Yaw assembly and cleaning device

Abstract

This invention discloses a oscillating assembly and a cleaning device. The oscillating assembly is used in the cleaning device. The oscillating assembly includes a first transmission member and a second transmission member. The first transmission member is configured to connect to a driving member and has a first rotation axis. The second transmission member is rotatably connected to the first transmission member and is configured to connect to and drive the cleaning assembly to rotate. The oscillating assembly is configured such that when the first transmission member drives the second transmission member to rotate, causing the cleaning assembly to rotate in a first direction and subject to a frictional torque in a second direction, the oscillating assembly and the cleaning assembly oscillate around the first rotation axis in the second direction to a first position; when the first transmission member drives the second transmission member to rotate, causing the cleaning assembly to rotate in the second direction and subject to a frictional torque in the first direction, the oscillating assembly and the cleaning assembly oscillate around the first rotation axis in the first direction to a second position, where the first direction is opposite to the second direction.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and in particular to a oscillating component and a cleaning device. Background Technology

[0002] Robotic vacuum cleaners have become increasingly common in households. While popular as a new type of cleaning appliance, they also have certain drawbacks. One common issue is that they sometimes miss cleaning or mopping areas such as walls, corners, and edges of obstacles, leaving gaps. Current technologies typically address this by adding a separate actuator to drive the mop towards these blind spots. However, using an extra actuator increases costs and also increases system complexity, reducing reliability and maintainability. Summary of the Invention

[0003] The present invention provides a oscillation component and a cleaning device to solve at least one of the above-mentioned technical problems.

[0004] An embodiment of the present invention provides a yaw component for use in a cleaning device, the yaw component comprising:

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

[0006] A second transmission member is rotatably connected to the first transmission member, and the second transmission member is configured to connect to the cleaning assembly and drive the cleaning assembly to rotate;

[0007] The oscillation assembly is configured such that when the first transmission member drives the second transmission member to rotate, causing the cleaning assembly to rotate along the first direction and being subjected to a frictional torque along the second direction, the oscillation assembly and the cleaning assembly oscillate along the second direction around the first rotation axis to a first position; when the first transmission member drives the second transmission member to rotate, causing the cleaning assembly to rotate along the second direction and being subjected to a frictional torque along the first direction, the oscillation assembly and the cleaning assembly oscillate along the first direction around the first rotation axis to a second position, wherein the first direction is opposite to the second direction.

[0008] In the aforementioned oscillation assembly, the first transmission component can drive the second transmission component to make the cleaning component rotate in the first direction and in the second direction. When the cleaning component rotates, if the cleaning component is subjected to frictional torques in different directions (such as when the cleaning component rotates and contacts the ground, the cleaning component will be subjected to frictional torques from the ground), the oscillation assembly can swing around the first rotation axis. Thus, the first and second transmission components can be used to drive the oscillation assembly and the cleaning component without the need for additional power actuators, reducing complexity and cost, and improving reliability and maintainability.

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

[0010] In some embodiments, the yaw assembly includes a first bearing, the first housing has a first through hole, the first bearing is disposed in the first through hole, the first rotation axis passes through the first bearing, and the first bearing is configured to connect a transmission assembly, the transmission assembly being connected to the drive member.

[0011] In some embodiments, the yaw assembly includes a second bearing, the first housing has a second through hole, the second bearing is disposed in the second through hole, and the second transmission member is connected to the second bearing.

[0012] In some embodiments, the oscillation 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 connection structure includes a magnetic element located within the receiving groove.

[0014] A cleaning device according to an embodiment of the present invention includes a drive assembly, a cleaning assembly, and a sway assembly as described in any of the above embodiments. The drive assembly is connected to a first transmission member, and the second transmission member is connected to the cleaning assembly. The drive assembly is configured to drive the first transmission member to rotate the second transmission member.

[0015] In the aforementioned cleaning equipment, the first transmission component can drive the second transmission component to make the cleaning component rotate in the first direction and in the second direction. When the cleaning component rotates, if the cleaning component is subjected to frictional torques in different directions (such as when the cleaning component rotates and contacts the ground, the cleaning component will be subjected to frictional torques from the ground), the oscillating component can swing around the first rotation axis. Thus, the first and second transmission components can be used to drive the oscillating component and the cleaning component without the need for additional power actuators, reducing complexity and cost, and improving reliability and maintainability.

[0016] In some embodiments, the drive assembly includes a drive member and a transmission assembly. The transmission assembly includes a first abutment and a second abutment. The first abutment is connected to the drive member and the second abutment, and the second abutment is connected to the oscillation assembly. The second abutment has a track surface, and the first abutment is movably abutted against the track surface. The cleaning device includes a second housing. The drive member is configured to drive the first abutment to rotate, causing the first abutment to move on the track surface, thereby causing the oscillation assembly to lift and lower the cleaning assembly relative to the second housing.

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

[0018] In some embodiments, the trajectory surface includes a first region, a second region, and a third region, which are sequentially connected along the first direction. When the first abutment abuts against the first region or the third region, the swaying component positions the cleaning component in a cleaning position to contact the ground. When the first abutment abuts against the second region, the swaying component positions the cleaning component in a ground-free position to detach it from the ground.

[0019] In some embodiments, the cleaning device includes a mounting member, the oscillation assembly includes a first housing with a first through hole, a second abutment passing through the first through hole, and the mounting member is fixedly connected to the second abutment and the first housing.

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

[0021] When the driving member drives the first abutment to rotate from the second region to the third region along the first direction, the swaying component causes the cleaning component to descend from the ground position to the cleaning position and the first abutment abuts against the first limiting part.

[0022] When the driving member drives the first supporting member to rotate from the third region to the second region along the second direction, the swaying component causes the cleaning component to rise from the cleaning position to the ground-free position and the first supporting member to separate from the first limiting part and the second limiting part;

[0023] When the driving member drives the first supporting member to rotate from the second region to the first region along the second direction, the swaying component causes the cleaning component to descend from the ground position to the cleaning position and the first supporting member abuts against the second limiting part;

[0024] When the driving member drives the first abutment to rotate from the first region to the second region along the first direction, the swaying assembly causes the cleaning assembly to rise from the cleaning position to the off-ground position and the first abutment separates from the second limiting part and the first limiting part.

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

[0026] During the process of the driving member driving the first abutment to rotate from the third region to the second region along the second direction, the driving member first drives the first abutment to rotate along the second direction by a first rotation angle, and then drives the first abutment to perform at least one reverse rotation action.

[0027] During the process of the driving member driving the first abutment to rotate from the first region to the second region along the first direction, the driving member first drives the first abutment to rotate along the first direction by a first rotation angle, and then drives the first abutment to perform at least one reverse rotation action.

[0028] 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.

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

[0030] In some embodiments, the trajectory surface includes a first connecting region and a second connecting region, wherein the first connecting region connects the third region and the second region, and the second connecting region connects the second region and the first region;

[0031] The first connecting region includes a first sub-region and a second sub-region. Along the second direction, the third region connects the second region sequentially through the second sub-region and the first sub-region. The second sub-region includes a plurality of first connecting segments connected end to end. The slope of the first sub-region is greater than the slope of at least one of the plurality of first connecting segments.

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

[0033] In some embodiments, the transmission assembly includes a reset element;

[0034] When the driving member drives the first abutment to rotate from the second region to the third region along the first direction, the reset member is compressed by the second abutment;

[0035] When the driving member drives the first supporting member to rotate from the third region to the second region along the second direction, the reset member restores its length and drives the second supporting member to drive the swing assembly, so that the cleaning assembly rises from the cleaning position to the ground-free position;

[0036] When the driving member drives the first abutment to rotate from the second region to the first region along the second direction, the reset member is compressed by the second abutment;

[0037] When the driving member drives the first supporting member to rotate from the first region to the second region along the first direction, the reset member restores its length and drives the second supporting member to drive the oscillating component, so that the cleaning component rises from the cleaning position to the ground position.

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

[0039] When the swaying component moves the cleaning component to the cleaning position, the third limiting part and the fourth limiting part are offset from each other in the lifting direction of the cleaning component;

[0040] When the swaying component moves the cleaning component to the above-ground position, the third limiting part and the fourth limiting part abut against the cleaning component in the circumferential direction.

[0041] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

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

[0044] Figure 2 yes Figure 1 Cross-sectional view of line AA in the middle;

[0045] Figure 3 yes Figure 2 Enlarged view of section B;

[0046] Figure 4 This is a partial exploded view of the cleaning equipment according to an embodiment of the present invention;

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

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

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

[0050] Figure 8 This is a partial structural schematic diagram of the cleaning equipment according to an embodiment of the present invention;

[0051] Figure 9 This is a schematic diagram of the structure of the second supporting member according to an embodiment of the present invention;

[0052] Figure 10 This is another structural schematic diagram of the second supporting member according to an embodiment of the present invention;

[0053] Figure 11 This is a schematic diagram of the structure in which the third limiting part and the fourth limiting part abut against each other according to an embodiment of the present invention;

[0054] Figure 12 This is a schematic diagram showing the unfolded ring portion according to an embodiment of the present invention;

[0055] Figure 13 This is a schematic diagram of the trajectory of the first supporting member rotating from the third region to the second region according to an embodiment of the present invention;

[0056] Figure 14 This is another schematic diagram of the trajectory of the first supporting member rotating from the third region to the second region according to an embodiment of the present invention.

[0057] Figure label:

[0058] 100. Oscillating assembly; 10. First transmission component; 12. Second transmission component; 14. Drive component; 16. Cleaning assembly; 18. First stop component; 20. Second stop component; 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 component; 38. Magnetic component; 39. Metal component; 40. Drive assembly; 42. Second housing; 44. Mounting plate; 46. Groove; 48. First stop component; 50. Second stop component; 52. Ring portion; 54. Track surface; 56. Push rod; 58. 60. Gear set; 62. First limiting part; 63. Second limiting part; 64. First area; 65. Second area; 66. Third area; 77. First connecting area; 78. Second connecting area; 79. Mounting part; 70. Resetting part; 71. Receiving cavity; 72. Mounting part; 83. Connecting part; 84. Fixing part; 85. Rotating shaft; 86. Positioning part; 87. Third limiting part; 98. Fourth limiting part; 99. Sleeve; 90. First sub-area; 91. Second sub-area; 92. First connecting section; 103. Third sub-area; 104. Fourth sub-area; 105. Second connecting section; 200. Cleaning equipment. Detailed Implementation

[0059] 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 denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0060] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0062] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0063] This disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described herein. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0064] Please refer to Figures 1 to 8An oscillating assembly 100 according to an embodiment of the present invention is used in a cleaning device 200. The oscillating 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 drive member 14 and has a first rotation axis. The second transmission member 12 is rotatably connected to the first transmission member 10 and is configured to connect to a cleaning assembly 16 and drive the cleaning assembly 16 to rotate. The oscillating assembly 100 is configured such that when the first transmission member 10 drives the second transmission member 12 to rotate, causing the cleaning assembly 16 to rotate in a first direction and receiving a frictional torque in a second direction, the oscillating assembly 100 and the cleaning assembly 16 oscillate in the second direction around the first rotation axis to a first position; when the first transmission member 10 drives the second transmission member 12 to rotate, causing the cleaning assembly 16 to rotate in the second direction and receiving a frictional torque in the first direction, the oscillating assembly 100 and the cleaning assembly 16 oscillate in the first direction around the first rotation axis to a second position, where the first direction is opposite to the second direction.

[0065] In the aforementioned oscillation 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, if the cleaning assembly 16 is subjected to frictional torques in different directions (such as when the cleaning assembly 16 rotates and contacts the ground, the cleaning assembly 16 will be subjected to frictional torques from the ground), the oscillation assembly 100 can swing around the first rotation axis. Thus, the first transmission member 10 and the second transmission member 12 can be used to drive the oscillation assembly 100 and the cleaning assembly 16 without the need for additional power actuators, reducing complexity and cost, and improving reliability and maintainability.

[0066] Specifically, the first transmission component 10 may include a belt, and the second transmission component 12 may include a timing pulley. The connection between the first transmission component 10 and the second transmission component 12 can be a rotational connection between the belt and the timing pulley. Figure 3 In the cleaning device 200, along the height direction H, the drive member 14 is positioned above the first transmission member 10 and the second transmission member 12. The first transmission member 10 and the second transmission member 12 can be positioned above the cleaning assembly 16. A mop can be provided below the cleaning assembly 16, and the mop can adhere to the ground and clean the floor. The first transmission member 10 is a belt, and the first transmission member 10 can have two rotation axes, namely a first rotation axis O1 and a second rotation axis O2, as shown below. Figure 3As shown. The second transmission member 12 can rotate about the second rotation axis O2. The height direction of the cleaning device 200 includes the vertical 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 gear-to-gear rotational connection. It should be noted that the first transmission member 10 can drive the second transmission member 12 to rotate by rotation or translation. The first transmission member 10 driving the second transmission member 12 to rotate by translation can refer to the reciprocating motion of the connecting rod driving the synchronous pulley to rotate.

[0067] Optionally, in Figure 5 In the cleaning device 200, a first stop 18 and a second stop 20 are provided. The first stop 18 and the second stop 20 can be located at the bottom of the cleaning device 200 near the ground. When the oscillating component 100 swings to the first position, the oscillating component 100 abuts against the first stop 18. When the oscillating component 100 abuts against the second position, the oscillating component 100 abuts against the second stop 20.

[0068] In one embodiment, the driving member 14 can drive the first transmission member 10 to rotate, and the first transmission member 10 can drive the second transmission member 12 to rotate. The rotation of the second transmission member 12 can cause the cleaning component 16 to be subjected to a frictional torque in the second direction when rotating in the first direction, thereby causing the oscillating component 100 and the cleaning component 16 to swing in the second direction around the first rotation axis O1 to a first position, at which time the oscillating component 100 abuts against the first stop member 18. In another embodiment, the driving member 14 can drive the first transmission member 10 to rotate, and the first transmission member 10 can drive the second transmission member 12 to rotate. The rotation of the second transmission member 12 can cause the cleaning component 16 to be subjected to a frictional torque in the first direction when rotating in the second direction, thereby causing the oscillating component 100 and the cleaning component 16 to swing in the first direction around the first rotation axis O1 to a second position, at which time the oscillating component 100 abuts against the second stop member 20. In other words, 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 frictional torque in different directions (such as when the cleaning component 16 rotates and contacts the ground, the cleaning component 16 will be subjected to the frictional torque of the ground reaction), the yaw component 100 can swing around the first rotation axis O1. Thus, the first transmission member 10 and the second transmission member 12 can be used to drive the yaw component 100 and the cleaning component 16 without the need to add an additional power actuator, reducing complexity and cost, and improving reliability and maintainability.

[0069] Optionally, the first direction R1 can be clockwise, or the forward rotation direction of the drive member 14. The second direction R2 can be counterclockwise, or the reverse rotation direction of the drive member 14, such as... Figure 9 and Figure 10As shown. When the sway component 100 is in the first position, the cleaning component 16 can be in the outward sway position. When the sway component 100 is in the second position, the cleaning component 16 can be in the inward retraction position. It is understood that the description of the first direction, the second direction, the first position, and the second position in this invention is not limited to the above description. The driving component 14 may include a motor, a cylinder, etc. The cleaning component 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 the 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 component 10 and the second transmission component 12 can be protected, preventing foreign objects from entering and affecting the transmission effect.

[0072] Specifically, the first transmission member 10 can be disposed within the first housing 22, and the connection between the first transmission member 10 and the second transmission member 12 can be disposed within the housing. In one embodiment, the first transmission member 10 is rotatably connected to the second transmission member 12. By disposing of the connection between the first transmission member 10 and the second transmission member 12 within the first housing 22, it is possible to prevent debris from falling directly onto the connection between the first transmission member 10 and the second transmission member 12, and to prevent debris from falling onto the first transmission member 10 and being carried 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, a first housing 22 is provided with a first through hole 26, the first bearing 24 is disposed in the first through hole 26, a first rotation axis O1 passes through the first bearing 24, and the first bearing 24 is configured to connect to a transmission assembly 28, the transmission assembly 28 being connected to a drive member 14.

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

[0075] Specifically, in Figure 3 In the middle, 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), which are rotatably connected. 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, which can drive the second rotating member to rotate via the first transmission member 10, thereby causing the cleaning assembly 16 to rotate in a first direction and in a second direction. When the cleaning assembly 16 rotates, if the cleaning assembly 16 is subjected to frictional torques in different directions, the oscillating assembly 100 can oscillate around the first rotation axis O1 via 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 has 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] Thus, the second transmission component 12 rotates on the yaw assembly 100 via 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] Furthermore, the second bearing 30 includes a second inner ring (not shown) and a second outer ring (not shown), which are rotatably connected. 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 rotates on the yaw assembly 100 via the second bearing 30, thereby driving the cleaning assembly 16 to rotate.

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

[0082] Thus, the connecting mechanism can be detachably connected to the cleaning component 16, which facilitates installation and replacement and improves practicality.

[0083] Specifically, the connecting structure 34 can be fixedly connected to the second transmission component 12, and the cleaning component 16 can be detachably connected to the second transmission component 12. When the cleaning component 16 needs to be inspected or replaced, it can be quickly installed and disassembled, improving work efficiency. The connecting structure 34 includes, but is not limited to, bolts, magnets, and clips.

[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] Thus, the cleaning component 16 can be connected via the magnetic component 38, thereby fixing the cleaning component 16 to the second transmission component 12.

[0086] Specifically, in Figure 3 In this embodiment, the end face of the second transmission member 12 near the bottom surface may have a receiving groove 36, and the magnetic member 38 may be disposed on the side wall of the receiving groove 36. The cleaning component 16 is provided with a connector 37 and a metal member 39. The metal member 39 is disposed on the top of the connector 37, and the connector 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 connector 37 can be inserted into the receiving groove 36, so that the magnetic member 38 is connected to the metal member 39, thereby fixing the cleaning component 16 to the second transmission member 12. The material of the metal member 39 may be a metal such as iron, nickel, or cobalt.

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

[0088] In the aforementioned 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, if the cleaning component 16 is subjected to frictional torques in different directions (such as when the cleaning component 16 rotates and contacts the ground, the cleaning component 16 will be subjected to frictional torques from the ground), the oscillating component 100 can swing around the first rotation axis. Thus, the first transmission member 10 and the second transmission member 12 can be used to drive the oscillating component 100 and the cleaning component 16 without the need to add an additional power actuator, reducing complexity and cost, and improving reliability and maintainability.

[0089] Specifically, the cleaning equipment 200 includes, but is not limited to, robotic vacuum cleaners, sweeping and mopping robots, dual-disc sweeping robots, and floor scrubbers (such as handheld floor scrubbers). The drive assembly 40 includes a drive component 14 and a transmission assembly 28. The transmission assembly 28 can connect the drive component 14 and the first transmission component 10. The drive component 14 can drive the first transmission component 10 to rotate the second rotating component through the transmission assembly 28, thereby causing the cleaning assembly 16 to rotate along the first direction and the second direction. Thus, when the cleaning assembly 16 rotates, if the cleaning assembly 16 is subjected to frictional 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 frictional torque of the ground reaction), the oscillating component 100 can oscillate around the first rotation axis O1. Thus, the first transmission component 10 and the second transmission component 12 can be used to drive the oscillating component 100 and the cleaning assembly 16 without the need for additional power actuators, reducing complexity and 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 within the second housing 42.

[0091] This protects the drive component 40 from being exposed to the external environment, ensuring its safe operation.

[0092] Specifically, the second housing 42 may be circular. The drive assembly 40 may be disposed within the second housing 42. In one embodiment, disposing of the drive assembly 40 within the housing prevents the drive assembly 40 from being exposed to the external environment, thus preventing external interference from affecting the drive assembly 40 and ensuring the normal operation of the cleaning equipment 200.

[0093] Optionally, the second housing 42 includes a mounting plate 44. The yaw assembly 100 may be disposed at the bottom of the mounting plate 44. Optionally, a recess 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 yaw assembly 100 may be accommodated in the recess 46. When the cleaning device 200 is started, the drive assembly 40 lowers the yaw assembly 100, causing the yaw assembly 100 to be located outside the recess 46.

[0094] Please combine Figures 1 to 10In some embodiments, the drive assembly 40 includes a drive 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 drive member 14 and the second abutment 50. The second abutment 50 is connected to the sway assembly 100. The second abutment 50 is provided with a track surface 54. The first abutment 48 is movably abutted against the track surface 54. The drive 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 sway assembly 100 drives the cleaning assembly 16 to rise and fall relative to the second housing 42.

[0095] Thus, the structure of the transmission assembly 28 enables the drive component 14 to drive the yaw assembly 100 to move the cleaning assembly 16 up and down relative to the second housing 42.

[0096] Specifically, in certain application scenarios, such as carpet cleaning, obstacle crossing, rewashing, and drying, the cleaning device 200 may not need to perform mopping operations. If the cleaning component 16 is still in the sweeping position, it will be flush with the ground. With the cleaning component 16 flush with the ground, moving the cleaning device 200 will create some resistance. Moreover, when the cleaning device 200 is crossing obstacles, the flush surface of the cleaning component 16 will increase the difficulty of obstacle crossing.

[0097] Therefore, the cooperation between the first abutment 48 and the second abutment 50 allows the oscillating assembly 100 to move the cleaning assembly 16 up and down relative to the mounting plate 44. When the cleaning assembly 16 does not need to be on the ground, it can be raised; when it needs to be on the ground, it can be lowered. In other words, the oscillating assembly 100 can move the cleaning assembly 16 to either a cleaning position (contacting the ground) or a position (detached from the ground).

[0098] Optionally, in Figure 9 In this invention, the second abutment 50 includes a ring 52, the top surface of which has two trajectory surfaces 54. The first abutment 48 includes two push rods 56, each push rod 56 located above a corresponding trajectory surface 54, and the two push rods 56 abut against the two trajectory surfaces 54 respectively. The trajectory surfaces 54 have high and low regions. When the push rod 56 abuts against the high region, the oscillating assembly 100 drives the cleaning assembly 16 to a cleaning position; when the push rod 56 abuts against the low region, the oscillating assembly 100 drives the cleaning assembly 16 to a position off the ground. It can be understood that if the push rod 56 and the trajectory surface 54 interchange their positions, when the push rod 56 abuts against the high region, the oscillating assembly 100 drives the cleaning assembly 16 to a position off the ground; when the push rod 56 abuts against the low region, the oscillating assembly 100 drives the cleaning assembly 16 to a cleaning position. It should be noted that this invention does not specifically limit the number and relative positional relationship of the trajectory surfaces 54 and the push rods 56. Figure 9In this embodiment, the first abutment 48 moves by sliding on the track surface 54. It is understood that in other embodiments, a roller can be added to the end of the push rod 56, and the roller contacts the track surface 54, in which case the first abutment 48 moves by rolling on the track surface 54. It is understood that the number of track surfaces 54 is not limited to two; it can be one or more, and the present invention does not specifically limit this.

[0099] Optionally, the transmission assembly 28 includes a gear set 58, which includes at least one gear. The gear set 58 connects the drive member 14 and the first abutment member 48, transmitting power from the drive member 14 to the first abutment member 48. This allows the drive member 14 to drive the first abutment member 48 to move to different areas on the track surface 54, thereby causing the yaw assembly 100 to adjust the height of the cleaning assembly 16. The gear set 58 may be a reduction gear set 58.

[0100] Please combine Figures 8 to 10 In some embodiments, a first limiting part 60 and a second limiting part 62 are respectively provided on the track surface 54. When the first abutting member 48 abuts against the first limiting part 60, the first limiting part 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. When the first abutting member 48 abuts against the second limiting part 62, the second limiting part 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.

[0101] Thus, by means of two limiting parts, when the first abutting member 48 comes into contact with the limiting part, the first abutting member 48 stops moving on the track surface 54.

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

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

[0104] Therefore, before the first abutment member 48 comes into contact with the first limiting part 60 or the second limiting part 62, the first abutment member 48 can move to different areas on the track surface 54 when it rotates, and the cleaning component 16 can be raised and lowered by the swing assembly 100. When the first abutment member 48 comes into contact with the first limiting part 60 or the second limiting part 62, the first abutment member 48 can rotate to drive the second abutment member 50 to rotate, and then the cleaning component 16 can be rotated by the first transmission member 10 and the second transmission member 12.

[0105] It should be noted that when the first abutment 48 rotates in the R1 direction, the first abutment 48 moves in 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 part 60 through the swing component 100 and the second abutment 50.

[0106] In some embodiments, the cleaning assembly 16 includes a friction element (not shown) configured to increase the frictional torque received by the cleaning assembly 16 in the second direction when it rotates in the first direction, causing the cleaning assembly 16 and the yaw assembly 100 to drive the first abutment 48 to abut against the first limiting portion 60, and to increase the frictional torque received by the cleaning assembly 16 in the first direction when it rotates in the second direction, causing the cleaning assembly 16 and the yaw assembly 100 to drive the first abutment 48 to abut against the second limiting portion 62.

[0107] This increases the friction between the cleaning component 16 and the ground, allowing the first abutment 48 to abut against the first limiting part 60 or against the second limiting part 62.

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

[0109] Similarly, when the cleaning component 16 rotates in the second direction, the friction element makes the friction between the cleaning component 16 and the ground greater than the friction between the push rod 56 and the track surface 54, thereby causing the cleaning component 16 to drive the push rod 56 to abut against the second limiting part 62 through the yaw component 100 and the second abutting member 50.

[0110] Please combine Figures 8 to 10In some embodiments, the trajectory surface 54 includes a first region 64, a second region 66, and a third region 68, which are connected sequentially along a first direction. When the first abutment 48 abuts against the first region 64 or the third region 68, the sway assembly 100 positions the cleaning assembly 16 in a cleaning position to contact the ground. When the first abutment 48 abuts against the second region 66, the sway assembly 100 positions the cleaning assembly 16 in a ground-free position to detach it from the ground.

[0111] In this way, the yaw component 100 drives the cleaning component 16 to switch between the ground-lift position and the cleaning position through the three areas of the trajectory surface 54.

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

[0113] Two adjacent areas can be connected via a first connecting area 70 and a second connecting area 71, respectively. The first abutment 48 can move from one area to another via the first connecting area 70 and the second connecting area 71. Figure 8 In this configuration, the first region 64 and the third region 68 are positioned higher than the second region 66. The first abutment 48 is located above the trajectory surface 54. When the first abutment 48 abuts against the first region 64 or the third region 68, the distance between the first abutment 48 and the cleaning component 16 is greater, and the cleaning component 16 is in a cleaning position. When the first abutment 48 abuts against the second region 66, the distance between the first abutment 48 and the cleaning component 16 is less, and the cleaning component 16 is in a position above the ground.

[0114] exist Figure 9 and Figure 10 In this configuration, the first region 64, the second region 66, and the third region 68 are planar surfaces. Further, the first region 64, the second region 66, and the third region 68 can also be inclined surfaces. In one embodiment, when the first region 64, the second region 66, and the third region 68 are inclined surfaces, when the frictional force of the first abutment member 48 against the first region 64, the second region 66, and the third region 68 is sufficiently large, the first abutment member 48 can remain on the first region 64, the second region 66, and the third region 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 along the first direction from the first area 64 to the second area 66, the cleaning component 16 switches from the cleaning position to the off-ground position. When the first abutment 48 moves along the first direction from the second area 66 to the third area 68, the cleaning component 16 switches from the off-ground position to the cleaning position.

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

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

[0119] In this way, the oscillation assembly 100 can be fixed to the second support member 50 by the mounting member 72, so as to prevent the oscillation assembly 100 from falling off during the oscillation process.

[0120] Specifically, in Figure 3 In this embodiment, the cross-section of the mounting member 72 may resemble an inverted T-shape. The mounting member 72 may include a fixing plug, a fixing screw, etc. In one embodiment, the second abutment 50 may pass through the first through hole 26, and the bottom of the second abutment 50 is substantially flush with the bottom of the first housing 22. The mounting member 72 can fix the second abutment 50 and the first housing 22. One end of the mounting member 72 can be inserted into the second abutment 50, thereby fixing the oscillation assembly 100 to the second abutment 50 and preventing the oscillation assembly 100 from falling off during oscillation.

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

[0122] When the drive member 14 drives the first abutment member 48 to rotate from the second region 66 to the third region 68 along the first direction, the yaw assembly 100 causes the cleaning assembly 16 to descend from the ground position to the cleaning position and the first abutment member 48 abuts against the first limiting part 60.

[0123] When the drive member 14 drives the first support member 48 to rotate from the third region 68 to the second region 66 along the second direction, the yaw assembly 100 causes the cleaning assembly 16 to rise from the cleaning position to the ground position and the first support member 48 to separate from the first limiting part 60 and the second limiting part 62.

[0124] When the drive member 14 drives the first support member 48 to rotate from the second region 66 to the first region 64 along the second direction, the yaw assembly 100 causes the cleaning assembly 16 to descend from the ground position to the cleaning position and the first support member 48 abuts against the second limiting part 62.

[0125] When the drive member 14 drives the first support member 48 to rotate from the first region 64 to the second region 66 along the first direction, the yaw assembly 100 causes the cleaning assembly 16 to rise from the cleaning position to the ground position and the first support member 48 to separate from the second limiting part 62 and the first limiting part 60.

[0126] In this way, the rotation direction of the first abutment 48 can be driven by the drive component 14 to make the first abutment 48 abut against different areas of the track surface 54, thereby driving the oscillation component 100 to control the lifting and lowering of the cleaning component 16.

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

[0128] When the drive member 14 drives the first abutment member 48 to rotate along the first direction from the second region 66 to the third region 68, the yaw assembly 100 can drive the cleaning assembly 16 to descend from the ground position to the cleaning position, and the first abutment member 48 abuts against the first limiting part 60. At this time, the continuous drive of the drive member 14 can cause the first abutment member 48 to drive the second abutment member 50 to rotate along the first direction through the first limiting part 60, which in turn can drive the first transmission member 10 to drive the cleaning assembly 16 to rotate along the first direction.

[0129] When the cleaning component 16, which rotates in the first direction, comes into contact with the ground or other fixed object, the ground or other fixed object generates a frictional torque on the cleaning component 16 in the second direction. If the yaw component 100 is in the first position, the yaw component 100 will not oscillate and will remain in the first position. If the yaw component 100 is in the second position, under the action of the frictional torque in the second direction, the yaw component 100 will oscillate from the second position to the first position in the second direction.

[0130] When the drive member 14 drives the first abutment member 48 to rotate along the second direction from the third region 68 to the second region 66, the yaw assembly 100 can drive the cleaning assembly 16 to rise from the cleaning position to the off-ground position, and the first abutment member 48 separates from the first limiting part 60 and the second limiting part 62. At this time, the first abutment member 48 cannot drive the first transmission member 10 and the cleaning assembly 16 to rotate through the second abutment member 50, and the cleaning assembly 16 does not rotate and is located in the off-ground position.

[0131] When the drive member 14 drives the first abutment member 48 to rotate along the second direction from the second region 66 to the first region 64, the yaw assembly 100 can drive the cleaning assembly 16 to descend from the ground position to the cleaning position, and the first abutment member 48 abuts against the second limiting part 62. At this time, the continuous drive of the drive member 14 can cause the first abutment member 48 to drive the second abutment member 50 to rotate along the second direction through the second limiting part 62, which in turn can drive the first transmission member 10 to drive the cleaning assembly 16 to rotate along the second direction.

[0132] When the cleaning component 16, rotating in the second direction, comes into contact with the ground or other fixed object, the ground or other fixed object generates a frictional torque on the cleaning component 16 in the first direction. If the yaw component 100 is in the first position, under the action of the frictional torque in the first direction, the yaw component 100 swings from the first position to the second position in the first direction. If the yaw component 100 is in the second position, the yaw component 100 will not swing and will remain in the second position.

[0133] When the drive member 14 drives the first abutment member 48 to rotate along the first direction from the first region 64 to the second region 66, the yaw assembly 100 can drive the cleaning assembly 16 to rise from the cleaning position to the ground position, and the first abutment member 48 separates from the second limiting part 62 and the first limiting part 60. At this time, the first abutment member 48 cannot drive the first transmission member 10 and the cleaning assembly 16 to rotate through the second abutment member 50, and the cleaning assembly 16 does not rotate and is located in the ground position.

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

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

[0136] During the process of the driving member 14 driving the first abutment member 48 to rotate from the third region 68 to the second region 66 along the second direction, the driving member 14 first drives the first abutment member 48 to rotate along the second direction by a first rotation angle, and then drives the first abutment member 48 to perform at least one reverse rotation action.

[0137] During the process of the driving member 14 driving the first abutment member 48 to rotate along the first direction from the first region 64 to the second region 66, the driving member 14 first drives the first abutment member 48 to rotate along the first direction by a first rotation angle, and then drives the first abutment member 48 to perform at least one reverse rotation action. 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.

[0138] In this way, the first abutment 48 can be kept in the second area 66, thereby allowing the cleaning component 16 to be in a position off the ground.

[0139] Specifically, in this design, the rotation direction of the driving member 14 is opposite to the rotation direction of the first abutment member 48. The driving member 14 rotates by a corresponding rotation angle, thereby driving the first abutment 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 Figures 12 to 14 During the process of the drive member 14 driving the first abutment member 48 to rotate along the second direction from the third region 68 to the second region 66, the drive member 14 first drives the first abutment member 48 to rotate along the second direction by a first rotation angle. Due to inertia, the first abutment member 48 can move from the second region 66 to the second connecting region 71. At this time, the drive member 14 then drives the first abutment member 48 to perform at least one reverse rotation action. 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. Thus, it is ensured that the first abutment member 48 can rotate to the second region 66, thereby preventing the cleaning component 16 from descending to the cleaning position, keeping the first abutment member 48 in the second region 66, and keeping the cleaning component 16 in a position off the ground.

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

[0142] It is understood that the driving component 14 can not only drive the first supporting component 48 to perform one or two reverse rotation actions, but also drive the first supporting component 48 to perform three, four, or other reverse rotation actions, without specific limitations here. Figure 13 and Figure 14 This indicates a change in the rotation direction of the first abutment member 48, and does not represent the actual movement trajectory of the first abutment member 48.

[0143] Similarly, it can be understood from the above that during the process of the driving member 14 driving the first supporting member 48 to rotate from the first region 64 to the second region 66 along the first direction, the following understanding can be obtained.

[0144] During the process of the drive member 14 driving the first abutment member 48 to rotate from the first region 64 to the second region 66 along the first direction, the drive member 14 first drives the first abutment member 48 to rotate along the first direction by a first preset angle. Due to inertia, the first abutment member 48 can move from the second region 66 to the first connecting region 70. At this time, the drive member 14 then drives the first abutment member 48 to rotate along the second direction by a second preset angle. The first abutment member 48 can rotate from the first connecting region 70 to the second region 66. However, due to inertia, the first abutment member 48 can move from the second region 66 to the second connecting region 71. At this time, the drive member 48 then drives the first abutment member 48 to rotate along the first direction by a third preset angle. Since the first preset angle is greater than the second preset angle, and the second preset angle is greater than the third preset angle, it is ensured that the first abutment member 48 can rotate to the second region 66, thereby preventing the cleaning component 16 from descending to the cleaning position and keeping the first abutment member 48 in the second region 66, so that the cleaning component 16 is in a position above the ground.

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

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

[0147] Specifically, the driving component 14 may include a motor. Taking the first supporting member 48 rotating from the third region 68 to the second region 66 as an example, assuming that when the first supporting member 48 is located in the third region, 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 component 14 and the first supporting member 48, the rotation angle of the driving component may not be consistent with the rotation angle of the first supporting member. It is understood that in other embodiments, the rotation angle of the driving component may also be the same as the rotation angle of the first supporting member, and the present invention does not specifically limit this.

[0148] In one embodiment, when the first abutment 48 abuts against the third region 68, the rotation angle of the drive member 14 can be set to 0 degrees. When the drive member 14 rotates between 85 and 95 degrees in the second direction, it can drive the first abutment 48 to rotate between the second direction by a first preset angle, thereby causing the first abutment 48 to rotate from the third region 68 to the second region 66. In one embodiment, when the first abutment 48 abuts against the first region 64, the rotation angle of the drive member 14 can be set to 0 degrees. When the drive member 14 rotates between 85 and 95 degrees in the first direction, it can drive the first abutment 48 to rotate between the first direction by a first preset angle, thereby causing the first abutment 48 to rotate from the first region 64 to the second region 66.

[0149] The rotation angle of the drive component 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 and 95 degrees. The rotation angle of the mop or drive component 14 can be detected by an angle detection device such as an encoder.

[0150] Please combine Figure 9 , Figure 10 and Figure 12 In some embodiments, the trajectory surface 54 includes a first connecting region 70 and a second connecting region 71, the first connecting region 70 connecting the third region 68 and the second region 66, and the second connecting region 71 connecting the second region 66 and the first region 64.

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

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

[0153] Thus, during the process of the first abutment 48 rotating to the second region 66, the first sub-region 94 and the third sub-region 102 can further ensure that the first abutment 48 is in the second region 66, and ensure that the cleaning component 16 is in the off-ground position.

[0154] Specifically, in Figure 12During the process of the first abutment 48 rotating from the third region 68 to the second region 66, the first abutment 48 can rotate onto a plurality of first connecting segments 98, and then rotate through the plurality of first connecting segments 98 to the first sub-region 94. The slope of the first sub-region 94 is greater than the slope of at least one of the plurality of first connecting segments 98, making it easy for the first abutment 48 to rotate to the second region 66, thereby ensuring that the first abutment 48 is in the second region 66 and ensuring that the cleaning component 16 is in the off-ground position.

[0155] During the process of the first abutment 48 rotating from the first region 64 to the second region 66, the first abutment 48 can rotate onto a plurality of second connecting segments 106, and then rotate through the plurality of second connecting segments 106 to the third sub-region 102. The slope of the third sub-region 102 is greater than the slope of at least one of the plurality of second connecting segments 106, making it easy for the first abutment 48 to rotate to the second region 66, thereby ensuring that the first abutment 48 is in the second region 66 and ensuring that the cleaning component 16 is in the off-ground position.

[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, or the slope of other numbers 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, or the slope of other numbers of second connecting segments 106, or the slope of all second connecting segments 106.

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

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

[0159] When the driving member 14 drives the first supporting member 48 to rotate from the third region 68 to the second region 66 along the second direction, the reset member 74 restores its length and drives the second supporting member 50 to drive the swaying assembly 100, so that the cleaning assembly 16 rises from the cleaning position to the ground position.

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

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

[0162] Thus, by compressing the reset member 74, when the reset member 74 extends, it can drive the oscillating component 100 to drive the cleaning component 16 to rise, resulting in a simple structure.

[0163] Specifically, please refer to Figure 3 The second abutment 50 has a receiving cavity 76, and the reset member 74 is located within the receiving cavity 76. In one embodiment, the second abutment 50 includes a mounting portion 78 located within the space enclosed by the ring portion 52. The second abutment 50 also includes a connecting portion 80, which is fixedly connected to the ring portion 52 and the mounting portion 78, and 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. The mounting portion 78 has a receiving cavity 76, and the receiving cavity 76 has a fixing member 82, which may include screws. The transmission assembly 28 includes a rotating shaft 84, which can be connected to a gear set 58, and the gear set 58 drives the rotating shaft 84 to rotate. The rotating shaft 84 passes through the first abutment 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 abutment 48, and rotation of the rotating shaft 84 can drive the first abutment 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, the upper side wall of the accommodating cavity 76 is provided with a positioning part 86, and the reset member 74 is sleeved on the positioning part 86 to make the reset member 74 more stable during compression and elongation.

[0164] When the drive member 14 drives the first abutment member 48 to rotate from the second region 66 to the third region 68 along the first direction, the second abutment member 50 descends, causing the yaw assembly 100 to drive the cleaning assembly 16 from the ground position to the cleaning position. The reset member 74 is compressed by the upper sidewall of the receiving cavity 76, making the reset member 74 shorter.

[0165] When the drive member 14 drives the first abutment member 48 to rotate from the third region 68 to the second region 66 in the second direction, the reset member 74 restores its length. The extended reset member 74 provides an upward force to the upper side wall of the accommodating cavity 76, causing the second abutment member 50 to rise, thereby causing the sway assembly 100 to drive the cleaning assembly 16 to rise from the cleaning position to the ground position.

[0166] When the drive member 14 drives the first abutment member 48 to rotate from the second region 66 to the first region 64 in the second direction, the second abutment member 50 descends, and the yaw assembly 100 drives the cleaning assembly 16 to descend from the ground position to the cleaning position. The reset member 74 is compressed by the upper sidewall of the receiving cavity 76, making the reset member 74 shorter.

[0167] When the drive member 14 drives the first abutment member 48 to rotate from the first region 64 to the second region 66 in the first direction, the reset member 74 restores its length. The extended reset member 74 provides an upward force to the upper sidewall of the accommodating cavity 76, causing the second abutment member 50 to rise, thereby causing the sway assembly 100 to drive the cleaning assembly 16 to rise from the cleaning position to the ground position.

[0168] The reset element 74 includes, but is not limited to, elastic elements such as tension springs, torsion springs, and spring sheets, as well as other reset elements 74 that can deform under external force and recover their deformation when the external force is removed. The reset element 74 shown in the figure is a tension spring.

[0169] Please combine Figure 3 and Figure 13 In some embodiments, the cleaning device 200 includes a third limiting part 88, and the second supporting member 50 is provided with a fourth limiting part 90;

[0170] When the yaw assembly 100 drives the cleaning assembly 16 to the cleaning position, the third limit part 88 and the fourth limit part 90 are offset in the lifting direction of the cleaning assembly 16.

[0171] When the yaw component 100 drives the cleaning component 16 to a position above the ground, the third limiting part 88 and the fourth limiting part 90 abut against each other in the circumferential direction of the cleaning component 16.

[0172] In this way, when the third limiting part 88 and the fourth limiting part 90 come into contact, the cleaning component 16 can be kept in the position above the ground, avoiding the phenomenon of the cleaning component 16 rising and falling back and forth.

[0173] Specifically, the cleaning device 200 also includes a sleeve 92, on the inner wall of which a third limiting portion 88 protrudes. When the cleaning assembly 16 is in the off-ground position, the second abutment 50 is partially located within the inner cavity of the sleeve 92, and the third limiting portion 88 and the fourth limiting portion 90 abut against each other in the circumferential direction of the cleaning assembly 16. At this time, the first abutment 48 abuts against the second region 66. The cleaning assembly 16 cannot rotate in the direction close to the third limiting portion 88, such as... Figure 8 The direction is clockwise as shown. Therefore, it can be avoided that when the first abutment 48 moves from the third region 68 to the second region 66, due to inertia, the first abutment 48 will rush from the second region 66 onto the second connecting region 71 between the second region 66 and the first region 64 and then fall back onto the second region 66, causing the cleaning component 16 to descend and then rise again. Alternatively, it can be avoided that when the first abutment 48 moves from the first region 64 to the second region 66, due to inertia, the first abutment 48 will rush from the second region 66 onto the first connecting region 70 between the second region 66 and the third region 68 and then fall back onto the second region 66, causing the cleaning component 16 to descend and then rise again. This makes the rising action of the cleaning component 16 more stable.

[0174] When the cleaning assembly 16 is in the cleaning position, the second abutment 50 extends out of the sleeve 92, and the third limiting part 88 and the fourth limiting part 90 are offset from each other in the lifting direction of the cleaning assembly 16. At this time, the first abutment 48 abuts against the first region 64 or the third region 68 (in Figure 7 In the first region 68, the first abutting member 48 abuts against the third region 68. Because the third limiting part 88 and the fourth limiting part 90 are offset in the lifting direction of the cleaning component 16, the third limiting part 88 does not obstruct the rotation of the cleaning component 16 in the rotation direction. The first abutting member 48 can drive the first transmission member 10 and the second transmission member 12 to rotate via the first limiting part 60, thereby driving the cleaning component 16 to rotate. The offset arrangement means that the third limiting part 88 and the fourth limiting part 90 do not overlap and do not correspond to each other in the lifting direction of the oscillating component 100 and the cleaning component 16.

[0175] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

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

Claims

1. A yaw component for cleaning equipment, characterized in that, The yaw component includes: A first transmission member, configured to connect to a driving member, has a first rotation axis; A second transmission member is rotatably connected to the first transmission member, and the second transmission member is configured to connect to the cleaning assembly and drive the cleaning assembly to rotate; The oscillation assembly is configured such that when the first transmission member drives the second transmission member to rotate, causing the cleaning assembly to rotate along the first direction and being subjected to a frictional torque along the second direction, the oscillation assembly and the cleaning assembly oscillate along the second direction around the first rotation axis to a first position; when the first transmission member drives the second transmission member to rotate, causing the cleaning assembly to rotate along the second direction and being subjected to a frictional torque along the first direction, the oscillation assembly and the cleaning assembly oscillate along the first direction around the first rotation axis to a second position, wherein the first direction is opposite to the second direction.

2. The oscillation assembly according to claim 1, characterized in that, The yaw assembly includes a first housing, and the connection between the first transmission member and the second transmission member is located inside the first housing.

3. The oscillation assembly according to claim 2, characterized in that, The yaw assembly includes a first bearing, the first housing has a first through hole, the first bearing is disposed in the first through hole, the first rotation axis passes through the first bearing, the first bearing is configured to connect to a transmission assembly, and the transmission assembly is connected to the drive component.

4. The oscillation assembly according to claim 2, characterized in that, The yaw assembly includes a second bearing, the first housing has a second through hole, the second bearing is disposed in the second through hole, and the second transmission component is connected to the second bearing.

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

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

7. A cleaning device, characterized in that, The device includes a drive assembly, a cleaning assembly, and a yaw assembly as described in any one of claims 1-6, wherein the drive assembly is connected to the first transmission member, the second transmission member is connected to the cleaning assembly, and the drive assembly is configured to drive the first transmission member to rotate the second transmission member.

8. The cleaning equipment according to claim 7, characterized in that, The drive assembly includes a drive member and a transmission assembly. The transmission assembly includes a first abutment and a second abutment. The first abutment is connected to the drive member and the second abutment. The second abutment is connected to the oscillation assembly. The second abutment has a track surface. The first abutment is movably abutted against the track surface. The cleaning device includes a second housing. The drive member is configured to drive the first abutment to rotate, causing the first abutment to move on the track surface, and causing the oscillation assembly to drive the cleaning assembly to rise and fall relative to the second housing.

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

10. The cleaning equipment according to claim 9, characterized in that, The cleaning component includes a friction element configured to increase the frictional torque received by the cleaning component in the second direction when it rotates in the first direction, causing the cleaning component and the swaying component to drive the first abutment to abut against the first limiting portion, and to increase the frictional torque received by the cleaning component in the first direction when it rotates in the second direction, causing the cleaning component and the swaying component to drive the first abutment to abut against the second limiting portion.

11. The cleaning equipment according to claim 9, characterized in that, The trajectory surface includes a first region, a second region, and a third region. Along the first direction, the first region, the second region, and the third region are connected in sequence. When the first abutment abuts against the first region or the third region, the swaying component positions the cleaning component in a cleaning position to contact the ground. When the first abutment abuts against the second region, the swaying component positions the cleaning component in a ground-free position to detach it from the ground.

12. The cleaning equipment according to claim 8, characterized in that, The cleaning equipment includes a mounting component, and the oscillation assembly includes a first housing with a first through hole. The second abutment passes through the first through hole, and the mounting component is fixedly connected to the second abutment and the first housing.

13. The cleaning equipment according to claim 11, characterized in that, The cleaning equipment is configured as follows: When the driving member drives the first abutment to rotate from the second region to the third region along the first direction, the swaying component causes the cleaning component to descend from the ground position to the cleaning position and the first abutment abuts against the first limiting part. When the driving member drives the first supporting member to rotate from the third region to the second region along the second direction, the swaying component causes the cleaning component to rise from the cleaning position to the ground-free position and the first supporting member to separate from the first limiting part and the second limiting part; When the driving member drives the first supporting member to rotate from the second region to the first region along the second direction, the swaying component causes the cleaning component to descend from the ground position to the cleaning position and the first supporting member abuts against the second limiting part; When the driving member drives the first abutment to rotate from the first region to the second region along the first direction, the swaying assembly causes the cleaning assembly to rise from the cleaning position to the off-ground position and the first abutment separates from the second limiting part and the first limiting part.

14. The cleaning equipment according to claim 13, characterized in that, The cleaning equipment is configured as follows: During the process of the driving member driving the first abutment to rotate from the third region to the second region along the second direction, the driving member first drives the first abutment to rotate along the second direction by a first rotation angle, and then drives the first abutment to perform at least one reverse rotation action. During the process of the driving member driving the first abutment to rotate from the first region to the second region along the first direction, the driving member first drives the first abutment to rotate along the first direction by the first rotation angle, and then drives the first abutment 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.

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

16. The cleaning equipment according to claim 11, characterized in that, The trajectory surface includes a first connecting region and a second connecting region, wherein the first connecting region connects the third region and the second region, and the second connecting region connects the second region and the first region; The first connecting region includes a first sub-region and a second sub-region. Along the second direction, the third region connects the second region sequentially through the second sub-region and the first sub-region. The second sub-region includes a plurality of first connecting segments connected end to end. The slope of the first sub-region is greater than the slope of at least one of the plurality of first connecting segments. The second connecting region includes a third sub-region and a fourth sub-region. Along the first direction, the first region is connected to the second region sequentially through the fourth sub-region and the third sub-region. The fourth sub-region includes a plurality of second connecting segments connected end to end. The slope of the third sub-region is greater than the slope of at least one of the plurality of second connecting segments.

17. The cleaning equipment according to claim 13, characterized in that, The transmission assembly includes a reset component; When the driving member drives the first abutment to rotate from the second region to the third region along the first direction, the reset member is compressed by the second abutment; When the driving member drives the first supporting member to rotate from the third region to the second region along the second direction, the reset member restores its length and drives the second supporting member to drive the swing assembly, so that the cleaning assembly rises from the cleaning position to the ground-free position; When the driving member drives the first abutment to rotate from the second region to the first region along the second direction, the reset member is compressed by the second abutment; When the driving member drives the first supporting member to rotate from the first region to the second region along the first direction, the reset member restores its length and drives the second supporting member to drive the oscillating component, so that the cleaning component rises from the cleaning position to the ground position.

18. The cleaning equipment according to claim 17, characterized in that, The cleaning device includes a third limiting part, and the second supporting member is provided with a fourth limiting part; When the swaying component moves the cleaning component to the cleaning position, the third limiting part and the fourth limiting part are offset from each other in the lifting direction of the cleaning component; When the swaying component moves the cleaning component to the above-ground position, the third limiting part and the fourth limiting part abut against the cleaning component in the circumferential direction.

Images