Cleaning equipment

Abstract

The invention relates to the technical field of electric tools, and discloses cleaning equipment. The cleaning equipment comprises a first main body and a second main body, wherein a driving device for outputting torque is arranged in the first main body; the second main body is rotationally connected with the first main body, and the second main body comprises a rotating part rotating around the first axis direction; an input shaft of the power transmission device is connected with the output end of the driving device, an output shaft of the power transmission device is connected with the rotating part, and the cleaning component is fixed to the rotating part. Wherein the relative angle between the second main body and the first main body is variable, and the power transmission device is a non-coaxial transmission mechanism so as to adapt to the change of the relative angle between the second main body and the first main body. By arranging the first main body and the second main body which are variable in relative angle, the angle of the cleaning component can be adjusted according to the needs of actual conditions, and a series of defects caused by a traditional fixed connection mode are avoided.

Description

Technical Field

[0001] The present application relates to the technical field of electric tools, and in particular to a cleaning device. Background Art

[0002] The electric cleaning brush is an electric tool widely used in daily cleaning. It is mainly composed of two parts: a handle and a cleaning component. The handle is equipped with a grip and a control button, and is internally configured with functional modules such as a power system, a control circuit, and a motor drive mechanism. The cleaning component is equipped with replaceable cleaning accessories, which can achieve cleaning actions such as rotation or vibration under the action of a motor drive mechanism. By assembling different cleaning accessories, it can be used for cleaning hard surfaces on the ground, deep cleaning of tile gaps, daily maintenance of bathroom walls, and dust removal of furniture surfaces.

[0003] However, the handle part of the current electric cleaning brush is fixedly connected to the cleaning part. This fixed connection method has many defects in use. For example, when cleaning surfaces at different positions or angles, users need to frequently adjust their arm postures, which can easily cause fatigue. When cleaning special positions such as corners, ceilings, and the bottom of furniture, the fixed-angle cleaning brush head is difficult to fit the cleaning surface, resulting in unsatisfactory cleaning effects. Or when users of different heights use the same cleaning brush, the cleaning part may not be able to achieve the best working state due to the difference in operating angles. Summary of the invention

[0004] The cleaning device provided by the present application can at least partially overcome the defects of the existing electric cleaning brushes.

[0005] In the first aspect, the present application provides a cleaning device. The cleaning device includes: a first body, a driving device is provided in the first body, and the driving device is used to output torque; a second body, the second body is rotatably connected to the first body, the second body includes a rotating part, and the rotating part rotates around a first axis; a power transmission device, the input shaft of the power transmission device is connected to the output end of the driving device, and the output shaft of the power transmission device is connected to the rotating part, and a cleaning component is fixed to the rotating part and rotates with the rotating part; wherein the relative angle between the second body and the first body is variable, and the power transmission device is a non-coaxial transmission mechanism to adapt to the relative angle change between the second body and the first body.

[0006] At least one advantage of the cleaning device provided by the embodiment of the present application is that by providing a first body and a second body with a variable relative angle, the angle of the cleaning component can be adjusted according to the actual needs, avoiding a series of defects caused by the traditional fixed connection method. Moreover, by using a non-coaxial power transmission device to adapt to different angle changes between the first body and the second body, the torque output by the driving device can smoothly drive the cleaning component to rotate, thereby better completing the cleaning task. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0008] Figure 1 It is a schematic diagram of the structure of the cleaning device provided in the embodiment of the present application;

[0009] Figure 2 is a schematic structural diagram of a cleaning device provided in an embodiment of the present application, showing one implementation form of a power transmission device;

[0010] Figure 3 is a structural schematic diagram of a cleaning device provided by another embodiment of the present application, showing another implementation form of the power transmission device;

[0011] Figure 4 is a schematic diagram of the decomposed structure of the cleaning device provided in an embodiment of the present application;

[0012] Figure 5 is a schematic structural diagram of a cleaning device provided in an embodiment of the present application, showing a situation where the angle locking device is in an unlocked state;

[0013] Figure 6 is a schematic structural diagram of a cleaning device provided in an embodiment of the present application, showing that the angle locking device is in a locked state;

[0014] Figure 7 is a cross-sectional view of an angle locking component provided in an embodiment of the present application;

[0015] Figure 8 is a schematic diagram of state switching of a press-lock component provided in an embodiment of the present application;

[0016] Fig. 9 is a schematic structural diagram of a cleaning device provided in an embodiment of the present application, showing a situation where the first body and the second body form an angle of approximately 90°;

[0017] Fig.10is a schematic structural diagram of a cleaning device provided by another embodiment of the present application, showing a situation where the angle between the first body and the second body is an obtuse angle;

[0018] Fig.11 is a schematic diagram of a cleaning component provided in an embodiment of the present application, showing a variety of different cleaning components;

[0019] Fig.12 is a cross-sectional view of a connection structure provided in an embodiment of the present application;

[0020] Fig.13 is a schematic diagram of the decomposed structure of the connection structure provided in an embodiment of the present application;

[0021] Fig.14 is a cross-sectional view of a first connecting member provided in an embodiment of the present application;

[0022] Fig.15 is a schematic diagram of a second connecting member provided in an embodiment of the present application;

[0023] Fig.16 is a schematic diagram of a second connecting member provided in an embodiment of the present application, showing Fig.15 The second connecting member shown has a top portion structure removed;

[0024] Fig.17 is a schematic diagram of a length adjustment device provided in an embodiment of the present application;

[0025] Fig.18 is a functional block diagram of the electronic system of the cleaning device provided in an embodiment of the present application;

[0026] Fig.19 is a circuit schematic diagram of a charge and discharge management module provided in an embodiment of the present application;

[0027] Fig. 20 is a circuit schematic diagram of a charge and discharge management module provided in another embodiment of the present application;

[0028] Fig.21 is a circuit schematic diagram of a first signal generating circuit provided in an embodiment of the present application;

[0029] Fig. 22 is a circuit schematic diagram of a second signal generating circuit provided in an embodiment of the present application;

[0030] Fig.23 is a circuit schematic diagram of a third signal generating circuit provided in an embodiment of the present application;

[0031] Fig.24 is a circuit schematic diagram of a main control module provided in an embodiment of the present application;

[0032] Fig.25is a circuit schematic diagram of a motor control circuit provided in an embodiment of the present application;

[0033] Fig.26 is a circuit schematic diagram of a battery voltage detection circuit provided in an embodiment of the present application;

[0034] Fig. 27 It is a circuit schematic diagram of the insertion wake-up circuit provided in an embodiment of the present application.

[0035] Description of reference numerals:

[0036] Device body 1, first body 10, first body shell 11, first body connecting portion 12, first connecting recess 121, abutting structure 122;

[0037] The second body 20, the rotating part 21, the second body connecting part 22, the second connecting recess 221, the base 23;

[0038] Power transmission device 30, input shaft 31, output shaft 32, elastic limiting component 33;

[0039] Input connection part 301, output connection part 302, intermediate support part 303, cross connection structure 304;

[0040] Input connecting part 305, output connecting part 306, annular gear plate 307, input bevel gear 308, output bevel gear 309;

[0041] Cleaning component 40; driving device 50;

[0042] Angle locking device 60, angle locking component 61, protrusion 62, circular cover 63, pressing locking component 64, triggering component 641, clamping component 642, elastic reset component 65;

[0043] The locking component end surface 611, the locking component side wall 612, and the clamping portion 613;

[0044] A first connecting member 71, a second connecting member 72, an abutting recess 721, a locking member 73, an abutting member 731, a locking elastic member 732, an unlocking member 74, a pressing cover 741, a coupling member 742, a limiting member 743, an elastic pushing member 75, a pop-up top cover 751, and a pop-up spring 752;

[0045] Plug socket 711, first wall surface 712, second wall surface 713, plug socket end surface 714, plug socket side wall 715, plug socket housing 711a, bottom cover 711b;

[0046] Length adjustment device 80, sleeve 81, inner rod body 82, limiting portion 83;

[0047] Interactive device 90 , start button 91 , indicator light 92 . DETAILED DESCRIPTION

[0048] The present application is described in detail below in conjunction with specific embodiments. It should be emphasized that the following description is merely illustrative and is not intended to limit the scope of the present application and its application.

[0049] It should be noted that, unless otherwise clearly specified and limited, the terms "center", "longitudinal", "lateral", "up", "down", "vertical", "horizontal", "inside", "outside", etc. used in this specification indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Terms such as "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features; thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; "multiple" means two or more; "and / or" includes any and all combinations of one or more related listed items. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0051] Figure 1 A schematic diagram of the structure of the cleaning device provided in an embodiment of the present application. Figure 2 The cleaning equipment is shown with part of the shell structure removed. Figure 1 and Figure 2 As shown, the cleaning device includes: a first body 10 , a second body 20 , a power transmission device 30 and a cleaning component 40 .

[0052] The first body 10 is the main structure of the cleaning device, and one or more installation positions are provided inside the first body 10 to accommodate various functional modules (eg, a driving device 50 for outputting torque) included in the cleaning device.

[0053] The driving device 50 is an actuator that can convert stored energy into mechanical motion. It generates and outputs a set torque according to a control signal to provide the required power for the rotation of the cleaning component.

[0054] According to the actual needs, the driving device 50 can be composed of any suitable type of mechanism, including a motor, a reduction gear set, a bearing support structure and a sealing protection structure, etc. One or more of the components can be omitted or replaced as long as the use needs are met and the appropriate torque is provided.

[0055] The second body 20 is a structural part connected to the cleaning component 40. It is rotatably connected to the first body 10 and has a certain degree of freedom of movement. Figure 8 and Fig. 9 As shown, by changing the relative angle between the first body 10 and the second body 20, the angle of the cleaning component can be adjusted to adapt to different usage scenarios.

[0056] Specifically, Figure 2 As shown, the second body 20 includes: a rotating part 21 rotating around a first axis direction. The cleaning component 40 is fixed on the rotating part 21 and rotates with the rotating part 21 to complete the cleaning task.

[0057] The power transmission device 30 is a transmission mechanism for realizing torque transmission between the first body 10 and the second body 20 , wherein the input shaft 31 is connected to the output end of the driving device 50 , and the output shaft 32 is connected to the rotating part 21 .

[0058] In the present application, the term "non-coaxial transmission mechanism" is used to indicate a transmission mechanism that can form any angle between the input shaft 31 and the output shaft 32 within a specific angle range and can ensure stable torque transmission within the specific angle range.

[0059] The use of a non-coaxial transmission mechanism as the power transmission device 30 can adapt to the relative angle change between the second body 20 and the first body 10, and can maintain continuous and smooth power transmission when the relative position of the input shaft 31 and the output shaft 32 changes, thereby smoothly driving the rotating part 21 to rotate, and then driving the cleaning part 40 to rotate at a set speed.

[0060] In some embodiments, Figure 4 As shown, the first body 10 includes: a first body shell 11 and a first body connecting portion 12. The second body 20 also includes: a second body connecting portion 22.

[0061] The first main body shell 11 is a shell structure of the first main body. The driving device 50 is accommodated and fixed in the first main body shell 11 .

[0062] The first body connection part 12 is a connection structure formed at one end of the first body shell 11. It cooperates with the second body connection part 22 to realize the rotation connection between the first body 10 and the second body 20, so that the second body 20 can rotate relative to the first body 10 around the second axis direction y.

[0063] The second main body connection part 22 is also formed with a base 23 for carrying the rotating part 21. The base is a structure extending a certain length along the first axis direction. The rotating part 21 is arranged at the base position of the second main body connection part 22, and is rotatably connected to the second main body connection part 22 through a rotating structure such as a bearing, so that the rotating part 21 can rotate around the first axis direction x relative to the entire second main body connection part 22.

[0064] For example, please refer to Figure 4 The first body 10 is formed by the first component 10a and the second component 10b being joined together along the parting surface. Similarly, the second body connecting portion 22 is also formed by the third component 22a and the fourth component 22b being joined together along the parting surface.

[0065] During the actual assembly process, the rotating portion 21 is first placed between the third component 22a and the fourth component 22b, and then the third component 22a and the fourth component 22b are matched and spliced ​​with each other along the parting surface of the second main body connecting portion 22 to form a roughly cylindrical second main body connecting portion 22.

[0066] Then, the second main body connection part 22 is placed between the first component 10a and the second component 10b, at a position corresponding to the first main body connection part 12. Then, the third component 22a and the fourth component 22b are matched and spliced ​​along the parting surface of the first main body 10 to form a complete first main body 10. At this time, the outer wall surface of the second main body connection part 22 and the inner wall surface of the first main body connection part 12 are mutually abutted and matched to form a rotation connection.

[0067] It should be noted that the above assembly process is only to exemplarily show how to realize the rotational connection between the first main body connection part 12 and the second main body connection part 22, and is not used to limit the specific assembly process. According to the actual needs, any other suitable type of assembly method or component assembly order can also be used.

[0068] Specifically, in addition to the aforementioned rotational connection formed by the outer wall surface of the second main body connecting part 22 with a roughly cylindrical outer contour abutting against the inner wall of the first main body connecting part 12 so that it is accommodated in the cylindrical space formed inside the first main body connecting part 12, the first main body connecting part 12 and the second main body connecting part 22 can also choose to use other types of rotational connection methods, such as setting a rotating shaft.

[0069] In order to ensure that the relative angle between the first body 10 and the second body 20 does not change randomly during use, in some embodiments, such as Figure 5 and Figure 6 As shown, the cleaning device further includes: an angle locking device 60 .

[0070] The angle locking device 60 is disposed between the first main body connection portion 12 and the second main body connection portion 22 , and is used to limit the first main body connection portion 12 from rotating relative to the second main body connection portion 22 around the second axis direction y.

[0071] Specifically, the angle locking device 60 is a movable mechanism that can switch between a locked state and an unlocked state. The angle locking device 60 can switch between the locked state and the unlocked state by moving to different positions along the second axis direction y.

[0072] like Figure 5 As shown, in the unlocked state, the angle locking device 60 moves to the unlocked position along the second axis direction y, and it is disengaged from the first body connection part 12. The rotation constraint between the angle locking device 60 and the first body connection part 12 is released, so that the first body connection part 12 can rotate relative to the second body connection part 22 around the second axis direction y.

[0073] like Figure 6 As shown, in the locked state, the angle locking device 60 moves in the opposite direction along the second axis direction y to the locked position. At this time, the angle locking device 60 forms a rotation constraint with the first body connecting portion 12 and the second body connecting portion 22 at the same time, so that the first body connecting portion 12 cannot rotate relative to the second body connecting portion 22.

[0074] The angle locking device 60 can specifically adopt a corresponding structural setting according to the actual needs (for example, the specific way in which the first main body connecting part 12 and the second main body connecting part 22 are rotated to achieve the function that the aforementioned angle locking device 60 needs to achieve).

[0075] The following is a description of one or more specific examples of the angle locking device 60 .

[0076] In some embodiments, please refer to Figure 4 In the second axial direction y, the first main body connecting portion is provided with a first through hole R1, and the second main body connecting portion 22 is provided with a second accommodating space R2.

[0077] The angle locking device 60 is inserted into the second accommodation space R2 through the first through hole R1 in a similar manner to a latch. Therefore, when the angle locking device 60 moves along the second axis direction y toward the direction close to the second main body connection part until it is disengaged from the first main body connection part 12, the rotation constraint between the angle locking device 60 and the first main body connection part 12 is released, and the angle locking device 60 is in an unlocked state.

[0078] On the contrary, when the angle locking device 60 moves along the second axis direction y in the direction close to the first main body connection part 12 until re-establishing a physical connection with the first main body connection part 12, the angle locking device 60 can simultaneously form a rotational constraint with the first main body connection part 12 and the second main body connection part 22 and switch to a locked state.

[0079] The rotation constraint between the angle locking device 60 and the first body connecting portion 12 or the second body connecting portion 22 can be achieved by cooperating with a variety of different connecting components.

[0080] For example, the rotation constraint is formed by a plurality of protrusions arranged around the second axis direction y and a plurality of grooves matched therewith. When the protrusions are embedded in the corresponding grooves, the rotation constraint is formed, and when the protrusions are separated from the grooves, the rotation constraint is released.

[0081] For ease of description, the plurality of protrusions are referred to as “first connecting members” and the plurality of grooves matching therewith are referred to as “second connecting members” hereinafter.

[0082] For example, Figures 4 to 6 The figure shows a situation in which the first connecting member is arranged in the angle locking device, and the second connecting member is arranged in both the first main body connecting part and the second main body connecting part.

[0083] In other embodiments, the arrangement of the first connecting member and the second connecting member may be replaced, with the second connecting member being arranged on the angle locking device, and the first connecting member being arranged on the first main body connecting portion and the second main body connecting portion.

[0084] In some embodiments, please refer to Figure 4 The angle locking device 60 includes: an angle locking component 61 , a pressing locking component 64 and an elastic reset component 65 .

[0085] The angle locking component 61 is the main movable component of the entire angle locking device and can reciprocate between an unlocking position and a locking position along the second axis direction y.

[0086] On the outer surface of the angle locking component 61, a plurality of protrusions 62 arranged circumferentially around the second axis direction y are provided as first connecting members.

[0087] Correspondingly, a plurality of first connection grooves 121 are provided on the first main body connection portion 12 as second connection members, and a plurality of second connection grooves 221 are provided on the second main body connection portion 22 as second connection members.

[0088] When the angle locking member 61 moves to the locking position, the protrusion 62 is embedded in the first connecting groove 121 and the second connecting groove 221 at the same time, and the first body 10 and the second body 20 are restricted by the angle locking member 61 and cannot rotate relative to each other. The angle locking device 60 is in a locked state (such as Figure 6 shown).

[0089] When the angle locking member 61 moves to the unlocking position, the protrusion 62 will be separated from the first connecting recess 121 and only embedded in the second connecting recess 221 (such as Figure 5 As shown), the relative rotation between the first body 10 and the second body 20 will not be restricted, and the angle locking device 60 is in an unlocked state.

[0090] Specifically, at least a portion of the angle locking component 61 is located on the outer surface of the cleaning device, so as to be operated by a user to drive the angle locking device 60 to move along the second axis direction y.

[0091] Based on the actual use situation, the structure of the angle locking component 61 located on the outer surface of the cleaning device can have any suitable shape or size. Figure 4 As shown, a circular cover 63 is located on the surface of the cleaning device.

[0092] The push-locking component 64 is a structural component used to realize the automatic locking of the state of the angle locking device. It has the characteristics of push-unlocking, and includes at least one trigger member 641 and a clamping member 642. When the trigger member 641 is pressed for the first time, the clamping member 642 switches to the clamping state and maintains it, and when the trigger member 641 is pressed again, the clamping member 642 exits the clamping state and switches to the released state.

[0093] For example, Figure 8 FIG. 6 is a typical schematic diagram of the state switching of the pressing locking component 64. Figure 8 As shown, the pressing and locking component 64 is provided with a guide track to enable the slider to move along a set track. The slider is connected to the trigger member 641 through a connecting member, and has a linkage relationship. The connecting member is also rotatably connected to the clamping member 642, so that the clamping member 642 can switch between a clamping state and a release state as the position of the slider changes.

[0094] When the trigger member 641 is pressed for the first time, the slider is driven by the connecting member to move downward from the starting position 1 of the guide track. Subsequently, under the action of the spring, the slider is locked and restricted at position 2. At this time, the clamping member 642 is recovered and in a clamping state.

[0095] When the trigger member 641 is pressed again, the slider is driven to pass position 2 and move to position 3. Then, under the action of the spring, it is reset to position 1 along the guide track. At this time, the clamping member 642 returns to the released state.

[0096] based on Figure 8 The same principle as the push-locking component 64 shown in FIG. 1 may also be used with other different types of push-locking components 64, not limited to Figure 8 The specific adjustment and replacement methods are well known to those skilled in the art and are not specifically limited here.

[0097] The elastic reset component 65 is an elastic structure (e.g., a compression spring) disposed inside the angle locking component 61. It has the ability to deform elastically, and can deform and store as elastic potential energy when the position of the angle locking component 61 changes, thereby driving the angle locking component 61 to return to the locked position through its tendency to restore to its initial state when the external force is removed.

[0098] In some embodiments, Figure 4 As shown, the pressing locking member 64 is fixed on the locking installation position Set of the second main body connecting portion 22. In the unlocked state, the protrusion 62 of the angle locking member 61 is only located in the second connecting recess 221.

[0099] In other embodiments, the push-lock locking member 64 may also be disposed on the first main body connecting portion 21. Accordingly, in the unlocked state, the protrusion 62 of the angle locking member 61 is only located in the first connecting recess 121.

[0100] During actual use, when the user applies an operation to the angle locking component 61 (for example, applies a pressing operation to the circular cover body 63), the angle locking component 61 moves along the second axis direction y to the unlocked position, and the protrusion 62 disengages from the first connecting recess 121 and is only located in the second connecting recess 221. At the same time, the angle locking component 61 also applies a first press to the press locking component 64, so that the press locking component 64 engages with the angle locking component 61, so that the angle locking component 61 remains in the unlocked position.

[0101] When the user continues to operate the angle locking member 61 (for example, continues to press the circular cover 63), the angle locking member 61 continues to move and again presses the pressing locking member 64. At this time, the pressing locking member 64 switches to a released state and no longer restricts the movement of the angle locking member 61.

[0102] As the pressing locking component 64 releases the angle locking component 61, the elastic reset component 65 tends to return to its initial state, pushing the angle locking component 61 to reset to the locked position, and the protrusion 62 re-enters the first connecting recess 121, switching the angle locking device to a locked state.

[0103] Specifically, Figure 4 and Figure 6 As shown, the first main body connecting portion 12 is further provided with an abutment structure 122. When the angle locking member 61 is driven to reset to the locking position by the elastic reset member 65, the abutment structure 122 abuts against at least a portion of the angle locking member 61, so that the angle locking member 61 can be maintained in the locking position without being disengaged from the first main body connecting portion 12.

[0104] Exemplarily, the abutment structure 122 is a boss disposed at the top of the first connection recess, which abuts against the projection 62 when the angle locking component 61 moves to the locking position, thereby limiting the angle locking component 61 from continuing to move outward.

[0105] In some embodiments, in applications such as Figure 8 In the case of the pressing locking member 64 shown in FIG. Figure 7 As shown, the angle locking component 61 includes: a locking component end surface 611 , a locking component side wall 612 and a clamping portion 613 .

[0106] The locking component side wall 612 extends from the circumferential edge of the locking component end surface 611 along the direction of the rotation axis y to a specific length. The locking component side wall 612 and the locking component end surface 611 together define the internal space of the angle locking component 61 .

[0107] The clamping portion 613 is a structure used in conjunction with the pressing locking component 64. It is arranged on the locking component end surface 611 and is located in the internal space surrounded by the locking component side wall 613.

[0108] In actual application, when the angle locking component 61 moves with the angle unlocking component 63, the top end of the clamping portion 613 presses the triggering member of the pressing locking component 64. At this time, the clamping member 642 of the pressing locking component 64 clamps and fixes the clamping portion 613, so that the position of the angle locking component 61 is maintained, and the angle locking device can be maintained in an unlocked state.

[0109] When the angle locking component 61 moves further with the angle unlocking component 63, the top of the clamping portion 613 will continue to press the triggering member of the pressing and locking component 64. At this time, the clamping member 641 of the pressing and locking component 64 will release the clamping portion 613 and release the connection with the clamping portion 613. Under the action of the elastic reset component 65, the angle locking component 61 is reset to the initial position where the protrusion 62 part enters the first connection recess 121, and the angle locking device is switched to the locked state again.

[0110] In some embodiments, by appropriately setting the extending directions of the connecting recess and the protrusion, a guiding function can also be provided to guide the angle locking component 61 to move along the rotation axis y.

[0111] Please continue reading Figure 5 and Figure 6 The first connection recess 121 and the second connection recess 221 are both grooves extending along the rotation axis y and have approximately the same width. The protrusion 62 on the surface of the angle locking component 61 has a size and shape that matches the second connection recess 221 or the first connection recess 121 .

[0112] Thus, the first connecting recess 121 and the second connecting recess 221 can play the role of guide grooves, and cooperate with the protrusion 62 embedded therein to guide the angle locking component 61 to move along the second axis direction y.

[0113] The aforementioned non-coaxial transmission mechanism can be implemented in a variety of different ways. In some embodiments, Figure 2 As shown, the power transmission device 30 includes: an input connection part 301 , an output connection part 302 and an intermediate support part 303 .

[0114] One end of the input connection part 301 forms an input shaft 31, which is connected to the output end of the driving device. One end of the output connection part 302 forms an output shaft 32, which is connected to the rotating part 21. Both ends of the intermediate support part 303 are rotatably connected to the input connection part 301 and the output connection part 302 through two cross connection structures 304, respectively.

[0115] Thus, the two cross connection structures 304 form two rotation axes with different angles through the intermediate support portion 303 , which can adapt to the angular deflection between the input shaft 31 and the output shaft 32 .

[0116] When the relative angle between the first body 10 and the second body 20 changes, the torque output by the driving device can still be transmitted to the rotating part 21 to drive the cleaning component 40 to rotate.

[0117] Figure 2The power transmission device 30 shown has a certain degree of freedom of movement. When the driving device of the cleaning device is in a stationary state without being activated, it is easy to cause some irregular movements as the position of the cleaning device changes, thereby generating collision sounds.

[0118] In some embodiments, in order to limit the irregular movement of the power transmission device 30 in a stationary state and avoid making unexpected sounds. Fig.12 As shown, the power transmission device further includes: an elastic limiting component 33.

[0119] The elastic limiting component 33 is an elastic component that can store elastic potential energy and has a tendency to return to an initial state. One end of the elastic limiting component 33 is fixed to the rotating part 21, and the other end is fixed to the output connecting part 302, and can apply a force to the power transmission device 30 to keep its relative position fixed and avoid irregular movement.

[0120] Specifically, the elastic limiting component 33 is a spring in a stretched state. The rotating part 21 provides a latch H1 as a fixed installation position, and a fixed through hole h2 is formed at the end of the output connecting part 302. One end of the spring in a stretched state hooks the latch H1, and the other end hooks the fixed through hole H2, thereby pulling the power transmission device 30 toward the rotating part 21.

[0121] In other embodiments, the non-coaxial transmission mechanism can also be implemented based on gear meshing. Figure 3 As shown, the power transmission device 30 includes: an input connection part 305 , an output connection part 306 and an annular gear 307 .

[0122] One end of the input connection part 305 forms an input shaft 31, which is connected to the torque output end of the driving device. The other end of the input connection part is an input bevel gear 308. One end of the output connection part 306 forms an output shaft 32, and the other end of the output connection part 306 is set as an output bevel gear 309. The annular gear plate 307 is arranged perpendicular to the rotation axis. The input bevel gear 308 and the output bevel gear 309 are both meshed with the annular gear plate 308.

[0123] Thus, the meshing between the annular toothed disc 307 and the input bevel gear 308 and the meshing between the annular toothed disc 307 and the output bevel gear 309 respectively form two rotation axes. Even if the angle between the two rotation axes changes, the torque can be transmitted through the annular toothed disc 307, thereby adapting to the angular deflection between the input shaft 31 and the output shaft 32.

[0124] The following combination Fig. 9 and Fig.10 , describes in detail the process of changing the angle between the first body 10 and the second body 20 of the cleaning device. Fig. 9As shown, the relative angle between the first body 10 and the second body 20 is approximately 90°. At this time, the cleaning brush surface of the cleaning component 40 is substantially parallel to the handle-shaped first body 10, and the user can conveniently hold the first body 10 and clean it close to the vertical wall.

[0125] When the floor needs to be cleaned, Fig.10 As shown, the user can change the relative angle between the first body 10 and the second body 20 to make the relative angle greater than 90°. At this time, the cleaning brush surface of the cleaning component 40 forms a certain angle with the handle-shaped first body 10, and the user can conveniently hold the first body 10 and clean the ground close to it.

[0126] In order to meet the actual use needs of different cleaning scenarios, cleaning equipment will be equipped with a variety of different cleaning components for users to choose from. Fig.11 As shown, the cleaning component includes: a flat brush head 2A suitable for cleaning large flat surfaces; a corner brush 2B with a conical design, specially used for cleaning gaps and other hard-to-reach areas; a dome brush 2C with a hemispherical design, used for cleaning irregular surfaces or curved objects; a cleaning pad fixing base 2D for installing various cleaning pads, which serves as a universal base for different cleaning pads; and a dust removal brush 2E with a fine needle-shaped bristle structure, suitable for cleaning precision equipment (such as keyboards, electronic devices).

[0127] The user can select one of the cleaning components as needed, fix it to the rotating part 21 of the device body 1, and then perform cleaning operations. In this application, the device body refers to a structural component composed of components other than the cleaning components, such as the first body 10 and the second body 20 mentioned above.

[0128] When the actual use scenario changes, the cleaning component also needs to be replaced accordingly. In some embodiments, by providing a connection structure with quick disassembly and assembly between the cleaning component and the device body, the use experience can be effectively improved.

[0129] like Fig.12 and Fig.14 As shown, the connection structure includes: a first connection member 71 , a second connection member 72 , a locking member 73 and an unlocking member 74 .

[0130] The first connecting member 71 forms a locking space R3. The second connecting member 72 has a matching size and shape and is received in the locking space R3.

[0131] The locking member 73 is a component that protrudes from the locking space R3 in a default state. In the present application, the "default state" is used to indicate a state in which the locking member 73 is not subjected to other external forces.

[0132] The protruding locking member 73 abuts against the second connecting member 72 entering the locking space R3, so that the second connecting member 72 cannot escape from the locking space R3, restricting the second connecting member 72 and the first connecting member 71 from separating from each other, thereby achieving a reliable fixed connection between the two.

[0133] The unlocking member 74 is a component engaged with the locking member 73. It can drive the locking member 73 to withdraw from the locking space R3, so that the locking member 73 is no longer in contact with the second connecting member 72. Specifically, at least a portion of the unlocking member 74 is located on the outer surface of the cleaning device, which is convenient for the user to operate.

[0134] When the user applies an unlocking operation (e.g., a pressing operation) to the unlocking member 74, the unlocking member 74 is driven to move, and the locking member 73 can be driven to exit the locking space R3 accordingly. As the locking member 73 exits the locking space R3, the second connecting member 72 can be smoothly disengaged from the locking space R3, and the fixed connection with the first connecting member 71 is released.

[0135] Based on the assembly method between the aforementioned first connecting member 71 and the second connecting member 72, after the first connecting member 71 and the second connecting member 72 are respectively arranged on the equipment body and the cleaning component, the first connecting member 71 and the second connecting member 72 can be used to realize the rapid disassembly and assembly of the cleaning component.

[0136] For ease of description, the embodiment of the present application describes a case where the first connecting member is disposed on the device body and the second connecting member is disposed on the cleaning component. Alternatively, the same quick disassembly and assembly effect can be obtained by exchanging the positions of the first connecting member 71 and the second connecting member 72 (i.e., the first connecting member 71 is disposed on the cleaning component and the second connecting member 72 is disposed on the device body).

[0137] In some embodiments, please refer to Fig.12 The connection structure 70 also includes: an elastic pushing component 75.

[0138] The elastic pushing member 75 is an elastic member capable of storing elastic potential energy by deformation. When the second connecting member 72 is accommodated in the locking space R3, it is in a deformed state and has a tendency to return to an initial state.

[0139] Thus, when the second connecting member 72 is no longer restricted by the locking member 73, the elastic pushing member 75 will automatically return to its initial state, exerting a force to drive the first connecting member 71 and the second connecting member 72 away from each other, thereby achieving the effect of the cleaning member 40 automatically popping out.

[0140] For details, please continue to refer to Fig.12 The elastic ejection component 75 includes a pop-up top cover 751 and a pop-up spring 752 .

[0141] The pop-up cover 751 is movably disposed on the second connecting member 72 . The pop-up spring 752 is disposed between the pop-up cover 751 and the second connecting member 72 .

[0142] When the second connecting member 72 is inserted and accommodated in the locking space R3 , the first connecting member 71 abuts against the pop-up top cover 751 , pressing the pop-up top cover 751 to put the pop-up spring 752 in a compressed state.

[0143] As the locking member 73 releases the lock on the second connecting member 72 , the pop-up spring 752 in the compressed state will return to the initial state, apply a force to the first connecting member 71 through the pop-up top cover 751, and automatically push the second connecting member 72 out of the first connecting member 71 .

[0144] It should be noted that Fig.12 The elastic push-out member 75 is exemplarily shown in the case where it is arranged on the second connecting member 72. Based on the matching relationship between the first connecting member 71 and the second connecting member 72, the elastic push-out member 75 is arranged on the first connecting member 71 to achieve the same effect, and the cleaning member 40 is driven to pop out automatically.

[0145] In some embodiments, a length adjustment device 80 is also provided in the device body as a handle portion for the user to hold, so that the length of the device body can be adjusted within a certain range to meet different usage requirements.

[0146] like Fig.17 As shown, the length adjustment device 80 includes: a first part 10c, a second part 10d, a sleeve 81 and an inner rod body 82.

[0147] The inner wall of the sleeve 81 is provided with internal threads, and the surface of the inner rod 82 fixedly arranged in the first part 10c is provided with external threads, and fixedly arranged in the second part 10d. The inner rod 82 and the sleeve 81 are connected by threads.

[0148] Therefore, when the user rotates the second part 10d, the inner rod 82 can be driven to axially displace relative to the sleeve 81, so that the second part 10d moves away from or close to the first part 10c, thereby adjusting the total length of the entire first body 10.

[0149] In this way, by adjusting the length through the thread, it can be ensured that the position of the second component 10d is stable after the length is adjusted.

[0150] Specifically, a protruding stopper 83 is further provided at the end of the inner rod body 82. When the inner rod body 82 rotates to the limit position, the stopper 83 abuts against the end of the sleeve 81 to prevent the inner rod body 82 from being separated from the sleeve 81.

[0151] In some embodiments, please continue to refer to Figure 1 , the length adjustment device 80 is an extension component independently arranged relative to the first main body 10. The length adjustment device 80 is fixed at the end of the first main body 10 by means of plug-in fixation or other suitable fixed connection methods to provide a greater rod body length.

[0152] The following will describe in detail the specific structural implementations of the first connecting member 71, the second connecting member 72, the locking member 73, and the unlocking member 74 in conjunction with the accompanying drawings of the specification.

[0153] In some embodiments, as Fig.14 shown, the first connecting member 71 includes: a plug-in socket 711, a first wall surface 712, and a second wall surface 713.

[0154] Among them, the plug-in socket 711 is a columnar structure jointly composed of a plug-in socket end face 714 and a plug-in socket side wall 715. The plug-in socket side wall 715 extends along the circumferential edge of the plug-in socket end face 714 to a specific length. Exemplarily, the plug-in socket 711 is generally cylindrical.

[0155] The first wall surface 712 is another continuous wall surface provided on the plug-in socket end face 714. It cooperates with the plug-in socket end face 714 to form a locking space R3 for receiving the second connecting member 72. A notch R4 for the locking member 73 to protrude is formed on the first wall surface 712.

[0156] The second wall surface 713 is a wall surface formed and provided between the first wall surface 712 and the plug-in socket side wall 715. It forms a guiding channel adapted to the locking member 73. The locking member 73 is installed in the guiding channel and moves along the extending direction of the guiding channel, protruding into the locking space R3 through the notch R4, or withdrawing from the locking space R3.

[0157] Specifically, as Fig.13 shown, the plug-in socket 711 includes a plug-in socket housing 711a and a bottom cover 711b. The bottom cover 711b is fastened to the open end of the plug-in socket housing 711a by means of a snap connection or other fixed connection methods to form a complete plug-in socket 711.

[0158] In some embodiments, please continue to refer to Fig.12 and Fig.13 , the locking member 73 includes: an abutting member 731 and a locking elastic member 732.

[0159] Among them, the abutting member 731 is arranged in the guiding channel. It has a width dimension adapted to the guiding channel and can enter or exit the locking space along the guiding channel via the notch.

[0160] For ease of description, the position where the abutting component 731 protrudes out of the locking space R3 is referred to as the “first position”, and the position where the abutting component 731 completely withdraws from the locking space R3 is referred to as the “second position”.

[0161] The locking elastic member 732 is also an elastic member and is connected to the abutting member 731. When the abutting member 731 is subjected to an external force and leaves the first position, the locking elastic member 732 is deformed and stored as elastic potential energy.

[0162] For example, the locking elastic member 732 is a compression spring, has a tendency to return to an initial state that is not compressed, and can generate an elastic force that drives the abutting member 731 to move toward the first position.

[0163] In some embodiments, a first extrusion contact surface is formed between the abutting component 731 and the end of the second connecting member 72 , so that the abutting component 731 moves to the second position under the extrusion of the second connecting member 72 .

[0164] In the present application, "compression contact surface" refers to a contact surface formed between two components, at least a portion of which is inclined relative to the insertion direction of one of the components. Such a compression contact surface enables at least a portion of the force that pushes one of the components into being converted into a force that drives the other component to move perpendicular to the insertion direction.

[0165] For example, the portion of the abutting component 731 protruding from the locking space is wedge-shaped, and the end 722 of the second connecting member 72 is correspondingly set as an inclined surface. As the second connecting member 72 is inserted, the abutting component 741 forms an inclined first extrusion contact surface with the end of the second connecting member 72, and exits the locking space R3 under the extrusion of the second connecting member 72.

[0166] In some embodiments, please refer to Fig.13 The surface of the second connecting member 72 is provided with an abutting recess 721. The abutting recess 721 can be set to a suitable size and depth according to the actual needs, and is not specifically limited here.

[0167] Therefore, when the second connecting member 72 moves to a position where the abutting recess 721 corresponds to the notch R4 , the abutting component 731 is automatically reset to the first position under the action of the locking elastic member 732 , protruding out of the locking space R3 .

[0168] A first abutting contact surface is formed between the abutting part 731 protruding from the locking space R3 and the abutting recess 721 to restrict the second connecting member 72 from being separated from the locking space R3.

[0169] In the present application, “abutting contact surface” refers to a contact surface formed between two components that forms an abutting relationship, such that one component restricts the movement of the other component along a specific direction.

[0170] In some embodiments, in order to provide a balanced locking force, it is ensured that the cleaning component is reliably connected to the device body. Fig.13 As shown, the locking members 73 are arranged in pairs (for example, two locking members are arranged) and are symmetrically arranged along the first direction or the second direction. Such a symmetrical arrangement can enable the locking members 73 to provide symmetrical forces to restrict the second connecting member 72 from being separated from the locking space R3.

[0171] In other embodiments, Fig.15 As shown, the second connecting member 72 includes a first surface S1 , a second surface S2 , a third surface S3 and a fourth surface S4 .

[0172] The first surface S1 and the third surface S3 are symmetrical surfaces in the first direction K1, and the second surface S2 and the fourth surface S4 are symmetrical surfaces in the second direction K2.

[0173] like Fig.16 As shown, the first surface S1 , the second surface S2 , the third surface S3 and the fourth surface S4 are all provided with abutment recesses 721 , so that when the second connecting member 72 is inserted into the locking space R3 in two different directions, the locking member 73 can form an abutment contact surface with the recess 731 .

[0174] In some embodiments, please refer to Fig.13 and Fig.14 The unlocking member 74 includes a pressing cover 741 and a coupling member 742 .

[0175] The pressing cover 741 is sleeved on the outside of the plug socket 711 and is a component that can move along the first axis direction x.

[0176] The engaging member 742 is disposed inside the pressing cover 741. Accordingly, a first through hole H3 is formed on the plug socket end surface 714 of the plug socket 711. The engaging member 742 passes through the first through hole H3, penetrates the plug socket 711, and forms a second extrusion contact surface with the abutting component 731.

[0177] Through the second pressing contact surface formed between the engaging member 742 and the abutting component 731 , a linkage relationship is established between the pressing cover 741 and the abutting component 731 .

[0178] In order to facilitate the description of the linkage relationship between the pressing cover 741 and the abutment part 731, the third position is used to indicate the position of the pressing cover 741 when the abutment part 731 automatically resets to the first position, and the fourth position is used to indicate the position of the pressing cover 741 when the abutment part 731 is pushed to the second position.

[0179] In order to ensure that the pressing cover 741 does not fall out of the socket 711, in some embodiments, please continue to refer to Fig.13 The unlocking member 74 further includes a limiting member 743. Accordingly, the plug socket end surface 714 is further provided with a second through hole H4.

[0180] The stopper 743 is also a structural component disposed inside the pressing cover 741. It is disposed at a different position from the engaging member 742 and passes through the socket end surface 714 via the second through hole H4.

[0181] The end of the stopper 743 has a relatively enlarged protrusion which is at least larger than the second through hole H4. Thus, when the pressing cover 741 moves to the fourth position, the enlarged portion of the end of the stopper 743 forms a second abutting contact surface with the socket end surface 714, so that the pressing cover 741 cannot move further.

[0182] For example, the end of the limiting member 743 forms a hook-shaped structure, and a depression matching the hook-shaped structure is provided at a corresponding position of the socket end surface 714, so that a second abutting contact surface is formed between the two.

[0183] In some embodiments, the cleaning device may be provided with one or more interactive devices 90 to help the user understand the current operating status of the cleaning device and output corresponding operating instructions.

[0184] Please continue reading Figure 1 The interactive device includes: a start button 91 and a plurality of indicator lights 92.

[0185] The start button 91 is used to receive the user's operation command to control the start and stop of the cleaning device. The indicator light 92 indicates the device's start, operation, failure or shutdown status through different display states (such as always on, flashing or off).

[0186] Through the start button, the user can easily control the working status of the equipment, and through the different display states of the indicator light, the current operating status of the equipment can be intuitively reflected, so that the user can make corresponding operational adjustments in time.

[0187] In other embodiments, the interactive device may further include a display. The display is an interactive device that can display information such as the working mode, running time, battery power, speed gear, etc. of the cleaning device in the form of visual information, so that the user can more comprehensively understand the operating status of the cleaning device.

[0188] Furthermore, the display can also be linked with the control system to display fault codes or fault prompt information when the equipment is abnormal, helping users to quickly identify the problem. In addition, the display can also display equipment maintenance reminder information, such as cleaning parts replacement cycle, maintenance time, etc., to facilitate users to perform daily maintenance and maintenance.

[0189] In some embodiments, the cleaning device uses a motor as a power source, and a battery pack for storing electrical energy is disposed in the device body. The motor converts the electrical energy stored in the battery pack into mechanical energy to drive the cleaning component to rotate.

[0190] Specifically, the battery pack used in the cleaning device can be composed of multiple rechargeable batteries connected in series / parallel or in a combination of series and parallel. Accordingly, the device body is also provided with a charging interface that can be connected to an external power source, and the battery pack is charged by the external power source.

[0191] Fig.18 This is a functional block diagram of the electronic system of the cleaning device provided in the embodiment of the present application. Fig.18 As shown, the electronic system of the cleaning device includes: a battery pack 910 , a charging module 920 , a charge and discharge management module 930 , a main control module 940 and a motor 950 .

[0192] The charging module 920 is a functional circuit that cooperates with the charging interface. When the charging interface is connected to an external power source (for example, plugged into a power adapter), it provides the first voltage of the charging interface to the charge and discharge management module 930.

[0193] According to actual needs, the charging interface can be any suitable type of interface and provide a specific first voltage. For example, the charging interface is a Type-C interface and provides a first voltage with a voltage value of 5V.

[0194] The charge and discharge management module 930 is a functional circuit for detecting the operating state of the battery pack 910, controlling the discharge of the battery pack 910, and charging the battery pack 910. It has a voltage conversion capability and can convert a first voltage into a suitable charging voltage to charge the battery pack 910 when the charging interface is connected to an external power source.

[0195] In addition, by detecting one or more state parameters of the battery pack 910 during charging and discharging, the charge and discharge management module 930 can also provide one or more protection functions such as overcharge protection and temperature protection to ensure the safe operation of the battery pack 910.

[0196] The main control module 940 is the control core of the cleaning device. It can collect the operation instructions applied by the user through the aforementioned one or more interactive devices, and control the cleaning device to perform the corresponding operation (for example, control the motor 950 to start or stop running). It can also detect and collect the running status of the motor 950, control the aforementioned one or more interactive devices, display and feedback the current status information of the cleaning device to the user (for example, the remaining power of the battery pack, the running status of the motor), and provide one or more protection functions such as motor short circuit protection, motor operating temperature protection, and battery pack discharge protection.

[0197] In addition to the power connection line 941 for transmitting electric energy, a signal connection line for transmitting information is also provided between the main control module 940 and the charge and discharge management module 930 to achieve communication connection between the two functional circuits.

[0198] Specifically, the signal connection line includes: a wake-up signal connection line 942 and a state detection connection line 943. The wake-up signal connection line 942 is used to transmit a detection signal of whether the charging interface is connected to an external power supply. The state detection connection line 943 is used to transmit a detection signal of whether the battery pack is in a charging state.

[0199] When the charging interface is connected to an external power source (for example, a power adapter is plugged in), the charge and discharge management module 930 can generate a corresponding insertion detection signal and transmit it to the main control module 940 via the wake-up signal connection line 942 .

[0200] The charge and discharge management module 930 can also generate different status detection signals according to whether the battery pack is currently in a charging state or a discharging state, and transmit them to the main control module 940 through the status detection connection line 943, so that the main control module 940 can identify and determine the current state of the battery pack 910.

[0201] In order to fully describe the inventive concept of this application, the following Figures 19 to 27 , describes in detail the specific circuit implementation of the charge and discharge management module 930 and the main control module 940. Exemplarily, the charging interface is a Type-C interface, and the battery pack 910 is composed of three lithium-ion batteries connected in series.

[0202] Fig.19 FIG. 9 is a circuit diagram of the charge and discharge management module 930 of the present application embodiment to realize the voltage conversion function. Fig.19As shown, the circuit devices used by the charge and discharge management module 930 to realize the voltage conversion function include: a first resistor R1, a second resistor R2, a transient suppression diode TVS, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a first inductor L1, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7 and a boost charging management circuit U1.

[0203] J1 represents the charging interface. The 2nd and 5th pins are VBUS terminals, which are used to provide 5V voltage. The 3rd and 4th pins are CC1 configuration terminals and CC2 configuration terminals, which are used for Type-C protocol configuration. The 1st and 6th pins are GND terminals.

[0204] One end of the first resistor R1 is grounded, and the other end is connected to the 3rd pin of the charging interface J1. One end of the second resistor R2 is grounded, and the other end is connected to the 4th pin of the charging interface J1.

[0205] The cathode of the transient suppression diode TVS is connected to the 2nd pin, and the anode of the transient suppression diode TVS is connected to the 6th pin of the charging interface J1, which plays the functions of electrostatic protection and overvoltage protection to prevent sudden high voltage from entering and damaging the subsequent circuit.

[0206] The second pin and the fifth pin of the charging interface J1 are connected to form a power supply node VIN. When the power adapter is plugged into the charging interface, the power supply node VIN provides a 5V voltage.

[0207] The boost charging management circuit U1 includes 8 pins, which are marked as pins 1 to 8. Among them, pin 1 is the system voltage output terminal, which is used to provide a stable second voltage (for example, 3.3V or 5V) for the electronic system to use, pin 2 is the boost output terminal, which can output the boosted charging voltage (for example, 12.6V), pin 3 is the charging voltage setting terminal, which adjusts the charging voltage of the boost output terminal by connecting a resistor with a specific resistance value, pin 4 is the temperature detection terminal, pin 5 is the charging indication output terminal, which is used to drive the indicator light to display the current charging status, pin 6 is the voltage input terminal, pin 7 is the boost switch drive terminal, and pin 8 is the switch node.

[0208] One end of the first capacitor C1 is grounded, and the other end of the first capacitor C1 is connected to the power supply node VIN. One end of the first inductor L1 is connected to the power supply node VIN, and the other end of the first inductor L1 is connected to the 8th pin of the boost charging management circuit U1.

[0209] One end of the second capacitor C2 is connected to the 8th pin of the boost type charging management circuit U1, and the other end of the second capacitor C2 is connected to the 7th pin of the boost type charging management circuit U1. One end of the third capacitor C3 is grounded, and the other end of the third capacitor C3 is connected to the 6th pin of the boost type charging management circuit U1.

[0210] One end of the third resistor R3 is connected to the power supply node VIN, and the other end of the third resistor R3 is grounded. One end of the fourth resistor R4 is connected to the power supply node VIN, and the other end of the fourth resistor R4 is connected to the 6th pin of the boost charging management circuit U1.

[0211] One end of the fifth resistor R5 is connected to the fifth pin of the boost charging management circuit U1 , and the other end of the fifth resistor R5 is connected to the first charging state detection terminal CHG_DET1 .

[0212] One end of the fourth capacitor C4 is grounded, and the other end of the fourth capacitor C4 is connected to the first pin of the boost type charging management circuit U1. One end of the fifth capacitor C5 is grounded, and the other end of the fifth capacitor C5 is connected to the first pin of the boost type charging management circuit U1.

[0213] The second pin of the boost charging management circuit U1 is connected to the positive terminal B+ of the battery pack. The third pin of the boost charging management circuit U1 is grounded through the sixth resistor R6, and the fourth pin of the boost charging management circuit U1 is grounded through the seventh resistor R7. One end of the sixth capacitor C6 is connected to the positive terminal B+ of the battery pack, and the other end of the sixth capacitor C6 is grounded.

[0214] In actual operation, the MOS switch inside the boost charging management circuit U1 is connected to the first inductor L1 and the second capacitor C2 of the 7th pin through the 8th pin, and together forms a boost circuit to perform boost conversion on the input voltage (i.e., the first voltage from the power supply node VIN) received by the 6th pin. The second voltage obtained after the boost conversion is output from the 2nd pin of the boost charging management circuit U1 to charge the battery pack.

[0215] Pin 4 of the boost charging management circuit U1 monitors the current temperature of the battery pack. Charging is stopped when the charging temperature of the battery 100 is abnormal. Pin 5 of the boost charging management circuit U1 outputs different indication signals according to the current charging state (for example, a high level signal is output when charging is in progress, and a low level signal is output when not charging).

[0216] Fig. 20 The circuit schematic diagram of the charge and discharge management module 930 of the present application embodiment to realize the battery detection function and the battery protection function. Fig. 20As shown, the circuit with battery detection function and protection function includes: a battery protection chip U2, a charging control MOS tube Q1, an eighth resistor R8, a ninth resistor R9, a thermistor NTC1, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a first diode D1, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9 and a tenth capacitor C10.

[0217] Among them, the battery protection chip U2 includes 10 pins, which are marked as pins 1 to 10. Its pin 1 is used to detect the total voltage of the battery pack, and the pin 2 is used to control the conduction and cutoff of the first MOS tube Q1. Pin 3 is used to output a discharge indication signal. Pin 4 is the power input terminal. Pin 5 is the temperature detection terminal, pin 6 is the circuit reference ground connection terminal, and pins 7 to 9 are all single-cell battery voltage detection terminals, which are used to detect the voltages of the three lithium-ion batteries in the battery pack. Pin 10 is the power supply terminal, which is connected to the DC voltage source VCC.

[0218] The gate of the first MOS transistor Q1 is connected to the second pin of the battery protection chip U2, the source of the first MOS transistor Q1 is connected to the reference ground, and the drain of the first MOS transistor Q1 is connected to the negative electrode B- of the battery pack.

[0219] The first pin of the battery protection chip U2 is connected to the negative electrode B- of the battery pack through the eighth resistor R8. The second pin of the battery protection chip U2 is also connected to the negative electrode B- of the battery pack through the eleventh resistor R11.

[0220] One end of the first temperature-sensitive resistor NTC1 is connected to the negative electrode B- of the battery pack, and the other end of the first temperature-sensitive resistor NTC1 is connected to the 5th pin of the battery protection chip U2.

[0221] The 6th pin of the battery protection chip U2 is connected to the reference ground. The 7th pin of the battery protection chip U2 is connected to the reference ground through the seventh capacitor C7. The 8th pin of the battery protection chip U2 is connected to the reference ground through the eighth capacitor C8. The 9th pin of the battery protection chip U2 is connected to the reference ground through the ninth capacitor C9. The 10th pin of the battery protection chip U2 is connected to the reference ground through the tenth capacitor C10.

[0222] The cathode of the first diode D1 is connected to the anode B+ of the battery pack, and the anode of the first diode D1 is connected to the tenth pin of the battery protection chip U2 through the tenth resistor R10.

[0223] The 9th pin of the battery protection chip U2 is connected to the positive electrode B+ of the battery pack through the 11th resistor R11. The positive electrode B2 of the second lithium-ion battery is connected to the 8th pin of the battery protection chip U2 through the 12th resistor R12, and the positive electrode B1 of the third lithium-ion battery is connected to the 7th pin of the battery protection chip U2 through the 13th resistor R13.

[0224] Therefore, the battery protection chip U2 can detect the total voltage of the battery pack and the voltage of each lithium-ion battery. In the case that the battery voltage is too high or too low, the first MOS tube Q1 is controlled to be disconnected.

[0225] Figure 21 to Figure 23 1 is a circuit schematic diagram of the charge and discharge management module 930 of the embodiment of the present application generating a detection signal. For ease of description, three relatively independent detection signal generating circuits are respectively referred to as "first signal generating circuit", "second signal generating circuit" and "third signal generating circuit".

[0226] like Fig.21 As shown, the first signal generating circuit includes: a second MOS tube Q2, a third MOS tube Q4, a first triode Q3, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20 and a twenty-first resistor R21.

[0227] The drain of the second MOS transistor Q2 is connected to the positive electrode B+ of the battery pack through the fourteenth resistor R14. The gate of the second MOS transistor Q2 is connected to the drain of the second MOS transistor Q2 through the fifteenth resistor R15. The gate of the second MOS transistor Q2 is connected to the collector of the first triode Q3 through the sixteenth resistor R16.

[0228] The emitter of the first transistor Q3 is grounded, and the base of the first transistor Q3 is connected to the power supply node VIN through the seventeenth resistor R17. The base of the first transistor Q3 is also connected to the emitter of the first transistor Q3 through the eighteenth resistor R18.

[0229] The gate of the third MOS transistor Q4 is connected to the source of the second MOS transistor Q2 through the nineteenth resistor R19, and the wake-up signal terminal WAKE is located between the nineteenth resistor R19 and the source of the second MOS transistor Q2.

[0230] The drain of the third MOS tube Q4 is connected to the detection signal terminal DS through the 21st resistor R21. The gate of the third MOS tube Q4 is also connected to the source of the third MOS tube Q4 through the 20th resistor R20. The source of the third MOS tube Q4 is connected to the negative electrode B-

[0231] In actual application, as the power adapter is inserted, the power supply node VIN generates a high level signal to control the first transistor Q3 to be turned on. The first transistor Q3 is turned on to lower the gate voltage of the second MOS transistor Q2, so that the second MOS transistor Q2 is also turned on.

[0232] When the second MOS tube Q2 is turned on, the wake-up signal terminal WAKE generates a high-level signal and transmits it to the main control module 930 through the signal connection line, so that the main control module 930 obtains the detection result that the power adapter has been inserted.

[0233] In addition, when the second MOS transistor Q2 is turned on, the third MOS transistor Q4 is also turned on, so that the level signal of the detection signal terminal DS is pulled low. The low level signal of the detection signal terminal DS can also be transmitted to the main control module 930 through the signal connection line, indicating that the battery pack is in a charging state.

[0234] like Fig. 22 As shown, the second signal generating circuit includes: a fourth MOS tube Q5, a twenty-second resistor R22, a twenty-third resistor R23 and a twenty-fourth resistor R24.

[0235] The source of the fourth MOS tube Q5 is connected to the negative electrode B- of the battery pack, and the gate of the fourth MOS tube Q5 is connected to the third pin of the battery protection chip U2 through the twenty-second resistor R22. The gate of the fourth MOS tube Q5 is also connected to the source of the fourth MOS tube Q4 through the twenty-third resistor R23. The drain of the fourth MOS tube Q5 is connected to the detection signal terminal DS through the twenty-fourth resistor R24.

[0236] When the battery pack is in a charging state, the third pin of the battery protection chip U2 outputs a high level signal. At this time, the fourth MOS tube Q5 is turned on, and the level signal of the detection signal terminal DS is also pulled low, indicating that the battery pack is in a charging state.

[0237] like Fig.23 As shown, the third signal generating circuit includes: a fifth MOS transistor Q6, a twenty-fifth resistor R25, a twenty-sixth resistor R26 and a twenty-seventh resistor R27.

[0238] Among them, the source of the fifth MOS tube Q6 is connected to the negative electrode B- of the battery pack, and the gate of the fifth MOS tube Q6 is connected to one end of the twenty-fifth resistor R25. The other end of the twenty-fifth resistor R25 forms the first charging state detection terminal CHG_DET1, which is connected to the 5th pin of the boost charging management circuit U1. The gate of the fifth MOS tube Q6 is also connected to the source of the fifth MOS tube Q6 through the twenty-sixth resistor R26. The drain of the fifth MOS tube Q6 is connected to the detection signal terminal DS through the twenty-seventh resistor R27.

[0239] When the battery pack is in the charging state, the 5th pin of the boost charging management circuit U1 outputs a high level signal. At this time, the fifth MOS tube Q6 is turned on, and the level signal of the detection signal terminal DS is also pulled low, indicating that the battery pack is in the charging state.

[0240] Figure 24 to Figure 27 This is a circuit schematic diagram of the main control module provided in the embodiment of the present application, which includes a main control chip U3 and several peripheral circuits used in conjunction therewith.

[0241] like Fig.24 As shown, the main control chip U3 includes 24 pins, which are marked as pins 1 to 24 respectively. Among them, pin 1 is the charging state detection terminal, and pins 2 and 3 are both state indication terminals. Pin 4 is a reset input terminal for receiving an external reset signal. Pin 5 is a switch detection terminal. Pin 6 is a detection signal receiving terminal. Pin 7 is connected to the negative pole B- of the battery pack. Pin 8 is a data communication terminal. Pin 9 is a power supply terminal, which is connected to a stable second voltage VCC and is powered by the second voltage VCC for the main control chip U3. Pin 10 is a voltage output terminal, which can output a specific DC voltage (for example, a voltage of 5V) when the state of the main control chip U3 changes, such as power-on. Pin 11 is a temperature detection input terminal for detecting the temperature of the motor. Pin 12 is a battery voltage detection input terminal. Pin 13 is a short circuit detection input terminal. Pin 14 is a motor current detection input terminal for detecting the working current of the motor. Pins 15, 16, 17 and 18 are all independent state indication terminals. Pin 19 is the discharge control terminal, used to control the battery discharge. Pins 20 and 21 are status indication terminals. Pin 22 is the data communication clock terminal. Pins 23 and 24 are also status indication terminals.

[0242] The following describes the pin functions of the main control chip U3 and the corresponding peripheral circuits based on the functions to be performed by the main control chip U3.

[0243] 1) Start-up and status display of cleaning equipment:

[0244] like Fig.24 As shown, one end of the start switch S1 is connected to the negative electrode B- of the battery pack, and the other end of the start switch S1 is connected to the 5th pin of the main control chip U3. The 5th pin of the main control chip U3 is also connected to the DC voltage VCC through the first pull-up resistor Rv1. The 17th pin of the main control chip U3 is connected to the first LED indicator group.

[0245] In the shutdown state, the start switch S1 is disconnected, and the level signal of the 5th pin of the main control chip U3 is pulled up to a high level by the first pull-up resistor. As the user applies a power-on operation to the cleaning device (for example, touching or pressing the power button), the start switch S is closed, and the level signal of the 5th pin of the main control chip U3 is pulled down, so that the main control chip U3 detects the power-on operation.

[0246] According to the current operating state, the 17th pin of the main control chip U3 outputs a high level or low level status indication signal to control the first LED indicator light group to light up or go out, thereby showing the current operating state of the cleaning device to the user.

[0247] 2) Battery power display:

[0248] A second LED indicator light, a third LED light group, a fourth LED light group, a fifth LED light group, a sixth LED light group, a seventh LED light group and an eighth LED light group are arranged in sequence on the surface of the cleaning device.

[0249] Pin 18, pin 19, pin 21, pin 23, pin 24, pin 2 and pin 3 of the main control chip U3 are respectively connected to the second LED indicator light, the third LED light group, the fourth LED light group, the fifth LED light group, the sixth LED light group, the seventh LED light group and the eighth LED light group.

[0250] According to the remaining power of the battery pack received, pin 18, pin 19, pin 21, pin 23, pin 24, pin 2 and pin 3 of the main control chip U3 independently control each LED light group, and display the current power of the battery pack to the user by adjusting the number of lit LED light groups.

[0251] 3) Motor status detection and control:

[0252] like Fig.24 As shown, the 10th pin of the main control chip U3 outputs a DC voltage (eg, 5V) after power-on. The second temperature-sensitive resistor NTC2 is arranged near the motor, and the two ends of the second temperature-sensitive resistor NTC2 are respectively connected to the 10th pin and the 11th pin of the main control chip U3.

[0253] The operating temperature of the motor will change the resistance of the second temperature-sensitive resistor NTC2, thereby changing the voltage on the 11th pin of the main control chip U3. Thus, the main control chip U3 detects the operating temperature of the motor and performs the motor temperature protection function (stops the motor when the motor temperature is too high).

[0254] like Fig.25As shown, the motor control circuit includes: a sixth MOS tube Q7, a twenty-eighth resistor R28, a twenty-ninth resistor R29, a thirtieth resistor R30, a second diode D2, a sampling resistor Rs, and a resistor R constituting a filter. L1 and capacitor C L1 .

[0255] The drain of the sixth MOS tube Q7 is connected to the motor P- and connected to the positive electrode B+ of the battery pack through the second diode D2. The gate of the seventh MOS tube Q7 is connected to the motor control terminal DSG through the twenty-eighth resistor R28.

[0256] The gate of the sixth MOS transistor Q7 is also connected to the source of the sixth MOS transistor Q7 through the twenty-ninth resistor R29. The source of the sixth MOS transistor Q7 is connected to the negative electrode B- of the battery pack through the sampling resistor Rs. L1 One end of the resistor R is connected to the source of the sixth MOS tube Q7. L1 The other end of the resistor R L1 Also through the capacitor C L1 Connected to the negative electrode B- of the battery pack. One end of the 30th resistor R30 is connected to the source of the sixth MOS transistor Q7, and the other end of the 30th resistor R30 forms a short circuit detection terminal SHORT.

[0257] The 19th pin of the main control chip U3 is connected to the motor control terminal DSG. When the 19th pin outputs a high level signal, the sixth MOS tube Q7 is controlled to be turned on, and the motor obtains power. When the 19th pin outputs a low level signal, the sixth MOS tube Q7 is turned off, cutting off the power supply and stopping the motor.

[0258] The 14th pin of the main control chip U3 is connected to the current sampling terminal CUR_DET. The sampling resistor Rs will form a voltage signal proportional to the current flowing through the motor. The voltage signal generated by the sampling resistor Rs is processed by the filter, output from the current sampling terminal CUR_DET and provided to the main control chip U3. The main control chip U3 can calculate and determine the working current of the motor according to the voltage signal received at the 14th pin.

[0259] The 13th pin of the main control chip U3 is connected to the short circuit detection terminal SHORT. When a short circuit occurs in the motor, the current flowing through the sampling resistor Rs will increase rapidly, thereby generating a suddenly increased voltage signal at the short circuit detection terminal SHORT. The main control chip U3 determines whether a short circuit occurs based on whether the 13th pin receives a sudden voltage signal.

[0260] When the main control chip U3 determines that a short circuit occurs, it triggers a protection action, outputs a low-level signal through pin 19, cuts off the power supply and stops the motor from running.

[0261] 4) Battery pack voltage detection:

[0262] like Fig.26 As shown, the battery voltage detection circuit includes: a seventh MOS tube Q8, a thirty-first resistor R31, a thirty-second resistor R32, a thirty-third resistor R33 and a thirty-fourth resistor R34.

[0263] The gate of the seventh MOS transistor Q8 is connected to the power-on detection terminal 5V_IO through the thirty-first resistor R31. The gate of the seventh MOS transistor Q8 is also connected to the negative electrode B- of the battery pack through the thirty-second resistor R32.

[0264] The source of the seventh MOS tube Q8 is connected to the negative electrode B- of the battery pack through the thirty-fourth resistor R34. The drain of the seventh MOS tube Q8 is connected to the positive electrode B+ of the battery pack through the thirty-third resistor R33. A battery voltage detection terminal VBT_DET is formed between the source of the seventh MOS tube Q8 and the thirty-fourth resistor R34.

[0265] The 10th pin of the main control chip U3 is connected to the power-on detection terminal 5V_IO. The 12th pin of the main control chip U3 is connected to the battery voltage detection terminal VBT_DET.

[0266] When the main control chip U3 is powered on, the pin 10 outputs a DC voltage. At this time, the seventh MOS tube Q8 is turned on, and the main control chip U3 obtains the voltage of the battery pack through the pin 12.

[0267] 5) Power adapter insertion detection and charging status detection:

[0268] like Fig.25 As shown, the 6th pin of the main control chip U3 is connected to the signal connection line 943 for receiving the detection signal of the charging state. The 6th pin of the main control chip U3 is also connected to the 10th pin through the second pull-up resistor RV2.

[0269] Therefore, the second pull-up resistor RV2 ensures that the level of the sixth pin of the main control chip U3 is stable, and can reliably receive the detection signal from the signal connection line 943 (ie, the level signal provided by the detection signal terminal DS).

[0270] like Fig. 27 As shown, the insertion wake-up circuit includes: a second transistor Q9, a thirty-fifth resistor R35 and a thirty-sixth resistor R36.

[0271] Among them, the base of the second transistor Q9 is connected to the wake-up signal terminal WAKE through the thirty-fifth resistor R35, and the base of the second transistor Q9 is also connected to the emitter of the second transistor Q9 through the thirty-sixth resistor R36. The emitter of the second transistor Q9 is also connected to the negative electrode B- of the battery pack. The collector of the second transistor Q9 forms the second charging detection terminal CHG_DET2. The second charging detection terminal CHG_DET2 is connected to the first pin of the main control chip U3.

[0272] When the power adapter is inserted into the charging port, the wake-up signal terminal WAKE of the charge and discharge management module 920 forms a high-level signal, which is transmitted to the wake-up signal terminal WAKE of the main control module 930 through the signal connection line 942, so that the level of the base of the second transistor Q9 is pulled high.

[0273] At this time, the second transistor Q9 is turned on, and the level signal of the second charging detection terminal CHG_DET2 is pulled low. When the main control chip U3 detects that the level of the first pin is pulled low, it wakes up and enters the charging state for charging the battery pack.

[0274] 6) Motor running gear display:

[0275] In order to meet the needs of different cleaning scenarios, the motor used as a cleaning device is provided with two different operating modes (e.g., high-speed mode and low-speed mode). The 15th and 16th pins of the main control chip U3 can be connected to two LED mode indicators respectively, and the current operating mode of the motor is indicated by controlling the lighting / extinguishing of the two LED mode indicators.

[0276] In this application, the correlations and associations between different embodiments are recorded and described in detail. Based on the records of these correlations and associations, those skilled in the art can understand and confirm whether there are conflicts between the technical features involved in different embodiments.

[0277] Furthermore, when the technical features involved in different embodiments do not conflict with each other as clearly recorded and described in the correlation and association relationship, they can be combined with each other to obtain more embodiments. The embodiments obtained by these simple combinations all fall within the scope of the disclosure of this application.

[0278] The above contents are further detailed descriptions of the present application in combination with specific / preferred implementation methods, and it cannot be determined that the specific implementation of the present application is limited to these descriptions. For ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application.

Claims

1. A cleaning device, characterized in that: include: A first body, wherein a driving device is disposed in the first body, and the driving device is used to output torque; A second body, the second body is rotatably connected to the first body, the second body comprises a rotating part, and the rotating part rotates around a first axis direction; a power transmission device, wherein the input shaft of the power transmission device is connected to the output end of the driving device, and the output shaft of the power transmission device is connected to the rotating part, A cleaning component, wherein the cleaning component is fixed to the rotating part and rotates with the rotating part; The relative angle between the second body and the first body is variable, and the power transmission device is a non-coaxial transmission mechanism to adapt to the change of the relative angle between the second body and the first body.

2. The cleaning device according to claim 1, characterized in that The first body comprises: a first main body shell, wherein the driving device is accommodated and fixed in the first main body shell; A first main body connecting portion, the first main body connecting portion is formed at one end of the first main body shell; The second body further includes: a second body connecting portion, the second body connecting portion being rotatably connected to the first body connecting portion; The rotating part is rotatably connected to the second main body connecting part, and can rotate relative to the second main body connecting part around the first axis direction.

3. The cleaning device according to claim 2, characterized in that: Also includes: An angle locking device is provided between the first main body connection part and the second main body connection part, and is used for limiting the first main body connection part from rotating relative to the second main body connection part around a second axis direction.

4. The cleaning device according to claim 3, characterized in that: The angle locking device moves along the second axis direction to switch between a locked state and an unlocked state; Wherein, in the locked state, the angle locking device simultaneously forms a rotation constraint with the first main body connection part and the second main body connection part to limit the first main body connection part and the second main body connection part from rotating around the second axis direction; In the unlocked state, the angle locking device releases the rotation constraint between the first main body connection part or the second main body connection part to allow the first main body connection part or the second main body connection part to rotate around the second axis direction.

5. The cleaning device according to claim 4, characterized in that The rotation constraint is formed by the cooperation of the first connecting member and the second connecting member; The first connecting member includes: a plurality of protrusions arranged around the second axis direction, and the second connecting member includes: a plurality of grooves adapted to the protrusions; when the protrusions are embedded in the grooves, the rotation constraint is formed; Wherein, the first connecting member is arranged on the angle locking device, and the first main body connecting part and the second main body connecting part are both provided with the second connecting member; or The second connecting member is disposed on the angle locking device, and both the first main body connecting portion and the second main body connecting portion are provided with the first connecting member.

6. The cleaning device according to claim 5, characterized in that The groove and the protrusion extend in the direction of the second axis, and guide the angle locking device to move along the direction of the second axis.

7. The cleaning device according to claim 5, characterized in that The angle locking device comprises: an angle locking component, the angle locking component reciprocatingly moving between an unlocking position and a locking position along the second axis direction; A pressing locking component, wherein the pressing locking component is fixed to the second main body connecting portion, and the angle locking component is engaged with the angle locking component in the unlocking position, so that the angle locking component is maintained in the unlocking position; an elastic reset component, the elastic reset component being connected to the angle locking component and being used for driving the angle locking component to move in a direction away from the unlocking position; Wherein, when the angle locking component is in the unlocking position, the angle locking component releases the rotation constraint between the angle locking component and the first main body connecting part; When the angle locking component is in the locking position, the angle locking component forms rotation constraint with the first main body connecting portion and the second main body connecting portion at the same time.

8. The cleaning device according to claim 7, characterized in that The first main body connecting portion is also provided with an abutment structure; Wherein, when the angle locking component is driven by the elastic reset component to move to the locking position, the abutment structure abuts against at least a portion of the angle locking component to keep the angle locking component at the locking position.

9. The cleaning device according to claim 7, characterized in that: The angle locking component comprises: locking component end face; A locking component side wall, the locking component side wall extending from a circumferential edge of an end surface of the locking component in a direction along the rotation axis; A clamping portion, the clamping portion is arranged on the end surface of the locking component and is located in the internal space surrounded by the side wall of the locking component; Wherein, when the angle locking component moves to the first target position, the clamping portion presses and triggers the pressing and locking component, so that the pressing and locking component remains engaged with the clamping portion; When the angle locking component moves to the second target position, the clamping portion presses and triggers the pressing and locking component again, so that the pressing and locking component releases the connection with the clamping portion.

10. The cleaning device according to claim 1, characterized in that The power transmission device comprises: An input connection part, one end of which forms the input shaft; An output connecting portion, one end of which forms the output shaft; An intermediate support portion, both ends of which are rotatably connected to the input connection portion and the output connection portion through two cross connection structures; Wherein, the two cross connection structures form two rotation axes with different angles through the intermediate support portion to accommodate the angular deflection between the input shaft and the output shaft; The angular deflection between the input shaft and the output shaft occurs as the relative angle of the second body to the first body changes.

11. The cleaning device according to claim 1, characterized in that The power transmission device further comprises: an elastic limiting component, Wherein, one end of the elastic limiting component is fixed on the rotating part, and the other end of the elastic limiting component is fixed on the output shaft.

Images