth limiting part; 92, sleeve; 94, first sub-area; 96, second sub-area; 98, first connecting section; 102, third sub-area; 104, fourth sub-area; 106, second connecting section; 200, cleaning equipment. DETAILED DESCRIPTION

[0059] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0063] The disclosure herein provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described herein. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art may appreciate the application of other processes and / or the use of other materials.

[0064] Please refer to Figures 1 to 8A deflection assembly 100 according to an embodiment of the present invention is used for a cleaning device 200. The deflection assembly 100 includes a first transmission member 10 and a second transmission member 12. The first transmission member 10 is configured to connect to a driving member 14, and the first transmission member 10 has a first rotation axis. The second transmission member 12 is rotatably connected to the first transmission member 10, and the second transmission member 12 is configured to connect to a cleaning assembly 16 and drive the cleaning assembly 16 to rotate. The deflection assembly 100 is configured to, when the first transmission member 10 drives the second transmission member 12 to rotate so that the cleaning assembly 16 rotates in the first direction and is subjected to a friction torque in the second direction, the deflection assembly 100 and the cleaning assembly 16 swing around the first rotation axis in the second direction to a first position, and when the first transmission member 10 drives the second transmission member 12 to rotate so that the cleaning assembly 16 rotates in the second direction and is subjected to a friction torque in the first direction, the deflection assembly 100 and the cleaning assembly 16 swing around the first rotation axis in the first direction to a second position, and the first direction is opposite to the second direction.

[0065] In the above-mentioned yaw assembly 100, the first transmission member 10 can drive the second transmission member 12 to make the cleaning assembly 16 rotate in the first direction and in the second direction. When the cleaning assembly 16 rotates, when the cleaning assembly 16 is subjected to friction torques in different directions (for example, when the cleaning assembly 16 contacts the ground during rotation, the cleaning assembly 16 will be subjected to the friction torque of the reaction of the ground), the yaw assembly 100 can swing around the first rotation axis, and then the first transmission member 10 and the second transmission member 12 can be used to drive the yaw assembly 100 and the cleaning assembly 16 without adding additional power actuators, thereby reducing complexity and cost and improving reliability and maintainability.

[0066] Specifically, the first transmission member 10 may include a belt, and the second transmission member 12 may include a synchronous wheel. The connection between the first transmission member 10 and the second transmission member 12 may be a rotational connection between a belt and a synchronous wheel. Figure 3 In the figure, along the height direction H of the cleaning device 200, the driving member 14 is arranged above the first transmission member 10 and the second transmission member 12, and the first transmission member 10 and the second transmission member 12 can be arranged above the cleaning assembly 16. A mop can be arranged below the cleaning assembly 16, and the mop can be attached to the ground and clean the ground. The first transmission member 10 is a belt, and the first transmission member 10 can have two rotation axes. The first transmission member 10 can have a first rotation axis O1 and a second rotation axis O2, as shown in FIG. Figure 3As shown. The second transmission member 12 can rotate around the second rotation axis O2. The height direction of the cleaning device 200 includes the up and down direction. It can be understood that in other embodiments, the rotational connection between the first transmission member 10 and the second transmission member 12 can also be a rotational connection between gears. It should be noted that the first transmission member 10 can be rotating or driving the second transmission member 12 to rotate in a translational manner. The first transmission member 10 driving the second transmission member 12 to rotate in a translational manner can refer to that the reciprocating motion of the connecting rod drives the synchronous wheel to rotate.

[0067] Optionally, in Figure 5 In the embodiment, the cleaning device 200 is provided with a first stopper 18 and a second stopper 20. The first stopper 18 and the second stopper 20 can be provided at the bottom of the cleaning device 200 close to the ground. When the deflection assembly 100 swings to the first position, the deflection assembly 100 abuts against the first stopper 18. When the deflection assembly 100 abuts against the second position, the deflection assembly 100 abuts against the second stopper 20.

[0068] In one embodiment, the driving member 14 can drive the first transmission member 10 to rotate, the first transmission member 10 can drive the second transmission member 12 to rotate, and the rotation of the second transmission member 12 can cause the cleaning assembly 16 to be subjected to a friction torque along the second direction when rotating in the first direction, so that the deflection assembly 100 and the cleaning assembly 16 can be swung around the first rotation axis O1 in the second direction to a first position, at which time the deflection assembly 100 abuts against the first stop member 18. In one embodiment, the driving member 14 can drive the first transmission member 10 to rotate, the first transmission member 10 can drive the second transmission member 12 to rotate, and the rotation of the second transmission member 12 can cause the cleaning assembly 16 to be subjected to a friction torque along the first direction when rotating in the second direction, so that the deflection assembly 100 and the cleaning assembly 16 can be swung around the first rotation axis O1 in the first direction to a second position, at which time the deflection assembly 100 abuts against the second stop member 20. That is to say, the first transmission member 10 can drive the second transmission member 12 to rotate the cleaning component 16 in the first direction and in the second direction. When the cleaning component 16 rotates, when the cleaning component 16 is subjected to friction torques in different directions (for example, when the cleaning component 16 contacts the ground during rotation, the cleaning component 16 will be subjected to the friction torque of the ground reaction), the yaw assembly 100 can swing around the first rotation axis O1, and then the first transmission member 10 and the second transmission member 12 can be used to drive the yaw assembly 100 and the cleaning component 16 without adding additional power actuators, thereby reducing complexity and cost and improving reliability and maintainability.

[0069] Optionally, the first direction R1 may be a clockwise direction, or a forward rotation direction of the driving member 14. The second direction R2 may be a counterclockwise direction, or a reverse rotation direction of the driving member 14, such as Fig. 9 and Fig.10As shown. When the deflection assembly 100 is in the first position, the cleaning assembly 16 can be in the outward swing position. When the deflection assembly 100 is in the second position, the cleaning assembly 16 can be in the retracted position. It can be understood that the description of the first direction, the second direction, the first position and the second position of the present invention is not limited to the above description. The driving member 14 may include a motor, a cylinder, etc. The cleaning assembly 16 may be a mop assembly.

[0070] Please combine Figures 1 to 3 In some embodiments, the yaw assembly 100 includes a first housing 22 , and a connection between the first transmission member 10 and the second transmission member 12 is located inside the first housing 22 .

[0071] In this way, the connection between the first transmission member 10 and the second transmission member 12 can be protected to prevent foreign matter from entering and affecting the transmission effect.

[0072] Specifically, the first transmission member 10 may be disposed in the first housing 22, and the connection between the first transmission member 10 and the second transmission member 12 may be disposed in the housing. In one embodiment, the first transmission member 10 is rotatably connected to the second transmission member 12, and the connection between the first transmission member 10 and the second transmission member 12 is disposed in the first housing 22, so as to prevent debris from directly falling on the connection between the first transmission member 10 and the second transmission member 12, and to prevent debris from falling on the first transmission member 10 and then being brought to the connection with the second transmission member 12, thereby affecting the transmission effect.

[0073] Please combine Figures 1 to 3 In some embodiments, the yaw assembly 100 includes a first bearing 24, the first housing 22 is provided with a first through hole 26, the first bearing 24 is arranged in the first through hole 26, the first rotation axis O1 passes through the first bearing 24, and the first bearing 24 is configured to connect to the transmission assembly 28, and the transmission assembly 28 is connected to the driving member 14.

[0074] In this way, the yaw assembly 100 can achieve yaw by rotating around the first rotation axis O1 through the first bearing 24 .

[0075] Specifically, in Figure 3 In the embodiment, the yaw assembly 100 is provided with two first bearings 24 , one first bearing 24 is provided at the upper opening of the first through hole 26 , and the other first bearing 24 is provided at the lower opening of the first through hole 26 .

[0076] Further, the first bearing 24 includes a first inner ring (not shown) and a first outer ring (not shown), and the first inner ring is rotatably connected to the first outer ring. The first outer ring can be fixedly connected to the first through hole 26, and the first inner ring can be fixedly connected to the transmission assembly 28. In one embodiment, the driving member 14 can drive the transmission assembly 28, and the transmission assembly 28 can drive the second rotating member to rotate through the first transmission member 10, thereby rotating the cleaning assembly 16 in the first direction and in the second direction. When the cleaning assembly 16 rotates, when the cleaning assembly 16 is subjected to friction torques in different directions, the deflection assembly 100 can swing around the first rotation axis O1 through the first bearing 24.

[0077] Please combine Figures 1 to 3 In some embodiments, the yaw assembly 100 includes a second bearing 30 , the first housing 22 defines a second through hole 32 , the second bearing 30 is disposed in the second through hole 32 , and the second transmission member 12 is connected to the second bearing 30 .

[0078] In this way, the second transmission member 12 is rotated on the deflection assembly 100 through the second bearing 30 , thereby driving the cleaning assembly 16 to rotate.

[0079] Specifically, the yaw assembly 100 is provided with two second bearings 30 , one second bearing 30 is provided at the upper opening of the second through hole 32 , and the other second bearing 30 is provided at the lower opening of the first through hole 26 .

[0080] Further, the second bearing 30 includes a second inner ring (not shown) and a second outer ring (not shown), and the second inner ring is rotatably connected to the second outer ring. The second outer ring can be fixedly connected to the second through hole 32, and the second inner ring can be fixedly connected to the second transmission member 12. In one embodiment, the first transmission member 10 can drive the second transmission member 12 to rotate, and the second transmission member 12 can rotate on the deflection assembly 100 through the second bearing 30, thereby driving the cleaning assembly 16 to rotate.

[0081] Please combine Figure 3 In some embodiments, the deflection assembly 100 includes a connection structure 34 configured to be detachably connected to the cleaning assembly 16 .

[0082] In this way, the connecting mechanism can be detachably connected to the cleaning component 16, which is convenient for installation and replacement and improves practicality.

[0083] Specifically, the connection structure 34 can be fixedly connected to the second transmission member 12, and the cleaning assembly 16 can be detachably connected to the second transmission member 12. When the cleaning assembly 16 needs to be repaired or replaced, it can be quickly installed and disassembled to improve work efficiency. The connection structure 34 includes but is not limited to bolts, magnets, buckles, etc.

[0084] Please combine Figure 3In some embodiments, the second transmission member 12 is provided with a receiving groove 36 , and the connecting structure 34 includes a magnetic member 38 located in the receiving groove 36 .

[0085] In this way, the cleaning component 16 can be connected via the magnetic component 38 , so that the cleaning component 16 is fixed to the second transmission component 12 .

[0086] Specifically, in Figure 3 In the embodiment, the end surface of the second transmission member 12 close to the bottom surface may be provided with a receiving groove 36, and the magnetic member 38 may be arranged on the side wall of the receiving groove 36. The cleaning component 16 is provided with a connecting member 37 and a metal member 39, and the metal member 39 is arranged on the top of the connecting member 37. The connecting member 37 is adapted to the receiving groove 36 and can be inserted into the receiving groove 36. In one embodiment, when the cleaning component 16 is installed on the second transmission member 12, one end of the connecting member 37 can be inserted into the receiving groove 36, so that the magnetic member 38 is connected to the metal member 39, so that the cleaning component 16 is fixed to the second transmission member 12. The material of the metal member 39 can be a metal substance such as iron, nickel, and cobalt.

[0087] Please refer to Figures 1 to 8 A cleaning device 200 according to an embodiment of the present invention comprises a driving assembly 40, a cleaning assembly 16 and a deflection assembly 100 according to any of the above embodiments. The driving assembly 40 is connected to the first transmission member 10, and the second transmission member 12 is connected to the cleaning assembly 16. The driving assembly 40 is configured to drive the first transmission member 10 to drive the second transmission member 12 to rotate.

[0088] In the above-mentioned cleaning equipment 200, the first transmission member 10 can drive the second transmission member 12 to make the cleaning component 16 rotate in the first direction and in the second direction. When the cleaning component 16 rotates, when the cleaning component 16 is subjected to friction torques in different directions (for example, when the cleaning component 16 contacts the ground during rotation, the cleaning component 16 will be subjected to the friction torque of the reaction of the ground), the yaw assembly 100 can swing around the first rotation axis, and then the first transmission member 10 and the second transmission member 12 can be used to drive the yaw assembly 100 and the cleaning component 16 without adding additional power actuators, thereby reducing complexity and cost and improving reliability and maintainability.

[0089] Specifically, the cleaning device 200 includes but is not limited to a sweeping robot, a sweeping machine, a sweeping and mopping machine, a double-rotating disc sweeping machine, a floor scrubber (such as a handheld floor scrubber), etc. The driving assembly 40 includes a driving member 14 and a transmission assembly 28. The transmission assembly 28 can connect the driving member 14 and the first transmission member 10. The driving member 14 can drive the first transmission member 10 to drive the second rotating member to rotate through the transmission assembly 28, and then drive the cleaning assembly 16 to rotate along the first direction and the second direction, so that when the cleaning assembly 16 rotates, when the cleaning assembly 16 is subjected to friction torques in different directions (such as when the cleaning assembly 16 rotates and contacts the ground, the cleaning assembly 16 will be subjected to the friction torque of the ground reaction), the deflection assembly 100 can swing around the first rotation axis O1, and then the first transmission member 10 and the second transmission member 12 can be used to drive the deflection assembly 100 and the cleaning assembly 16, without adding an additional power actuator, reducing complexity, cost, and improving reliability and maintainability.

[0090] Please combine Figure 4 In some embodiments, the cleaning device 200 includes a second housing 42 , and the drive assembly 40 is disposed in the second housing 42 .

[0091] In this way, the driving assembly 40 can be protected from operating safely and being exposed to the external environment.

[0092] Specifically, the second housing 42 may be circular. The driving assembly 40 may be disposed in the second housing 42. In one embodiment, the driving assembly 40 is disposed in the housing to avoid the driving assembly 40 being exposed to the external environment, to prevent external interference from affecting the driving assembly 40, and to ensure the normal operation of the cleaning device 200.

[0093] Optionally, the second housing 42 includes a mounting plate 44. The deflection assembly 100 may be disposed at the bottom of the mounting plate 44. Optionally, a groove 46 may be formed at the bottom of the mounting plate 44. In one embodiment, when the cleaning device 200 is not started or is started and then turned off, the deflection assembly 100 may be accommodated in the groove 46. When the cleaning device 200 is started, the driving assembly 40 drives the deflection assembly 100 to descend, so that the deflection assembly 100 is located outside the groove 46.

[0094] Please combine Figures 1 to 10In some embodiments, the driving assembly 40 includes a driving member 14 and a transmission assembly 28, the transmission assembly 28 includes a first abutment 48 and a second abutment 50, the first abutment 48 is connected to the driving member 14 and the second abutment 50, the second abutment 50 is connected to the deflection assembly 100, and the second abutment 50 is provided with a track surface 54, the first abutment 48 can be movably abutted on the track surface 54, the driving member 14 is configured to drive the first abutment 48 to rotate so that the first abutment 48 moves on the track surface 54, so that the deflection assembly 100 drives the cleaning assembly 16 to rise and fall relative to the second shell 42.

[0095] In this way, the structure of the transmission assembly 28 can be used to enable the driving member 14 to drive the deflection assembly 100 to drive the cleaning assembly 16 to rise and fall relative to the second housing 42 .

[0096] Specifically, in some application scenarios, such as carpet cleaning, obstacle crossing, backwashing, and drying, the cleaning device 200 may not need to perform mopping operations. If the cleaning component 16 is still in the cleaning position, the cleaning component 16 will be close to the ground. When the cleaning component 16 is close to the ground, the movement of the cleaning device 200 will cause a certain movement resistance of the cleaning device 200. Moreover, when the cleaning device 200 crosses an obstacle, the cleaning component 16 close to the ground will also increase the difficulty of crossing the obstacle.

[0097] Therefore, the cooperation between the first abutment member 48 and the second abutment member 50 can enable the deflection assembly 100 to drive the cleaning assembly 16 to rise and fall relative to the mounting plate 44. When the cleaning assembly 16 does not need to be attached to the ground, the cleaning assembly 16 can be raised, and when the cleaning assembly 16 needs to be attached to the ground, the cleaning assembly 16 can be lowered. In other words, the deflection assembly 100 drives the cleaning assembly 16 to be located in a cleaning position for abutting the ground and in a ground-lift position for detaching from the ground.

[0098] Optionally, in Fig. 9 In the embodiment, the second abutting member 50 includes a ring portion 52, and two track surfaces 54 are provided on the top surface of the ring portion 52. The first abutting member 48 includes two push rods 56, and each push rod 56 is located above a corresponding track surface 54, and the two push rods 56 abut against the two track surfaces 54, respectively. The track surface 54 has high and low areas. When the push rod 56 abuts against the high area, the deflection assembly 100 drives the cleaning assembly 16 to be located in a cleaning position. When the push rod 56 abuts against the low area, the deflection assembly 100 drives the cleaning assembly 16 to be located in a position off the ground. It can be understood that if the push rod 56 and the track surface 54 interchange their upper and lower positions, when the push rod 56 abuts against the high area, the deflection assembly 100 drives the cleaning assembly 16 to be located in a position off the ground. When the push rod 56 abuts against the low area, the deflection assembly 100 drives the cleaning assembly 16 to be located in a cleaning position. It should be noted that the present invention does not specifically limit the number and relative position relationship of the track surfaces 54 and the push rods 56. Fig. 9In the embodiment, the first abutting member 48 moves on the track surface 54 by sliding. It is understood that in other embodiments, a roller may be added to the end of the push rod 56, the roller contacts the track surface 54, and the first abutting member 48 moves on the track surface 54 by rolling. It is understood that the number of track surfaces 54 is not limited to two, and may be one, or more than two, and the present invention does not specifically limit this.

[0099] Optionally, the transmission assembly 28 includes a gear set 58, the gear set 58 includes at least one gear, the gear set 58 connects the driving member 14 and the first abutting member 48, and the gear set 58 transmits the power of the driving member 14 to the first abutting member 48, so that the driving member 14 can drive the first abutting member 48 to move to different areas on the track surface 54, thereby driving the deflection assembly 100 to adjust the height of the cleaning assembly 16. The gear set 58 can be a reduction gear set 58.

[0100] Please combine Figures 8 to 10 In some embodiments, a first limit portion 60 and a second limit portion 62 are respectively provided on the track surface 54. When the first abutting member 48 abuts against the first limit portion 60, the first limit portion 60 is configured to limit the end point of the movement of the first abutting member 48 on the track surface 54 along the first direction. When the first abutting member 48 abuts against the second limit portion 62, the second limit portion 62 is configured to limit the end point of the movement of the first abutting member 48 on the track surface 54 along the second direction.

[0101] In this way, through the two limiting portions, when the first abutting member 48 abuts against the limiting portions, the first abutting member 48 stops moving on the track surface 54 .

[0102] Specifically, when the first abutting member 48 abuts against the first limiting portion 60, the first limiting portion 60 is configured to limit the end point of the movement of the first abutting member 48 along the first direction on the track surface 54. At this time, the first abutting member 48 cannot move relative to the second abutting member 50 along the first direction. If the driving member 14 continues to drive the first abutting member 48 to rotate along the first direction, the first abutting member 48 drives the second abutting member 50 to rotate along the first direction through the first limiting portion 60, and then drives the cleaning assembly 16 to rotate along the first direction.

[0103] When the first abutting member 48 abuts against the second limiting portion 62, the second limiting portion 62 is configured to limit the end point of the movement of the first abutting member 48 along the second direction on the track surface 54. At this time, the first abutting member 48 cannot move relative to the second abutting member 50 along the second direction. If the driving member 14 continues to drive the first abutting member 48 to rotate along the second direction, the first abutting member 48 drives the second abutting member 50 to rotate along the second direction through the second limiting portion 62, and then drives the cleaning assembly 16 to rotate along the second direction.

[0104] Therefore, when the first abutting member 48 has not yet abutted against the first limiting portion 60 or the second limiting portion 62, the first abutting member 48 can be moved to different areas on the track surface 54 when rotating, and the cleaning assembly 16 can be lifted and lowered by the deflection assembly 100. When the first abutting member 48 abuts against the first limiting portion 60 or the second limiting portion 62, the first abutting member 48 can be rotated to drive the second abutting member 50 to rotate, and then the first transmission member 10 and the second transmission member 12 can be driven to rotate the cleaning assembly 16.

[0105] It should be noted that when the first abutment 48 rotates along the R1 direction, the first abutment 48 moves along the R1 direction on the track surface 54. If the friction between the push rod 56 and the track surface 54 is too large, the push rod 56 may stay in a certain area on the track surface 54. When the friction between the cleaning component 16 and the ground is large enough and greater than the friction between the push rod 56 and the track surface 54, the cleaning component 16 can drive the first abutment 48 to abut against the first limiting portion 60 through the deflection component 100 and the second abutment 50.

[0106] In some embodiments, the cleaning component 16 includes a friction member (not shown), which is configured to increase the friction torque along the second direction received by the cleaning component 16 when it rotates along the first direction, so that the cleaning component 16 and the deflection assembly 100 drive the first abutment member 48 to abut against the first limiting portion 60, and increase the friction torque along the first direction received by the cleaning component 16 when it rotates along the second direction, so that the cleaning component 16 and the deflection assembly 100 drive the first abutment member 18 to abut against the second limiting portion 62.

[0107] In this way, the friction between the cleaning assembly 16 and the ground surface can be increased, so that the first abutting member 48 can abut against the first limiting portion 60 or the second limiting portion 62 .

[0108] Specifically, in one embodiment, when the cleaning assembly 16 descends to the cleaning position, the cleaning assembly 16 rotates in a first direction, and the friction member contacts the ground. The friction member can increase the friction between the cleaning assembly 16 and the ground, so that the friction between the cleaning assembly 16 and the ground is greater than the friction between the push rod 56 and the track surface 54. The cleaning assembly 16 can drive the push rod 56 to abut against the first limit portion 60 through the deflection assembly 100 and the second abutment member 50.

[0109] Similarly, when the cleaning assembly 16 rotates in the second direction, the friction member makes the friction between the cleaning assembly 16 and the ground greater than the friction between the push rod 56 and the track surface 54, thereby causing the cleaning assembly 16 to drive the push rod 56 to abut against the second limit portion 62 through the deflection assembly 100 and the second abutment member 50.

[0110] Please combine Figures 8 to 10In some embodiments, the track surface 54 includes a first area 64, a second area 66 and a third area 68. Along the first direction, the first area 64, the second area 66 and the third area 68 are connected in sequence. When the first abutment member 48 abuts against the first area 64 or the third area 68, the deflection assembly 100 places the cleaning assembly 16 in a cleaning position for abutting the ground. When the first abutment member 48 abuts against the second area 66, the deflection assembly 100 places the cleaning assembly 16 in a ground-lift position for leaving the ground.

[0111] In this way, the three regions of the track surface 54 are used to enable the deflection assembly 100 to drive the cleaning assembly 16 to switch between the off-ground position and the cleaning position.

[0112] Specifically, in Fig. 9 and Fig.10 In the embodiment, the first direction is the clockwise direction and the second direction is the counterclockwise direction. It can be understood that in other embodiments, the first direction may be the counterclockwise direction and the second direction may be the clockwise direction.

[0113] Two adjacent areas can be connected by the first connection area 70 and the second connection area 71, respectively, and the first abutment member 48 can be moved from one area to another through the first connection area 70 and the second connection area 71. Figure 8 , the first region 64 and the third region 68 are located higher than the second region 66. The first abutting member 48 is located above the track surface 54. When the first abutting member 48 abuts against the first region 64 or the third region 68, the first abutting member 48 is far away from the cleaning assembly 16, and the cleaning assembly 16 is located at the cleaning position. When the first abutting member 48 abuts against the second region 66, the first abutting member 48 is close to the cleaning assembly 16, and the cleaning assembly 16 is located off the ground.

[0114] exist Fig. 9 and Fig.10 In the embodiment, the first area 64, the second area 66, and the third area 68 are planes. Furthermore, the first area 64, the second area 66, and the third area 68 can also be inclined surfaces. In one embodiment, when the first area 64, the second area 66, and the third area 68 are inclined surfaces, when the friction force of the first abutting member 4 against the first area 64, the second area 66, and the third area 68 is large enough, the first abutting member 48 can stay on the first area 64, the second area 66, and the third area 68.

[0115] Along the first direction, the first region 64 , the second region 66 , and the third region 68 are connected in sequence, that is, along the second direction, the third region 68 , the second region 66 , and the first region 64 are connected in sequence.

[0116] When the first abutment 48 moves from the first region 64 to the second region 66 along the first direction, the cleaning assembly 16 switches from the cleaning position to the ground-lifting position. When the first abutment 48 moves from the second region 66 to the third region 68 along the first direction, the cleaning assembly 16 switches from the ground-lifting position to the cleaning position.

[0117] When the first abutment 48 moves from the third region 68 to the second region 66 along the second direction, the cleaning assembly 16 switches from the cleaning position to the ground-lifting position. When the first abutment 48 moves from the second region 66 to the first region 64 along the second direction, the cleaning assembly 16 switches from the ground-lifting position to the cleaning position.

[0118] Please combine Figure 3 In some embodiments, the cleaning device 200 includes a mounting member 72, the deflection assembly 100 includes a first shell 22, the first shell 22 is provided with a first through hole 26, the second abutment member 50 passes through the first through hole 26, and the mounting member 72 is fixedly connected to the second abutment member 50 and the first shell 22.

[0119] In this way, the deflection assembly 100 can be fixed on the second supporting member 50 through the mounting member 72 to prevent the deflection assembly 100 from falling off during the swinging process.

[0120] Specifically, in Figure 3 In the embodiment, the cross section of the mounting member 72 may be similar to an inverted T-shape. The mounting member 72 may include a fixing plug, a fixing screw, etc. In one embodiment, the second abutting member 50 may be provided with a first through hole 26, the bottom of the second abutting member 50 is substantially flush with the bottom of the first shell 22, the mounting member 72 may be fixedly connected to the second abutting member 50 and the first shell 22, one end of the mounting member 72 may be inserted into the second abutting member 50, so that the deflection assembly 100 may be fixedly connected to the second abutting member 50 to prevent the deflection assembly 100 from falling off during the swinging process.

[0121] In some embodiments, the cleaning device 200 is configured to:

[0122] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the third area 68 along the first direction, the deflection assembly 100 causes the cleaning assembly 16 to descend from the off-the-ground position to the cleaning position and the first abutting member 48 abuts against the first limiting portion 60;

[0123] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the deflection assembly 100 causes the cleaning assembly 16 to rise from the cleaning position to the ground-lifting position and the first abutting member 48 is separated from the first limiting portion 60 and the second limiting portion 62;

[0124] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the first area 64 along the second direction, the deflection assembly 100 causes the cleaning assembly 16 to descend from the off-the-ground position to the cleaning position and the first abutting member 48 abuts against the second limiting portion 62;

[0125] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the deflection assembly 100 causes the cleaning assembly 16 to rise from the cleaning position to the ground-lifting position and the first abutting member 48 is separated from the second limiting portion 62 and the first limiting portion 60 .

[0126] In this way, the driving member 14 can be used to drive the first abutting member 48 to rotate in a direction such that the first abutting member 48 abuts against different areas of the track surface 54 , thereby driving the deflection assembly 100 to control the lifting and lowering of the cleaning assembly 16 .

[0127] Specifically, initially, the first abutting member 48 abuts against the second region 66, and the driving member 14 has not yet driven the first abutting member 48 to rotate. At this time, the cleaning assembly 16 is located in a ground-lift position.

[0128] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the third area 68 along the first direction, the deflection assembly 100 can drive the cleaning assembly 16 to descend from the ground position to the cleaning position and the first abutting member 48 abuts against the first limit portion 60. At this time, the continuous driving of the driving member 14 can make the first abutting member 48 drive the second abutting member 50 to rotate along the first direction through the first limit portion 60, and then drive the first transmission member 10 to drive the cleaning assembly 16 to rotate along the first direction.

[0129] When the cleaning assembly 16 rotating in the first direction contacts the ground or other fixed objects, the ground or other fixed objects generate a friction torque in the second direction on the cleaning assembly 16. If the deflection assembly 100 is in the first position, the deflection assembly 100 will not swing and will remain in the first position. If the deflection assembly 100 is in the second position, the deflection assembly 100 will swing from the second position to the first position in the second direction under the action of the friction torque in the second direction.

[0130] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the deflection assembly 100 can drive the cleaning assembly 16 to rise from the cleaning position to the ground-lifting position, and the first abutting member 48 is separated from the first limiting portion 60 and the second limiting portion 62. At this time, the first abutting member 48 cannot drive the first transmission member 10 and the cleaning assembly 16 to rotate through the second abutting member 50, and the cleaning assembly 16 does not rotate and is located at the ground-lifting position.

[0131] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the first area 64 along the second direction, the deflection assembly 100 can drive the cleaning assembly 16 to descend from the ground position to the cleaning position and the first abutting member 48 abuts against the second limiting portion 62. At this time, the continuous driving of the driving member 14 can make the first abutting member 48 drive the second abutting member 50 to rotate along the second direction through the second limiting portion 62, and then drive the first transmission member 10 to drive the cleaning assembly 16 to rotate along the second direction.

[0132] When the cleaning assembly 16 rotating in the second direction contacts the ground or other fixed objects, the ground or other fixed objects generate a friction torque in the first direction on the cleaning assembly 16. If the deflection assembly 100 is located in the first position, the deflection assembly 100 swings from the first position to the second position in the first direction under the action of the friction torque in the first direction. If the deflection assembly 100 is located in the second position, the deflection assembly 100 does not swing and remains in the second position.

[0133] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the deflection assembly 100 can drive the cleaning assembly 16 to rise from the cleaning position to the ground-lifting position, and the first abutting member 48 is separated from the second limiting portion 62 and the first limiting portion 60. At this time, the first abutting member 48 cannot drive the first transmission member 10 and the cleaning assembly 16 to rotate through the second abutting member 50, and the cleaning assembly 16 does not rotate and is located at the ground-lifting position.

[0134] It should be noted that the driving member 14 includes a motor, and the rotation direction of the driving member 14 can be the same as the rotation direction of the first abutting member 48 or can be opposite to the rotation direction of the first abutting member 48 .

[0135] Please combine Fig. 9 , Fig.10 and Fig.12 In some embodiments, the cleaning device 200 is configured as follows:

[0136] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 first drives the first abutting member 48 to rotate along the second direction by the first rotation angle, and then drives the first abutting member 48 to perform at least one reverse rotation action.

[0137] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the driving member 14 first drives the first abutting member 48 to rotate along the first direction by a first rotation angle, and then drives the first abutting member 48 to perform at least one reverse rotation action. The rotation angle of the reverse rotation action is the second rotation angle, and the first rotation angle is greater than the second rotation angle.

[0138] In this way, the first abutting member 48 can be kept in the second area 66 , thereby allowing the cleaning assembly 16 to be located off the ground.

[0139] Specifically, in this solution, the rotation direction of the driving member 14 is opposite to the rotation direction of the first abutting member 48. The driving member 14 rotates a corresponding rotation angle, thereby driving the first abutting member 48 to rotate. A first connecting region 70 is provided between the second region 66 and the third region 68, and a second connecting region 71 is provided between the first region 64 and the second region 66.

[0140] Combination Figure 12 to Figure 14 In the process of the driving member 14 driving the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 first drives the first abutting member 48 to rotate along the second direction by the first rotation angle. Due to the effect of inertia, the first abutting member 48 can rush from the second area 66 to the second connection area 71. At this time, the driving member 14 drives the first abutting member 48 to perform at least one reverse rotation action. The rotation angle of the reverse rotation action is the second rotation angle, and the first rotation angle is greater than the second rotation angle. In this way, it is ensured that the first abutting member 48 can rotate to the second area 66, thereby preventing the cleaning component 16 from falling to the cleaning position, keeping the first abutting member 48 in the second area 66, and making the cleaning component 16 located off the ground.

[0141] Optionally, in Fig.13 In the process that the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 drives the first abutting member 48 to perform a reverse rotation action V1, and the reverse rotation action V1 is along the first direction. Fig.14 In the process that the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 drives the first abutting member 48 to perform two reverse rotation actions V2 and V3, and the reverse rotation action V2 is along the first direction. The reverse rotation action V3 is along the second direction. Optionally, the second rotation angle of the reverse rotation action V3 can be the same as or different from the second rotation angle of the reverse rotation action V2. Optionally, the second rotation angle of the reverse rotation action V3 is smaller than the second rotation angle of the reverse rotation action V2.

[0142] It is understood that the driving member 14 can not only drive the first abutting member 48 to perform one reverse rotation action, two reverse rotation actions, but also drive the first abutting member 48 to perform three reverse rotation actions, four reverse rotation actions, or other number of reverse rotation actions, which are not specifically limited here. It is understood that, Fig.13 and Fig.14 It only shows the change of the rotation direction of the first abutting member 48 , and does not represent the actual movement trajectory of the first abutting member 48 .

[0143] Similarly, when the driving member 14 drives the first resisting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the above understanding can be obtained.

[0144] In the process of the driving member 14 driving the first abutment 48 to rotate from the first area 64 to the second area 66 along the first direction, the driving member 14 first drives the first abutment 48 to rotate by a first preset angle along the first direction. Due to the effect of inertia, the first abutment 48 can rush from the second area 66 to the first connecting area 70. At this time, the first abutment 48 is driven to rotate by a second preset angle along the second direction. The first abutment 48 can rotate from the first connecting area 70 to the second area 66, but due to the effect of inertia, the first abutment 48 can rush from the second area 66 to the second connecting area 71. At this time, the first abutment 48 is driven to rotate by a third preset angle along the first direction. Then, by the first preset angle being greater than the second preset angle and the second preset angle being greater than the third preset angle, it is ensured that the first abutment 48 can rotate to the second area 66, thereby preventing the cleaning component 16 from descending to the cleaning position and keeping the first abutment 48 in the second area 66, so that the cleaning component 16 is located off the ground.

[0145] In some embodiments, the rotation angle of the driving member 14 corresponding to the first preset angle is [85 degrees, 95 degrees].

[0146] In this way, it can be ensured that the driving member 14 can drive the first resisting member 48 to rotate from the first area 64 to the second area 66 or drive the first resisting member 48 to rotate from the third area 68 to the second area 66 .

[0147] Specifically, the driving member 14 may include a motor. Taking the rotation of the first abutting member 48 from the third area 68 to the second area 66 as an example, assuming that the first abutting member 48 is located in the third area, the corresponding rotation angle of the motor is 0 degrees. In this solution, since a transmission component such as a reduction gearbox may be provided between the driving member 14 and the first abutting member 48, the rotation angle of the driving member may be inconsistent with the rotation angle of the first abutting member. It can be understood that in other embodiments, the rotation angle of the driving member may also be the same as the rotation angle of the first abutting member, and the present invention does not specifically limit this.

[0148] In one embodiment, when the first abutting member 48 abuts against the third region 68, the rotation angle of the driving member 14 can be calibrated as 0 degrees. When the angle of rotation of the driving member 14 along the second direction is between 85 degrees and 95 degrees, the first abutting member 48 can be driven to rotate along the second direction by a first preset angle, thereby driving the first abutting member 48 to rotate from the third region 68 to the second region 66. In one embodiment, when the first abutting member 48 abuts against the first region 64, the rotation angle of the driving member 14 can be calibrated as 0 degrees. When the angle of rotation of the driving member 14 along the first direction is between 85 degrees and 95 degrees, the first abutting member 48 can be driven to rotate along the first direction by a first preset angle, thereby driving the first abutting member 48 to rotate from the first region 64 to the second region 66.

[0149] The rotation angle of the driving member 14 corresponding to the first preset angle can be 85 degrees, 86 degrees, 87 degrees, 88 degrees, 89 degrees, 90 degrees, 91 degrees, 92 degrees, 93 degrees, 94 degrees, 95 degrees or other values ​​between 85 degrees and 95 degrees. The rotation angle of the mop or the driving member 14 can be detected by an angle detection device such as a code disk.

[0150] Please combine Fig. 9 , Fig.10 and Fig.12 In some embodiments, the track surface 54 includes a first connection area 70 and a second connection area 71, the first connection area 70 connects the third area 68 and the second area 66, and the second connection area 71 connects the second area 66 and the first area 64;

[0151] The first connecting area 70 includes a first sub-area 94 and a second sub-area 96. Along the second direction, the third area 68 is connected to the second area 66 in sequence through the second sub-area 96 and the first sub-area 94. The second sub-area 96 includes a plurality of first connecting segments 98 connected in sequence end to end. The slope of the first sub-area 94 is greater than the slope of at least one of the plurality of first connecting segments 98.

[0152] The second connection area 71 includes a third sub-area 102 and a fourth sub-area 104. Along the first direction, the first area 64 is connected to the second area 66 in sequence through the fourth sub-area 104 and the third sub-area 102. The fourth sub-area 104 includes a plurality of second connection segments 106 connected end to end in sequence. The slope of the third sub-area 102 is greater than the slope of at least one of the plurality of second connection segments 106.

[0153] In this way, when the first abutting member 48 rotates to the second area 66 , the first sub-area 94 and the third sub-area 102 can further ensure that the first abutting member 48 is in the second area 66 , thereby ensuring that the cleaning assembly 16 is located off the ground.

[0154] Specifically, in Fig.12In the process of the first abutment 48 rotating from the third area 68 to the second area 66, the first abutment 48 can be rotated to the multiple first connecting segments 98, and then rotated to the first sub-area 94 through the multiple first connecting segments 98. The slope of the first sub-area 94 is greater than the slope of at least one of the multiple first connecting segments 98, so that the first abutment 48 is easy to rotate to the second area 66, thereby ensuring that the first abutment 48 is in the second area 66, ensuring that the cleaning component 16 is located off the ground.

[0155] During the process of the first abutment 48 rotating from the first area 64 to the second area 66, the first abutment 48 can be rotated to the multiple second connecting segments 106, and then rotated to the third sub-area 102 through the multiple second connecting segments 106. The slope of the third sub-area 102 is greater than the slope of at least one of the multiple second connecting segments 106, so that the first abutment 48 is easy to rotate to the second area 66, thereby ensuring that the first abutment 48 is in the second area 66, ensuring that the cleaning component 16 is located off the ground.

[0156] The slope of the first sub-region 94 may be greater than the slope of one first connecting segment 98, the slope of two first connecting segments 98, the slope of another number of first connecting segments 98, or the slope of all first connecting segments 98. The slope of the third sub-region 102 may be greater than the slope of one second connecting segment 106, the slope of two second connecting segments 106, the slope of another number of second connecting segments 106, or the slope of all second connecting segments 106.

[0157] In certain embodiments, the transmission assembly 28 includes a reset member 74;

[0158] When the driving member 14 drives the first abutting member 48 to rotate from the second region 66 to the third region 68 along the first direction, the restoring member 74 is compressed by the second abutting member 50 ;

[0159] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the restoring member 74 restores its length and drives the second abutting member 50 to drive the deflection assembly 100, so that the cleaning assembly 16 rises from the cleaning position to the ground-lifting position;

[0160] When the driving member 14 drives the first abutting member 48 to rotate from the second region 66 to the first region 64 along the second direction, the restoring member 74 is compressed by the second abutting member 50 ;

[0161] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the reset member 74 recovers its length and drives the second abutting member 50 to drive the deflection assembly 100, so that the cleaning assembly 16 rises from the cleaning position to the ground position.

[0162] In this way, by compressing the reset member 74, the reset member 74 can be extended to drive the deflection assembly 100 to drive the cleaning assembly 16 to rise, and the structure is simple.

[0163] For details, please refer to Figure 3 , a receiving cavity 76 is provided in the second abutting member 50, and the reset member 74 is located in the receiving cavity 76. In one embodiment, the second abutting member 50 includes a mounting portion 78, and the mounting portion 78 is located in the space surrounded by the ring portion 52. The second abutting member 50 also includes a connecting portion 80, and the connecting portion 80 is fixedly connected to the ring portion 52 and the mounting portion 78, and can be rotatably connected to the first transmission member 10. The mounting portion 78 and the ring portion 52 are located at the top of the connecting portion 80. A receiving cavity 76 is provided in the mounting portion 78, and a fixing member 82 is provided in the receiving cavity 76, and the fixing member 82 can include a screw. The transmission assembly 28 includes a rotating shaft 84, and the rotating shaft 84 can be connected to the gear set 58, and the rotating shaft 84 is driven to rotate by the gear set 58. The rotating shaft 84 passes through the first abutting member 48 and the mounting portion 78, and one end of the rotating shaft 84 extends into the receiving cavity 76. The rotating shaft 84 is fixedly connected to the first abutting member 48, and the rotation of the rotating shaft 84 can drive the first abutting member 48 to rotate. The reset member 74 is clamped between the upper side wall of the accommodating cavity 76 and the fixing member 82. Optionally, a positioning portion 86 is provided on the upper side wall of the accommodating cavity 76, and the reset member 74 is sleeved on the positioning portion 86 to make the reset member 74 more stable during compression and extension.

[0164] When the driving member 14 drives the first abutting member 48 to rotate from the second region 66 to the third region 68 along the first direction, the second abutting member 50 descends, so that the deflection assembly 100 drives the cleaning assembly 16 to descend from the off-ground position to the cleaning position. The reset member 74 is compressed by the upper side wall of the accommodating cavity 76, so that the reset member 74 becomes shorter.

[0165] When the driving member 14 drives the first supporting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the reset member 74 restores its length, and the extended reset member 74 provides an upward force to the upper side wall of the accommodating cavity 76, so that the second supporting member 50 rises, and then the deflection assembly 100 drives the cleaning assembly 16 to rise from the cleaning position to the ground position.

[0166] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the first area 64 along the second direction, the second abutting member 50 descends, and the deflection assembly 100 drives the cleaning assembly 16 to descend from the off-ground position to the cleaning position. The reset member 74 is compressed by the upper side wall of the accommodating cavity 76, making the reset member 74 shorter.

[0167] When the driving member 14 drives the first supporting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the reset member 74 restores its length, and the extended reset member 74 provides an upward force to the upper side wall of the accommodating cavity 76, so that the second supporting member 50 rises, and then the deflection assembly 100 drives the cleaning assembly 16 to rise from the cleaning position to the ground position.

[0168] The reset member 74 includes but is not limited to elastic members such as tension springs, torsion springs, and springs, and other reset members 74 that can be deformed by external force and can restore the deformation when the external force is removed. The reset member 74 shown in the figure is a tension spring.

[0169] Please combine Figure 3 and Fig.13 In some embodiments, the cleaning device 200 includes a third limiting portion 88, and a fourth limiting portion 90 is provided on the second abutting member 50;

[0170] When the deflection assembly 100 drives the cleaning assembly 16 to be located at the cleaning position, the third limiting portion 88 and the fourth limiting portion 90 are staggered in the lifting direction of the cleaning assembly 16;

[0171] When the deflection assembly 100 drives the cleaning assembly 16 to be located off the ground, the third limiting portion 88 and the fourth limiting portion 90 abut against each other in the circumferential direction of the cleaning assembly 16 .

[0172] In this way, when the third limiting portion 88 abuts against the fourth limiting portion 90 , the cleaning assembly 16 can be kept off the ground, thereby preventing the cleaning assembly 16 from rising and falling back and forth.

[0173] Specifically, the cleaning device 200 further includes a sleeve 92, and a third stopper 88 is convexly disposed on the inner wall of the inner cavity of the sleeve 92. When the cleaning assembly 16 is located in the off-ground position, the second abutting member 50 is partially located in the inner cavity of the sleeve 92, and the third stopper 88 and the fourth stopper 90 abut against each other in the circumferential direction of the cleaning assembly 16. At this time, the first abutting member 48 abuts against the second area 66. The cleaning assembly 16 cannot rotate in the direction close to the third stopper 88, as shown in FIG. Figure 8 Therefore, it is possible to avoid the first abutting member 48 rushing from the second area 66 to the second connecting area 71 between the second area 66 and the first area 64 and then falling on the second area 66 due to inertia when the first abutting member 48 moves from the third area 68 to the second area 66, thereby preventing the cleaning component 16 from falling and then rising. It is also possible to avoid the first abutting member 48 rushing from the second area 66 to the first connecting area 70 between the second area 66 and the third area 68 and then falling on the second area 66 due to inertia when the first abutting member 48 moves from the first area 64 to the second area 66, thereby preventing the cleaning component 16 from falling and then rising. This can make the rising action of the cleaning component 16 more stable.

[0174] When the cleaning assembly 16 is in the cleaning position, the second abutting member 50 extends out of the sleeve 92, and the third limiting portion 88 and the fourth limiting portion 90 are staggered in the lifting direction of the cleaning assembly 16. At this time, the first abutting member 48 abuts against the first area 64 or the third area 68 (at Figure 7 , the first abutting member 48 abuts against the third area 68). Since the third limiting portion 88 and the fourth limiting portion 90 are staggered in the lifting direction of the cleaning assembly 16, the third limiting portion 88 will not block the rotation of the cleaning assembly 16 in the rotation direction of the cleaning assembly 16, and the first abutting member 48 can drive the first transmission member 10 and the second transmission member 12 to rotate through the first limiting portion 60, thereby driving the cleaning assembly 16 to rotate. The staggered arrangement means that in the lifting direction of the deflection assembly 100 and the cleaning assembly 16, the third limiting portion 88 and the fourth limiting portion 90 do not overlap and do not correspond to each other.

[0175] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0176] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A deflection assembly for cleaning equipment, characterized in that: The deflection assembly comprises: a first transmission member, the first transmission member being configured to be connected to the driving member, the first transmission member having a first rotation axis; a second transmission member, the second transmission member being rotatably connected to the first transmission member, the second transmission member being configured to be connected to a cleaning component and drive the cleaning component to rotate; The yaw assembly is configured such that when the first transmission member drives the second transmission member to rotate so that the cleaning member rotates in the first direction and is subjected to a friction torque in the second direction, the yaw assembly and the cleaning member are swung around the first rotation axis to a first position along the second direction; and when the first transmission member drives the second transmission member to rotate so that the cleaning member rotates in the second direction and is subjected to a friction torque in the first direction, the yaw assembly and the cleaning member are swung around the first rotation axis to a second position along the first direction. The first direction is opposite to the second direction.

2. The yaw assembly according to claim 1, characterized in that: The deflection assembly comprises a first housing, and a connection point between the first transmission member and the second transmission member is located in the first housing.

3. The yaw assembly according to claim 2, characterized in that: The deflection assembly includes a first bearing, the first housing is provided with a first through hole, the first bearing is arranged in the first through hole, the first rotation axis passes through the first bearing, and the first bearing is configured to be connected to a transmission assembly, and the transmission assembly is connected to the driving member.

4. The yaw assembly according to claim 2, characterized in that: The deflection assembly includes a second bearing, the first housing is provided with a second through hole, the second bearing is arranged in the second through hole, and the second transmission member is connected to the second bearing.

5. The yaw assembly according to claim 1, characterized in that: The deflection assembly includes a connection structure configured to be detachably connected to the cleaning assembly.

6. The deflection assembly according to claim 5, characterized in that: The second transmission member is provided with a receiving groove, and the connecting structure includes a magnetic member located in the receiving groove.

7. A cleaning device, characterized in that: It comprises a driving component, a cleaning component and the deflection component according to any one of claims 1 to 6, wherein the driving component is connected to the first transmission member, the second transmission member is connected to the cleaning component, and the driving component is configured to drive the first transmission member to drive the second transmission member to rotate.

8. The cleaning device according to claim 7, characterized in that The driving assembly includes a driving member and a transmission assembly, the transmission assembly includes a first abutment member and a second abutment member, the first abutment member is connected to the driving member and the second abutment member, the second abutment member is connected to the deflection assembly, the second abutment member is provided with a track surface, the first abutment member can movably abut on the track surface, the cleaning device includes a second shell, the driving member is configured to drive the first abutment member to rotate so that the first abutment member moves on the track surface, so that the deflection assembly drives the cleaning assembly to rise and fall relative to the second shell.

9. The cleaning device according to claim 8, characterized in that The track surface is respectively provided with a first limiting portion and a second limiting portion. When the first supporting member abuts against the first limiting portion, the first limiting portion is configured to limit the end point of the movement of the first supporting member on the track surface along the first direction. When the first supporting member abuts against the second limiting portion, the second limiting portion is configured to limit the end point of the movement of the first supporting member on the track surface along the second direction.

10. The cleaning device according to claim 9, characterized in that The cleaning component includes a friction member, which is configured to increase the friction torque along the second direction received by the cleaning component when it rotates along the first direction, so that the cleaning component and the deflection component drive the first abutment component to abut against the first limiting portion, and to increase the friction torque along the first direction received by the cleaning component when it rotates along the second direction, so that the cleaning component and the deflection component drive the first abutment component to abut against the second limiting portion.

11. The cleaning device according to claim 9, characterized in that The track surface includes a first area, a second area and a third area. Along the first direction, the first area, the second area and the third area are connected in sequence. When the first abutment member abuts against the first area or the third area, the deflection assembly causes the cleaning assembly to be located in a cleaning position for abutting against the ground. When the first abutment member abuts against the second area, the deflection assembly causes the cleaning assembly to be located in a ground-lift position for detaching from the ground.

12. The cleaning device according to claim 8, characterized in that The cleaning device comprises a mounting member, the deflection assembly comprises a first shell, the first shell is provided with a first through hole, the second abutting member passes through the first through hole, and the mounting member is fixedly connected to the second abutting member and the first shell.

13. The cleaning device according to claim 11, characterized in that The cleaning equipment is configured as follows: When the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the deflection assembly causes the cleaning assembly to descend from the off-the-ground position to the cleaning position and the first abutting member abuts against the first limiting portion; When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the deflection assembly causes the cleaning assembly to rise from the cleaning position to the ground-lifting position and the first abutting member is separated from the first limiting portion and the second limiting portion; When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the deflection assembly causes the cleaning assembly to descend from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion; When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the deflection assembly causes the cleaning assembly to rise from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion.

14. The cleaning device according to claim 13, characterized in that The cleaning equipment is configured as follows: In the process that the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the driving member first drives the first abutting member to rotate along the second direction by a first rotation angle, and then drives the first abutting member to perform at least one reverse rotation action; In the process of the driving member driving the first resisting member to rotate from the first area to the second area along the first direction, the driving member first drives the first resisting member to rotate along the first direction by the first rotation angle, and then drives the first resisting member to perform at least one reverse rotation action; Wherein, the rotation angle of the reverse rotation action is a second rotation angle, and the first rotation angle is greater than the second rotation angle.

15. The cleaning device according to claim 14, characterized in that The rotation angle of the driving member corresponding to the first rotation angle is [85 degrees, 95 degrees].

16. The cleaning device according to claim 11, characterized in that The track surface includes a first connection area and a second connection area, the first connection area connects the third area and the second area, and the second connection area connects the second area and the first area; The first connection area includes a first sub-area and a second sub-area, and along the second direction, the third area is connected to the second area via the second sub-area and the first sub-area in sequence, the second sub-area includes a plurality of first connection segments connected in sequence end to end, and the slope of the first sub-area is greater than the slope of at least one of the plurality of first connection segments; The second connection area includes a third sub-area and a fourth sub-area. Along the first direction, the first area is connected to the second area through the fourth sub-area and the third sub-area in sequence. The fourth sub-area includes a plurality of second connection segments connected end to end in sequence. The slope of the third sub-area is greater than the slope of at least one of the plurality of second connection segments.

17. The cleaning device according to claim 13, characterized in that The transmission assembly includes a reset member; When the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the restoring member is compressed by the second resisting member; When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second abutting member to drive the deflection assembly, so that the cleaning assembly rises from the cleaning position to the ground-lifting position; When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member; When the driving member drives the first supporting member to rotate from the first area to the second area along the first direction, the reset member restores its length and drives the second supporting member to drive the deflection assembly, so that the cleaning assembly rises from the cleaning position to the ground-lift position.

18. The cleaning device according to claim 17, characterized in that The cleaning device comprises a third limiting portion, and the second abutting member is provided with a fourth limiting portion; When the deflection assembly drives the cleaning assembly to be located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the cleaning assembly; When the deflection assembly drives the cleaning assembly to be located at the off-ground position, the third limiting portion and the fourth limiting portion abut against each other in the circumferential direction of the cleaning assembly.

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