Self-walking cleaning machine

Abstract

The invention relates to a self-walking cleaning machine which comprises a shell and a cleaning module. The cleaning module is swingably mounted on the housing and includes a driving device, a swing arm, a cleaning unit, and a driving force transmission member. The driving device is used for providing driving force. The cleaning unit is rotatably disposed on the swing arm. The driving force transmission member is provided on and in contact with the swing arm, and transmits the driving force from the driving device to the cleaning unit to rotate the cleaning unit. In the process that the driving force transmission component transmits the driving force, the torque of the driving force transmission component is at least partially transmitted to the swing arm, so that the swing arm swings relative to the shell. Rotation of the cleaning unit and swinging of the swinging arm are achieved through the single driving device, the structure is simplified, and cost is reduced.

Description

TECHNICAL FIELD

[0001] The present invention relates to the field of cleaning machines, and more particularly, to a self-walking cleaning machine having a side brush that can be projected outwardly for enhanced cleaning performance at an area close to a wall. BACKGROUND

[0002] A vacuum cleaner is an apparatus that cleans a room by removing foreign substances. In recent years, a robot vacuum cleaner, which can automatically clean a target area by automatically removing foreign substances such as dust or garbage on a floor while moving by an automatic walking function without the intervention of a user, has been actively developed.

[0003] A robot vacuum cleaner performs a cleaning operation while automatically determining a cleaning area based on signals from a plurality of sensors. The robot vacuum cleaner includes a side brush for enhancing cleaning performance at an area close to a wall. The side brush of the robot vacuum cleaner is installed to an arbitrary side of a main body of the vacuum cleaner and is adapted to rotate about a rotational axis to scrape dust from a floor, sweep the dust into the main body of the robot vacuum cleaner, etc.

[0004] Since the side brush needs not to hinder the travel of the robot vacuum cleaner and not to cause interference with other components disposed at a bottom of the robot vacuum cleaner, the length of the side brush cannot be longer than a predetermined length, which results in the existence of an area, such as a corner of a floor, that the side brush cannot reach, thereby failing to completely clean the corresponding area.

[0005] Patent No. US8806711B2 discloses a self-moving cleaning machine that projects a side brush outwardly using only a single driving device. More specifically, torque is transmitted to a cam mechanism from a driven gear, and the side brush housing is rotated about a rotational axis with respect to a robot housing by rotation of the cam to move a link member. Accordingly, the side brush device reciprocates between a first position and a second position. In this way, when the side brush housing reciprocates with respect to the robot housing, the brush rotates with respect to the side brush housing, thereby guiding foreign substances to a suction port of the robot.

[0006] Patent No. US9510720B2 discloses a self-moving cleaning machine that generates power using a first driving device to rotate a side brush housing of a side brush device and generates power using a second driving device to rotate a brush of the side brush device. In this way, when the brush rotates with respect to the side brush housing, the side brush housing does not need to rotate with respect to the robot housing, and the timing at which the side brush housing is projected outwardly can be controlled by the first driving device. SUMMARY

[0007] An embodiment of the present application aims to provide an improved self-walking cleaning machine with a cleaning module having simple structure and low cost. Another embodiment aims to provide a self-walking cleaning machine capable of flexibly controlling the swing-out and swing-in of the cleaning module to adapt to different cleaning requirements and environments.

[0008] To achieve the above-mentioned purposes, the present application provides a self-walking cleaning machine comprising a housing and a cleaning module. The cleaning module is swingably mounted on the housing and comprises a driving device, a swing arm, a cleaning unit and a driving force transmission member. The driving device is used to provide a driving force. The cleaning unit is rotatably arranged on the swing arm. The driving force transmission member is arranged on the swing arm and in contact with the swing arm, and is used to transmit the driving force from the driving device to the cleaning unit to rotate the cleaning unit. In the process of transmitting the driving force by the driving force transmission member, the torque of the driving force transmission member is also at least partially transmitted to the swing arm to swing the swing arm relative to the housing.

[0009] In an embodiment, the driving device comprises a driving shaft. The driving force transmission member comprises a driving gear connected to the driving shaft, and at least one driven gear engaged with the driving gear. The driving gear comprises a first shaft portion, and the swing arm defines a first through hole, and the first shaft portion of the driving gear is inserted into the first through hole.

[0010] In an embodiment, the outer circumferential surface of the shaft portion of the driving gear is in contact with the surface of the swing arm defining the first through hole, thereby forming a first contact surface for transmitting torque.

[0011] In an embodiment, the swing arm comprises a first bearing, the first bearing is sleeved on the first shaft portion of the driving gear and is arranged in the first through hole of the swing arm to form the first contact surface.

[0012] In an embodiment, the driven gear comprises a second shaft portion, and the swing arm defines a second through hole, and the second shaft portion of the driven gear is inserted into the second through hole. The outer circumferential surface of the second shaft portion of the driven gear is in contact with the surface of the swing arm defining the second through hole, thereby forming a second contact surface for transmitting torque. The swing arm comprises a second bearing, the second bearing is sleeved on the second shaft portion of the driven gear and is arranged in the second through hole of the swing arm to form the second contact surface.

[0013] In an embodiment, the first bearing or the second bearing is an oil-containing bearing.

[0014] In an embodiment, the cleaning module can be located in a first position or a second position by swinging the swing arm relative to the housing. When the cleaning module is located in the first position, the vertical projection of the swing arm is located within the vertical projection of the housing. When the side brush module is located in the second position, a part of the vertical projection of the swing arm is located outside the vertical projection of the housing.

[0015] In one embodiment, the driving device of the cleaning module is disposed on the housing, and a driving shaft of the driving device extends and is connected to a driving gear of the driving force transmission member disposed on the swing arm.

[0016] In one embodiment, the swing arm comprises a base and a cover, the cover is engaged with the base and defines a receiving space for receiving the driving force transmission member.

[0017] In one embodiment, the cleaning module is a side brush module, and the cleaning unit is a brush and is rotatably connected to the driving force transmission member.

[0018] In one embodiment, the at least one driven gear comprises a first driven gear and a second driven gear, the second driven gear engages with the driving gear, and the second driven gear engages with the first driven gear. The first driven gear is connected to the brush to rotate the brush.

[0019] In one embodiment, the cleaning module is a wiping module, and the cleaning unit is a wiping device and is rotatably connected to the driving force transmission member.

[0020] In one embodiment, the wiping device comprises a wiping disc and a wiping cloth, the wiping cloth is disposed below the wiping disc. The wiping disc is rotatably connected to the driving force transmission member.

[0021] In one embodiment, the self-propelled cleaning machine further comprises a hook module. The hook module comprises a hook and a control device. The control device is connected to the hook to control the hook to be in an engaged position or a released position. A hook slot is formed on the swing arm, and the hook slot cooperates with the hook when the hook is in the engaged position.

[0022] In one embodiment, a guide slot is disposed on the swing arm, the guide slot is located on the opposite side of the hook slot and is formed with a slope capable of guiding the hook.

[0023] In one embodiment, the control device comprises a resilient component connected to a connecting end of the hook to provide a resilient force to move the engaging end of the hook downward. The control device comprises an electromagnet capable of generating a magnetic field to attract or repel the hook to move the engaging end of the hook upward.

[0024] In one embodiment, the control device comprises an electromagnet capable of generating a magnetic field to attract or repel the hook. The hook is made of a magnetic material, and the magnetic field of the electromagnet is capable of controlling the upward and downward movement of the engaging end of the hook.

[0025] Through the above configuration, the self-propelled cleaning machine of the present application can realize the rotation of the cleaning unit and the swing of the swing arm at the same time by a single driving device, greatly simplifying the structure and reducing the cost. In addition, through the design of the hook module, the swing out and retraction of the cleaning module can be flexibly controlled, further improving the cleaning efficiency and flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0027] wherein:

[0028] Figure 1 is a perspective view showing a self-propelled cleaning machine according to an embodiment.

[0029] Figure 2 is an exploded view showing a driving device of a side brush module and a swing arm according to an embodiment.

[0030] Figure 3 is an exploded view showing a swing arm of a side brush module according to an embodiment.

[0031] Figure 4 is an exploded view showing a swing arm of a side brush module according to an embodiment.

[0032] Figure 5 is a perspective view showing a wiping module according to an embodiment.

[0033] Figure 6 is an exploded view showing a driving device of a cleaning module and a wiping module according to an embodiment.

[0034] Figure 7 is an exploded view showing a wiping module of a cleaning module according to an embodiment.

[0035] Figure 8 is a sectional view showing a wiping module of a cleaning module according to an embodiment.

[0036] BRIEF DESCRIPTION OF DRAWINGS

[0037] 100: self-propelled cleaning machine

[0038] 110: housing

[0039] 113: recess

[0040] 114: recess

[0041] 200: side brush module

[0042] 210: swing arm

[0043] 211: brush base

[0044] 212: brush cover

[0045] 230: brush

[0046] 231: brush holder

[0047] 232: bristles

[0048] 233: Brush rotating axis

[0049] 240: Drive unit

[0050] 241: Drive shaft

[0051] 250: Drive force transmission component

[0052] 291: First through hole

[0053] 292: Second through hole

[0054] 510: Drive gear

[0055] 510A: Shaft

[0056] 510B: Tooth section

[0057] 521: First driven gear

[0058] 521A: Shaft

[0059] 521B: Tooth section

[0060] 522: Second driven gear

[0061] 600: Wiping Module

[0062] 610: Swing Arm

[0063] 611: Arm Base

[0064] 612: Arm Cover

[0065] 630: Wiping device

[0066] 631: Wiping the plate

[0067] 632: Wiping cloth

[0068] 633: Disc Rotation Shaft

[0069] 640: Drive unit

[0070] 641: Drive shaft

[0071] 650: Drive force transmission component

[0072] 670: Bearing

[0073] 691: First through hole

[0074] 692: Second through hole

[0075] 710: Drive gear

[0076] 710A: Shaft

[0077] 710B: Tooth section

[0078] 721: First driven gear

[0079] 721A: Shaft

[0080] 721B: Tooth section

[0081] 800: Hook Module

[0082] 811: Hook

[0083] 820: Control device

[0084] 824: Electromagnet

[0085] 825: Flexible component

[0086] 861: Card slot

[0087] 862: Guide slot

[0088] A: Locking position

[0089] B: Release position Detailed Implementation

[0090] Figure 1 This is a perspective view showing the self-propelled cleaning machine according to the first embodiment. Figure 1 As shown, a self-propelled cleaning machine 100 according to one embodiment includes a housing 110 defining the appearance of the self-propelled cleaning machine 100 and at least one cleaning module. In one embodiment, at least one of the cleaning modules may include a wiping module 600. In another embodiment, at least one of the cleaning modules may include one or more side brush modules 200. The housing 110 may be circular, D-shaped, or have a flat polyhedral shape, but is not limited thereto. The housing 110 may accommodate various parts constituting the self-propelled cleaning machine 100. For example, a suction device (not shown) for suctioning foreign objects and a collection device (not shown) for collecting the suctioned foreign objects may be provided in the housing 110. The housing 110 is provided with a moving device for moving the housing 110. The moving device may include a drive motor (not shown) provided in the housing 110 and wheels or track wheels rotated by the drive motor. The self-propelled cleaning machine 100 may be a sweeping robot.

[0091] The cleaning module is oscillatingly mounted on the housing 110. For example... Figure 1 As shown, the cleaning module may include a side brush module 200, which is rotatably mounted on the housing 110 such that the free end of the side brush module 200 is selectively located on the underside or outside of the housing 110. The side brush module 200 is configured to sweep foreign objects toward the suction port, so that the suction device sucks away the foreign objects on the ground through the suction port.

[0092] The side brush module 200 may include a swing arm 210, a brush 230 as a cleaning unit, a drive unit 240, and a drive force transmission member 250. The drive unit 240 provides driving force through the drive force transmission member 250 to rotate the brush 230 relative to the swing arm 210. The drive force transmission member 250 is disposed on and in contact with the swing arm 210. During the transmission of driving force by the drive force transmission member 250, the torque of the drive force transmission member 250 is also at least partially transmitted to the swing arm 210, causing the swing arm 210 to rotate relative to the housing 110. Therefore, the drive unit 240 does not need to, and does not directly provide driving force to the swing arm 210, but rather, through the contact surface between the drive force transmission member 250 and the swing arm 210, the torque of the drive force transmission member 250 is also at least partially transmitted to the swing arm 210.

[0093] The difference between this embodiment and the prior art is that, in addition to the mechanism for rotating the brush, the patent with publication number US8806711B2 requires an additional drive force transmission member to transmit the drive force from the drive device to the brush housing. The patent with publication number US9510720B2 requires an additional drive device to generate power to rotate the side brush housing of the side brush device. In contrast, according to this embodiment, the rotational energy of the drive force transmission member 250 (which is originally intended to directly rotate the brush 230) can be used to indirectly rotate the swing arm 210 through the contact surface between the drive force transmission member 250 and the swing arm 210. The structure of each embodiment of the present invention will be described in more detail below.

[0094] like Figure 1 As shown, the swing arm 210 has a hollow polyhedral shape, which corresponds to the recess 113 on the lower side of the base of the housing 110, and can be accommodated in the recess 113. Figure 2 This is an exploded view showing the drive unit and swing arm of a side brush module according to one embodiment. Figure 2 As shown, in one embodiment, the drive device 240 is disposed on the base of the housing 110; that is, the drive device 240 is not disposed within the swing arm 210 and does not rotate with the swing arm 210. This reduces the overall weight borne by the swing arm 210. However, in other embodiments, the drive device 240 may also be disposed on the swing arm 210, and the drive device 240 rotates with the swing arm 210. The drive device 240 includes a drive shaft 241 that rotates to transmit driving force. When the drive device 240 is fixed to the base of the housing 110, the drive shaft 241 passes through the housing 110 and extends downward. The drive force transmission member 250 transmits the driving force from the drive device 240, particularly the torque from the drive shaft 241, to the brush 230.

[0095] Figure 3This is an exploded view showing a perspective of the swing arm of a side brush module according to one embodiment. Figure 4 This is an exploded view showing another perspective of the swing arm of a side brush module in one embodiment. Figure 3 It is a picture taken from a top-down, oblique perspective. Figure 4 This is an image viewed from a bottom-up, oblique angle. For example... Figure 3 and Figure 4 As shown, the swing arm 210 can be a brush housing and includes a brush base 211 and a brush cover 212. The brush cover 212 is engaged with the brush base 211 and defines a receiving space for accommodating the drive force transmission member 250. A brush 230 is rotatably mounted on the bottom surface of the swing arm 210. The brush 230 is located outside the coverage area of ​​the suction port to move foreign objects to the underside of the suction port. The brush 230 includes a brush holder 231 rotatably mounted on the swing arm 210 and a plurality of bristles 232 fixed to the brush holder 231. In one embodiment, the number of bristles 232 can be three, which are fixed to the brush holder 231 and spaced apart from each other by a predetermined central angle, for example, approximately 120°. However, the number of bristles 232 is not specifically limited.

[0096] like Figure 3 As shown, the driving force transmission component 250 may include a drive gear 510 and at least one driven gear. In this embodiment, the driven gear may include a first driven gear 521 and a second driven gear 522. The drive gear 510, the first driven gear 521, and the second driven gear 522 are rotatably mounted on the bottom surface of the brush base 211. The drive gear 510 is connected to a drive shaft 241, and more specifically, the drive shaft 241 is inserted into the drive gear 510. The first driven gear 521 is connected to the brush rotation shaft 233 of the brush holder 231, and more specifically, the brush rotation shaft 233 is inserted into the first driven gear 521. The second driven gear 522 meshes with the drive gear 510. The second driven gear 522 meshes with the first driven gear 521. When the drive device 240 is driven, the driving force from the drive shaft 241 is transmitted to the brush rotation shaft 233 through the drive gear 510, the first driven gear 521, and the second driven gear 522. The gear ratio between the drive gear 510 and the first driven gear 521 and the second driven gear 522 can be appropriately set according to the rotational speed of the drive unit 240 and the rotational speed of the brush 230. Moreover, the second driven gear 522 can be removed substantially as needed.

[0097] like Figure 3 and Figure 4As shown, the drive gear 510 includes a shaft portion 510A and a tooth portion 510B that rotate together. The first driven gear 521 includes a shaft portion 521A and a tooth portion 521B that rotate together. The tooth portions 510B of the drive gear 510 and the first driven gear 521B are connected to the second driven gear 522. The shaft portion 510A of the drive gear 510 is connected to the drive shaft 241. The shaft portion 521A of the first driven gear 521 is connected to the brush rotation shaft 233. The swing arm 210 defines a first through hole 291 and a second through hole 292. The shaft portion 510A of the drive gear 510 is inserted into the first through hole 291, while the shaft portion 521A of the first driven gear 521 is inserted into the second through hole 292. The shaft portion 510A extends toward two opposite upper and lower surfaces of the drive gear 510 body.

[0098] like Figure 3As shown, since the shaft portion 510A of the drive gear 510 is fixed to the drive shaft 241 and rotates within the first through hole 291, the swing arm 210 rotates relative to the housing 110 about the shaft portion 510A of the drive gear 510 as an axis while the brush 230 rotates, allowing the free end of the swing arm 210 to be located inside or outside the recess 113. More specifically, the shaft portion 510A also causes the shaft portion 510A of the drive gear 510 to rotate within the first through hole 291 while the brush 230 rotates. The outer peripheral surface of the shaft portion 510A of the drive gear 510 makes contact with the surface of the brush cover 212 that defines the first through hole 291, thereby forming a contact surface for transmitting torque. When the shaft 510A of the drive gear 510 rotates in the first rotation direction, torque is transmitted through the friction of the contact surface, causing the surface of the brush cover 212 defining the first through hole 291 to experience torque in the second rotation direction. This causes the swing arm 210 to rotate relative to the housing 110 in the second rotation direction, with the shaft 510A of the drive gear 510 as its axis. The first rotation direction is opposite to the second rotation direction. More specifically, when the drive gear 510 rotates clockwise, the swing arm 210 experiences a counterclockwise torque T1 through the contact surface between the drive gear 510 and the swing arm 210. When the second driven gear 522 rotates counterclockwise, the swing arm 210 experiences a clockwise torque T2 through the contact surface between the second driven gear 522 and the swing arm 210. When the first driven gear 521 rotates clockwise, the swing arm 210 experiences a counterclockwise torque T3 through the contact surface between the first driven gear 521 and the swing arm 210. Therefore, the total torque T felt by the swing arm 210 from the driving force transmission member 250 is the sum of T1, T2, and T3. That is, T = T1 + T2 + T3. When the clockwise direction is set as positive, T2 is positive, while T1 and T3 are negative. In one embodiment, the swing arm 210 swings relative to the housing only through the torque transmitted to the swing arm 210 by the driving force transmission member 250, and not through other active driving forces. That is, the driving force transmission member 250 transmits the torque formed by the reaction force to the swing arm 210 through the contact surface between the gear therein and the swing arm 210, causing the swing arm 210 to swing.

[0099] The side brush module 200 can be positioned in a first or second position by rotating the swing arm 210 relative to the housing 110. In the first position, the side brush module 200 is located below the housing 110, that is, the side brush module 200 is received within the recess 113. In this case, the vertical projection of the swing arm 210 is located within the vertical projection of the housing 110. In the second position, at least a portion of the side brush module 200 is located outside the housing 110. When the side brush module 200 is in the second position, a portion of the vertical projection of the swing arm 210 is located outside the vertical projection of the housing 110, and the remaining portion of the vertical projection of the swing arm 210 is located within the vertical projection of the housing 110. Alternatively, when the side brush module 200 is in the first position, a portion of the vertical projection of the brush 230 may be located outside the vertical projection of the housing 110.

[0100] Depending on whether the self-propelled cleaning machine 100 is in cleaning operation, the side brush module 200 can be located in a first position or a second position. Therefore, the vertical overlap area between the swing arm 210 and the housing 110 can vary depending on the movement of the side brush module 200 (or the swing arm 210).

[0101] The cleaning operation can be the operation of the suction device. When the cleaning operation begins, the drive device 240 rotates the brush 230 in the cleaning rotation direction, thereby rotating the side brush module 200 to a second position. When the self-propelled cleaning machine 100 is about to end the cleaning operation, the drive device 240 rotates the brush 230 in the non-cleaning rotation direction, thereby rotating the side brush module 200 to a first position. The cleaning rotation direction is the direction in which debris is swept to the suction inlet of the suction device, and the cleaning rotation direction is opposite to the non-cleaning rotation direction. When the self-propelled cleaning machine 100 is not in a cleaning operation, the side brush module 200 is in the first position, at which time the side brush module 200 is located below (or inside) the housing 110 and is not exposed outside the housing 110. In other embodiments, a portion of the side brush module 200 may protrude beyond the coverage area of ​​the housing 110, but the area of ​​the protruding portion may be smaller than the portion located below the housing 110. Because the side brush module 200 is located below the housing 110, the space required to store the self-propelled cleaning machine 100 can be reduced. In addition, when the brush 230 is located below the housing 110, the possibility of damage to the brush 230 can be reduced when the self-propelled cleaning machine 100 is stored.

[0102] When the cleaning operation is underway and the side brush module 200 is rotated to the second position, during the movement of the self-propelled cleaning machine 100, if the swing arm 210 encounters an obstacle or an external force is applied to it, the outer peripheral surface of the shaft portion 510A of the drive gear 510 and the surface of the brush cover 212 defining the first through hole 291 are only in contact, not fixed. Therefore, the swing arm 210 can overcome the torque from the drive force transmission member 250 and rotate towards the first position. This allows the side brush module 200 to automatically retract when it encounters an obstacle without requiring an additional protection mechanism. More specifically, it eliminates the need for additional elastic members, first linkage members, and second linkage members as required by US8806711B2, which are used to protect the side brush module and rotate around a connecting pin to overcome the elasticity of the elastic member in response to external forces applied to the swing arm 210.

[0103] When the self-propelled cleaning machine 100 travels along linear obstacles such as walls, the side brush module 200 can protrude outwards and effectively remove foreign objects between the housing 110 of the self-propelled cleaning machine 100 and the obstacle, thereby improving cleaning efficiency.

[0104] According to the above embodiment, the power from the drive device 240 is transmitted to the swing arm 210 and brush 230 of the side brush module 200 via the drive force transmission member 250. More specifically, the torque is directly transmitted to the brush 230 through the meshing of the gears in the drive force transmission member 250, and the torque of the drive force transmission member 250 is also at least partially transmitted to the swing arm 210 through the contact surface between the drive force transmission member 250 and the swing arm 210.

[0105] like Figure 1 As shown, the cleaning module of the self-propelled cleaning machine 100 may include a wiping module 600, which is rotatably mounted on the housing 110 such that the free end of the wiping module 600 is selectively located on the underside or outside of the housing 110. The wiping module 600 is configured to clean or wipe away foreign objects on the floor.

[0106] Figure 5 This is a perspective view showing a wiping module according to one embodiment. Figure 6 This is an exploded view showing the driving device and wiping device of a wiping module according to an embodiment. (As shown...) Figure 1 , Figure 5 and Figure 6As shown, the cleaning module may include a wiping module 600, and the shape of the wiping module 600 corresponds to another recess 114 on the lower side of the base of the housing 110, and can be accommodated in the recess 114. The wiping module 600 may include a swing arm 610, a wiping device 630 as a cleaning unit, a drive device 640, and a drive force transmission member 650. The wiping device 630 includes a wiping disc 631 and a wiping cloth 632. The wiping disc 631 is connected to the swing arm 610, and the wiping cloth 632 is disposed below the wiping disc 631. The drive device 640 provides a driving force through the drive force transmission member 650 to rotate the wiping device 630 relative to the swing arm 610. The drive force transmission member 650 is disposed on and in contact with the swing arm 610. During the process of the drive force transmission member 650 transmitting the driving force, the torque of the drive force transmission member 650 is also at least partially transmitted to the swing arm 610, causing the swing arm 610 to rotate relative to the housing 110. Therefore, the drive unit 640 does not need to, and does not directly provide driving force to the swing arm 610. Instead, it transmits the torque of the driving force transmission member 650 to the swing arm 610 at least partially through the contact surface between the driving force transmission member 650 and the swing arm 610. The drive unit 640 may include a motor and a reduction gear set for providing power and deceleration.

[0107] Figure 7 This is an exploded view showing the wiping device of a cleaning module according to one embodiment. Figure 7 As shown, the swing arm 610 includes an arm base 611 and an arm cover 612. The arm cover 612 engages with the arm base 611 and defines an accommodating space for accommodating the drive force transmission member 650. The wiping device 630 is rotatably mounted on the bottom surface of the swing arm 610. The drive force transmission member 650 may include a drive gear 710 and at least one driven gear. In this embodiment, the driven gear may include a first driven gear 721. The drive gear 710 and the first driven gear 721 are rotatably mounted on the bottom surface of the arm base 611. The drive gear 710 is connected to the drive shaft 641 of the drive device 640. The first driven gear 721 is connected to the disk rotation shaft 633 of the wiping disk 631. The first driven gear 721 meshes with the drive gear 710. When the drive device 640 is driven, the driving force from the drive shaft 641 is transmitted to the disk rotation shaft 633 through the drive gear 710 and the first driven gear 721, causing the wiping device 630 to rotate. The gear ratio between the drive gear 710 and the first driven gear 721 can be appropriately set according to the rotational speed of the drive device 640 and the rotational speed of the wiping device 630. Moreover, in another embodiment, the driven gear may also include a second driven gear as needed.

[0108] like Figure 7As shown, the drive gear 710 includes a shaft portion 710A and a tooth portion 710B that rotate together. The first driven gear 721 includes a shaft portion 721A and a tooth portion 721B that rotate together and mesh. The tooth portion 710B of the drive gear 710 meshes with the tooth portion 721B of the first driven gear 721. The shaft portion 710A of the drive gear 710 is connected to the drive shaft 641. The shaft portion 721A of the first driven gear 721 is connected to the disk rotation shaft 633. The swing arm 610 defines a first through hole 691 and a second through hole 692. The shaft portion 710A of the drive gear 710 is inserted into the first through hole 691, while the shaft portion 721A of the first driven gear 721 is inserted into the second through hole 692. The shaft portion 710A extends toward two opposite sides of the body of the drive gear 710.

[0109] Since the shaft portion 710A of the drive gear 710 is fixed to the drive shaft 641, the swing arm 610 rotates relative to the housing 110 about the shaft portion 710A of the drive gear 710, allowing the free end of the swing arm 610 to be located inside or outside the recess 114. More specifically, the shaft portion 710A of the drive gear 710 rotates within the first through hole 691, and the outer peripheral surface of the shaft portion 710A of the drive gear 710 contacts the surface of the arm cover 612 that defines the first through hole 691, thereby forming a contact surface for transmitting torque.

[0110] The wiping module 600 can be positioned in a first or second position by rotating the swing arm 610 relative to the housing 110. In the first position, the wiping module 600 is located below the housing 110, that is, the wiping module 600 (or its wiping device 630) is accommodated within the recess 114. In this case, the vertical projection of the swing arm 610 lies within the vertical projection of the housing 110. In the second position, at least a portion of the wiping module 600 lies outside the housing 110. When the wiping module 600 is in the second position, a portion of the vertical projection of the swing arm 610 lies outside the vertical projection of the housing 110, and the remaining portion of the vertical projection of the swing arm 610 lies within the vertical projection of the housing 110. Alternatively, when the wiping module 600 is in the first position, a portion of the vertical projection of the wiping device 630 may lie outside the vertical projection of the housing 110.

[0111] Depending on whether the self-propelled cleaning machine 100 is in cleaning operation, the wiping module 600 can be located in a first position or a second position. Therefore, the vertical overlap area between the swing arm 610 and the housing 110 can vary depending on the movement of the wiping module 600 (or the swing arm 210).

[0112] When a cleaning operation begins, the drive unit 640 rotates the wiping device 630 in a first rotational direction, thereby rotating the wiping module 600 to a second position. When the self-propelled cleaning machine 100 is about to finish cleaning, the drive unit 640 rotates the wiping device 630 in a second rotational direction, thereby rotating the wiping module 600 to a first position. When the self-propelled cleaning machine 100 is not in a cleaning operation, the wiping module 600 is in the first position. Therefore, the wiping module 600 is located below (or inside) the housing 110 and is not exposed outside the housing 110. In other embodiments, a portion of the wiping module 600 may protrude beyond the coverage area of ​​the housing 110, but the area of ​​the protruding portion may be smaller than the portion located below the housing 110. Because the wiping module 600 is located below the housing 110, the space required for storing the self-propelled cleaning machine 100 can be reduced. Furthermore, when the wiping device 630 is located below the housing 110, the possibility of damage to the wiping device 630 when the self-propelled cleaning machine 100 is stored can be reduced.

[0113] When the self-propelled cleaning machine 100 is in cleaning operation and the wiping module 600 is rotated to the second position, during its movement, when the swing arm 610 encounters an obstacle or an external force is applied to it, the swing arm 610 can overcome the torque from the drive force transmission member 650 and rotate to the first position because the outer peripheral surface of the shaft portion 710A of the drive gear 710 and the surface of the arm cover 612 defining the first through hole 691 are only in contact, not fixed. This eliminates the need for additional mechanisms, such as elastic members, as in the prior art, to handle situations where external forces can be applied to the swing arm 610. When the self-propelled cleaning machine 100 travels linearly along an obstacle such as a wall in one direction, the wiping module 600 can protrude outwards and effectively remove foreign objects between the housing 110 of the self-propelled cleaning machine 100 and the obstacle, improving cleaning efficiency.

[0114] According to the above embodiment, the power from the drive device 640 is transmitted to the swing arm 610 and the wiping device 630 of the wiping module 600 via the drive force transmission member 650. More specifically, the torque is directly transmitted to the wiping device 630 through the meshing of the gears in the drive force transmission member 650, and the torque of the drive force transmission member 650 is also at least partially transmitted to the swing arm 610 through the contact surface between the drive force transmission member 650 and the swing arm 610.

[0115] In one embodiment, the wiping device 630 includes a plurality of bearings 670. The plurality of bearings 670 are fitted between the shaft portion 710A and the first through hole 691; and between the shaft portion 721A and the second through hole 692. By using durable components such as bearings 670, the shaft portion 710A, the first through hole 691, the shaft portion 721A, and the second through hole 692, which are made of plastic, are protected, ensuring the long-term reliability of the product. The bearings 670 can be oil-impregnated bearings. Oil-impregnated bearings have many tiny pores inside their material, which are filled with lubricating oil. When the bearing 670 is stationary, the oil will not flow out, but when the bearing 670 rotates, frictional heat causes the oil to seep out due to thermal expansion. The seeping oil forms a lubricating film on the surface of the bearing 670, reducing friction and increasing service life. Oil-impregnated bearings have self-lubricating and wear-resistant properties, and can operate stably for a long time without additional lubrication. In one embodiment, the oil-impregnated bearings are fitted between the shaft portion 710A and the shaft portion 721A, serving as a rotating shaft that maintains low-friction rotation. During manufacturing, multiple bearings 670 are press-fitted into the first through hole 691 and the second through hole 692 of the arm cover 612, forming a robust support structure. Compared to ball bearings, oil-impregnated bearings are less expensive and a more economical choice. Using oil-impregnated bearings in critical rotating parts of the product can improve overall structural strength and service life.

[0116] In one embodiment, the wiping module 600 of the self-propelled cleaning machine 100 is configured as a mechanism capable of controlling the wiping device 630 to swing out and retract. Figure 8 This is a cross-sectional view of a wiping module of a cleaning module according to an embodiment. The wiping module 600 also includes a hook module 800. The hook module 800 includes a hook 811 and a control device 820, which is connected to the hook 811 to control the hook 811 to be in an engaged position A or an unengaged position (i.e., a released position B). A groove 861 is formed on the arm cover 612 of the swing arm 610.

[0117] To retract the wiping device 630, rotate the wiping disc 631 in the retracting direction, causing the wiping device 630 to retract into the recess 114. At this time, the control device 820 positions the hook 811 in the engaged position A, with the slot 861 engaging with the hook 811. In this state, even if the wiping disc 631 is rotated in the releasing direction, the wiping device 630 will remain in the retracted state because the slot 861 and hook 811 are engaged, meaning the wiping device 630 is contained within the recess 114.

[0118] The hook module 800 is mounted on the housing 110. The control device 820 includes an elastic component 825 connected to the connecting end of the hook 811, providing an elastic force to move the engaging end of the hook 811 downwards, placing the engaging end of the hook 811 in the engaging position A, thus restricting the rotation and extension of the wiping device 630. The control device 820 may also include an electromagnet 824 capable of controlling the up-and-down movement of the engaging end of the hook 811. When current passes through the coil of the electromagnet 824, a magnetic field is generated around it. The strength and direction of this magnetic field can be adjusted by changing the magnitude and direction of the current. The hook 811, made of ferrous metal, is attracted by the magnetic field, thereby driving the engaging end of the hook 811 upwards to the release position B, thereby releasing the wiping device 630. In the initial state, the control circuit of the control device 820 does not energize the electromagnet 824, and the elastic component 825 of the spring naturally pulls down the hook 811 to lock the wiping device 630, preventing it from extending. When it is necessary to extend the wiping device 630, the control circuit energizes the electromagnet 824, thereby attracting the hook 811 upward and releasing the wiping device 630. In this embodiment, power is only required when the wiping device 630 needs to be extended, achieving a power-saving effect.

[0119] like Figure 8 As shown, in the initial state, the wiping device 630 is retracted inside the machine. The engaging end of the hook 811 is in a downward-moving state, engaging in the slot 861 of the arm cover 612 to restrict the movement of the swing arm 610. When it is necessary to swing out the wiping device 630, the electromagnet 824 is energized to generate a magnetic force that attracts the hook 811 to move upward. The engaging end of the hook 811 disengages from the slot 861, releasing the swing arm 610. At this time, the motor of the drive device 640 starts to rotate, and through the drive of the gears, the wiping disc 631 rotates in the release direction, causing the swing arm 610 to swing outward, thus extending the wiping device 630 out of the housing 110.

[0120] When the power to the electromagnet 824 is turned off, the latch 811 of the self-propelled cleaning machine 100, under the action of the spring-loaded elastic component 825, is in the lower position, i.e., the engaged position A. Figure 6 As shown, to ensure smooth retraction of the wiping device 630, the arm cover 612 is provided with a guide groove 862. The guide groove 862 is located on the opposite side of 861 and forms an inclined surface that guides the sliding of the hook 811. During the retraction of the wiping device 630, the motor of the drive device 640 is rotated in the opposite direction, causing the wiping disc 631 to rotate in the retraction direction, which in turn drives the swing arm 610 to rotate back to the retracted position. The engaging end of the hook 811 slides on the inclined surface of the guide groove 862 and is gradually moved upward by the inclined surface of the guide groove 862. Finally, after moving a predetermined distance on the top surface of the arm cover 612, the engaging end of the hook 811 enters the slot 861 to form a lock, thus locking the position of the wiping device 630.

[0121] The main function of the sliding ramp in the guide groove 862 is to allow the wiping device 630 to retract smoothly into its original position without having to reactivate the electromagnet 824. When the self-propelled cleaning machine 100 needs to retract the wiping device 630, the motor of the drive unit 640 rotates in the retraction direction (counterclockwise), causing the swing arm 610 to move inward. The sliding ramp is designed on the top surface of the swing arm 610, allowing the wiping device 630 to slide down the ramp into the slot 861 without being blocked by the hook 811. This design cleverly utilizes the mechanical structure, avoiding additional power consumption and control complexity. The angle and shape of the sliding ramp are configured to ensure that the swing arm 610 can rotate smoothly, while allowing the hook 811 to slide into the slot 861 and automatically engage.

[0122] In one embodiment, the hook 811 is made of a magnetic material and can be attracted or repelled by the magnetic field generated by the electromagnet 824. The strength and direction of the magnetic field are controlled by precisely controlling the magnitude and direction of the current in the electromagnet 824, thus generating a magnetic force that moves the hook 811 upwards or downwards. When the wiping device 630 needs to be extended, the hook 811 is driven to rise and be in the open position. When the wiping device 630 needs to be retracted and is in the retracted position, the hook 811 is driven to descend and be in the engaged position A. This embodiment does not require the elastic component 825 as in the previous embodiment, thus making installation more convenient and the structure simpler, but it also consumes more power.

[0123] When the wiping device 630 extends, the cleaning width of the self-propelled cleaning machine 100 is increased, covering a larger area and improving cleaning efficiency. Especially when cleaning corners or edges, the extended wiping device 630 can better reach these hard-to-reach areas. When the self-propelled cleaning machine 100 is not in operation or during movement, retracting the wiping device 630 protects it from external environmental damage. This extends the lifespan of the wiping device 630 and reduces the frequency of maintenance and replacement. Different cleaning modes can be achieved by controlling the extension and retraction of the wiping device 630.

[0124] According to one embodiment of the present invention, the complex swinging or retracting action of the wiping device 630 can be realized with only the hook module 800. In one embodiment, the electromagnet 824 and the hook 811 can precisely control the swinging and retracting timing of the wiping device 630 through the electromagnet 824, which can flexibly control the working state of the wiping device 630 to adapt to different cleaning needs. Furthermore, the mechanical hook mechanism ensures the stability of the wiping device 630 when it is not in use.

[0125] In summary, according to the present invention, both the drive device 240 of the side brush module 200 and the drive device 640 of the wiping module 600 adopt a single motor design, achieving rotation and oscillation functions simultaneously through ingenious mechanical transmission. That is, through the principle of action and reaction forces, the driving force transmission component 250 transmits the driving force from the drive device 240 or 640 to the cleaning unit. During the rotation of the cleaning unit, the torque generated by the reaction force is transmitted to the oscillating arm 210 through the contact surface between the gear in the driving force transmission component 250 and the oscillating arm 210, causing the oscillating arm 210 to oscillate. Compared to the multi-motor design used in the prior art, this significantly reduces production costs. Secondly, the single motor simplifies the overall structure, reducing not only the number of parts but also the control system and assembly costs, making the self-propelled cleaning machine 100 more compact and optimizing the space utilization of the housing 110. According to the present invention, through a carefully designed mechanical transmission system, the single motor of the drive device 640 can simultaneously achieve multiple functions such as rotation and oscillation of the wiping module 600 or the side brush module 200.

Claims

1. A self-propelled cleaning machine, wherein, Self-propelled cleaning machines include: case; At least one cleaning module is pivotally mounted on the housing, and the at least one cleaning module includes: A drive unit, used to provide driving force; Swing arm; A cleaning unit, rotatably mounted on the swing arm; and A drive force transmission component is disposed on and in contact with the swing arm. The drive force transmission component is used to transmit the drive force from the drive device to the cleaning unit, so as to cause the cleaning unit to rotate. During the process of the driving force transmission component transmitting the driving force, the torque of the driving force transmission component is also at least partially transmitted to the swing arm, causing the swing arm to swing relative to the housing.

2. The self-propelled cleaning machine as described in claim 1, wherein, The drive device includes a drive shaft, and The driving force transmission component includes: Drive gear, connected to the drive shaft of the drive device; and At least one driven gear meshes with the drive gear to transmit the driving force from the drive device to the cleaning unit. The drive gear includes a first shaft portion, the swing arm defines a first through hole, and the first shaft portion of the drive gear is inserted into the first through hole. The swing arm rotates relative to the housing with the first shaft portion of the drive gear as its axis.

3. The self-propelled cleaning machine as described in claim 2, wherein, The outer peripheral surface of the first shaft portion of the drive gear contacts the surface of the swing arm that defines the first through hole, thereby forming a first contact surface for transmitting torque.

4. The self-propelled cleaning machine as described in claim 3, wherein, The swing arm includes a first bearing, which is sleeved on the first shaft portion of the drive gear and disposed in the first through hole of the swing arm, so that the first bearing of the swing arm and the outer peripheral surface of the first shaft portion of the drive gear form the first contact surface.

5. The self-propelled cleaning machine as described in claim 4, wherein, The driven gear includes a second shaft portion, and the swing arm defines a second through hole, into which the second shaft portion of the driven gear is inserted. The outer peripheral surface of the second shaft portion of the driven gear contacts the surface of the swing arm that defines the second through hole, thereby forming a second contact surface for transmitting torque. The swing arm includes a second bearing, which is sleeved on the second shaft portion of the driven gear and disposed in the second through hole of the swing arm to form the second contact surface.

6. The self-propelled cleaning machine as described in claim 5, wherein, The first or second bearing is an oil-impregnated bearing.

7. The self-propelled cleaning machine as described in claim 1, wherein, At least one of the cleaning modules can be positioned in a first position or a second position by swinging the swing arm relative to the housing. When at least one of the cleaning modules is in the first position, the vertical projection of the swing arm lies within the vertical projection of the housing. When at least one of the cleaning modules is in the second position, a portion of the vertical projection of the swing arm is located outside the vertical projection of the housing.

8. The self-propelled cleaning machine as described in claim 2, wherein, The drive unit of at least one of the cleaning modules is disposed on the housing, and The drive shaft of the drive device extends and is connected to the drive gear disposed on the drive force transmission member of the swing arm.

9. The self-propelled cleaning machine as described in claim 1, wherein, The swing arm includes a base and a cover, the cover being engaged with the base and defining an accommodating space for accommodating the drive force transmission member.

10. The self-propelled cleaning machine as described in claim 2, wherein, At least one of the cleaning modules includes a side brush module, while The cleaning unit is a brush and is rotatably connected to the driving force transmission component.

11. The self-propelled cleaning machine as described in claim 10, wherein, At least one of the driven gears includes a first driven gear and a second driven gear, wherein the second driven gear meshes with the drive gear, and the second driven gear meshes with the first driven gear. The first driven gear is connected to the brush to rotate the brush.

12. The self-propelled cleaning machine as described in claim 2, wherein, At least one of the cleaning modules includes a wiping module, and The cleaning unit is a wiping device and is rotatably connected to the driving force transmission component.

13. The self-propelled cleaning machine as described in claim 12, wherein, The wiping device includes a wiping disc and a wiping cloth, with the wiping cloth disposed below the wiping disc. The wiping disc is rotatably connected to the driving force transmission component.

14. The self-propelled cleaning machine as described in claim 12, wherein, The self-propelled cleaning machine also includes a hook module, among which... The hook module includes: Hook; and A control device is connected to the hook to control the hook to be in the engaged or disengaged position, and a groove is formed on the swing arm. When the hook is in the engaged position, the groove and the hook cooperate with each other.

15. The self-propelled cleaning machine as described in claim 14, wherein, The swing arm is provided with a guide groove, which is located on the opposite side of the slot and has an inclined surface that can guide the hook.

16. The self-propelled cleaning machine as described in claim 14, wherein, The control device includes an elastic component connected to the connecting end of the hook, which provides an elastic force to move the engaging end of the hook downwards. The control device includes an electromagnet that can generate a magnetic field that attracts or repels the latch, causing the engaging end of the latch to move upward.

17. The self-propelled cleaning machine as described in claim 14, wherein, The control device includes an electromagnet, which can generate a magnetic field that attracts or repels the latch. The latch is made of magnetic material, and the magnetic field of the electromagnet can control the up-and-down movement of the latch's engaging end.

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