Cleaning device and cleaning control method

Abstract

The application provides a cleaning device and a cleaning control method. The cleaning device comprises a floor brush assembly, which comprises a housing, a cleaning piece and a mechanical arm assembly. The mechanical arm assembly comprises a driving piece, a transmission assembly and a scraping strip. The driving piece drives the scraping strip to descend to contact a surface to be cleaned in a first direction through the transmission assembly. After the scraping strip contacts the surface to be cleaned, the driving piece drives the scraping strip to swing towards the rolling brush while keeping contact with the surface to be cleaned. By designing the movement of the scraping strip into two continuous stages of "first vertical descent to the ground, and then swinging to the rolling brush while keeping contact with the ground", the cleaning dead zone between the end of the scraping strip and the rolling brush is reduced when the scrubber pulls the water backward. When the user completes a backward pulling action and turns to clean next time, the water stains originally remaining in the cleaning dead zone are greatly reduced, thereby effectively improving the problem of water stains remaining on the surface to be cleaned, and improving the cleaning effect and user experience.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, specifically to a cleaning device and a cleaning control method. Background Technology

[0002] In the field of cleaning equipment, such as floor scrubbers, in order to more effectively scrape and recycle wastewater from the ground, it is usually necessary to lower the squeegee when the equipment is reversing to perform the squeegee function, and it is expected that water stains will not be left due to cleaning blind spots during subsequent operations such as equipment turning.

[0003] In related technologies, the squeegee is typically lowered to a fixed position as the floor scrubber reverses, allowing the end of the squeegee to contact the surface to be cleaned and remove wastewater. After this, the squeegee either remains in that fixed position or rises off the ground. Because a fixed gap is maintained between the end of the squeegee and the cleaning area of ​​the roller brush, when the floor scrubber turns after reversing and squeegeeing, the water stains that accumulate on the squeegee within this fixed gap cannot be effectively removed by the subsequent passing roller brush, leaving a triangular, uncleaned area with residual water stains on the floor.

[0004] Therefore, due to the limitation of existing technology where the position of the squeegee relative to the roller brush is usually fixed after the squeegee action is completed, a cleaning blind spot inevitably occurs between the squeegee and the roller brush during the continuous cleaning operation path of the floor scrubber in the "reverse-turn" phase, resulting in water residue. In order to improve the cleaning continuity and thoroughness of the floor scrubber, how to eliminate this cleaning blind spot during the reverse cleaning phase has become an urgent technical problem to be solved. Summary of the Invention

[0005] In view of this, the present application aims to provide a cleaning device and a cleaning control method to solve the problem of residual water stains in the cleaning blind area between the scraper and the roller brush in the prior art.

[0006] This application provides a cleaning device, which includes a body and a floor brush assembly rotatably connected to the body, the floor brush assembly comprising: case; A cleaning component is disposed in the housing, the cleaning component including a roller brush rotatably disposed in the housing; A robotic arm assembly is disposed in the housing and includes a drive member, a transmission assembly, and a scraper. The drive member drives the scraper to descend in a first direction to contact the surface to be cleaned through the transmission assembly. After the scraper contacts the surface to be cleaned, it is also used to drive the scraper to swing toward the roller brush while maintaining contact with the surface to be cleaned. Wherein, the first direction is the vertical direction.

[0007] In one embodiment, the transmission assembly includes a slider fixedly connected to the driving member, a slant transmission structure, and a first transmission member, wherein the slider and the first transmission member are connected by the slant transmission structure for transmission. The first transmission member is connected to the scraper and is configured to reciprocate along the first direction; The driving member is used to drive the sliding member to reciprocate along the second direction, so as to drive the scraper to rise and fall along the first direction through the first transmission member; The second direction is parallel to the length direction of the scraper.

[0008] In one embodiment, the inclined groove transmission structure includes an inclined groove that is angled to the first direction and a transmission protrusion that cooperates with the inclined groove transmission. The inclined groove is provided on one of the sliding member and the first transmission member, and the transmission protrusion is provided on the other. The sliding member moves along the second direction to drive the first transmission member to move along the first direction through the cooperating inclined groove and the transmission protrusion.

[0009] In one embodiment, the plane containing the sloping groove is parallel to a vertical plane perpendicular to the forward direction of the floor brush assembly.

[0010] In one embodiment, the transmission structure further includes a guide engagement structure and a second transmission component, wherein the first transmission component and the second transmission component are connected in a transmission manner and can rotate relative to each other, and the scraper is fixedly connected to the second transmission component; After the scraper descends along the first direction to contact the surface to be cleaned, the drive member continues to drive the first transmission member to descend along the first direction via the sliding member, and the first transmission member drives the second transmission member to swing toward the roller brush with the help of the guide engagement structure.

[0011] In one embodiment, the transmission assembly further includes a pivoting structure through which the first transmission member and the second transmission member are rotatably connected relative to each other.

[0012] In one embodiment, the pivoting structure includes a rotatingly engaged shaft portion and a bushing portion, one of which is disposed on the first transmission member and the other of which is disposed on the second transmission member.

[0013] In one embodiment, the transmission assembly further includes a guide engagement structure, the guide engagement structure including a guide member and a guide groove that engages with the guide member, the guide member being disposed on the second transmission member, and the housing further includes a lower cover fixedly connected to the housing, the guide groove being formed on the lower cover; The guide groove includes a vertical groove segment extending along the first direction and an inclined groove segment extending at an acute angle to the vertical groove segment. When the guide moves within the vertical groove section, the second transmission member drives the scraper to descend along the first direction; When the guide moves into the inclined groove section, the second transmission member rotates relative to the first transmission member while descending along the first direction, so that the scraper swings toward the roller brush.

[0014] In one embodiment, the output end of the drive member and the slider are integrally formed.

[0015] This application also provides a cleaning control method for cleaning equipment, used to control the cleaning equipment described in any of the above embodiments to perform cleaning operations; the method includes: The scraper is controlled to descend a first preset distance along the first direction so that the scraper comes into contact with the surface to be cleaned; The scraper is controlled to swing towards the roller brush at a first preset angle, and the scraper remains in contact with the surface to be cleaned during the swinging process.

[0016] In one embodiment, the method further includes: During the oscillation of the scraper, the interference between the scraper and the surface to be cleaned remains constant. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the robotic arm assembly of this application.

[0018] Figure 2 This is a schematic diagram of the robotic arm assembly after the top cover has been removed.

[0019] Figure 3 This is a schematic diagram showing the connection between the sliding component and the driving component in this application.

[0020] Figure 4 This is a schematic diagram showing the connection between the first and second transmission components at an angle.

[0021] Figure 5 This is a schematic diagram of the connection between the first and second transmission components of this application from another angle.

[0022] Figure 6 This is a schematic diagram of the structure of the cover of this application.

[0023] Figure 7 This is a flowchart illustrating the cleaning control method of this application.

[0024] Figure label: 100. Floor brush assembly; 102. Robotic arm assembly; 103. Drive component; 104. Transmission component; 105. Scraper blade; 106. Sliding component; 107. Inclined groove; 108. First transmission component; 109. Transmission protrusion; 120. Second transmission component; 121. Rotating shaft; 122. Guide component; 123. Lower cover; 124. Guide groove; 125. Vertical groove section; 126. Inclined groove section; 127. Upper cover; X, First direction; Y, Second direction. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] It should be noted that in the description of this application, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] In the field of cleaning equipment, such as floor scrubbers, a retractable squeegee is typically installed in front of the roller brush to prevent the squeegee from spreading dirt as it moves forward. Specifically, this design uses a drive source to control the vertical movement of the squeegee. Its basic working principle is: when the scrubber moves forward, the squeegee is raised to detach from the ground; when the scrubber moves backward, the squeegee is lowered to a preset fixed position, bringing the end of the squeegee into contact with the ground, thereby scraping away and collecting liquid stains. This design is widely used primarily because it effectively achieves front-edge cleaning and avoids the problem of dirt spreading during forward movement.

[0029] However, when a floor scrubber using this solution completes a backward scraping operation and needs to turn to clean an adjacent area, its cleaning effect is not good. The main reason is that, in order to optimize its front edge-contact function and simplify the control logic, this solution sets the contact point of the squeegee to a fixed point. This inherent design inevitably leads to a fixed spatial gap (i.e., a cleaning blind spot) between the end of the squeegee and the front end of the roller brush, causing discontinuity in the cleaning path when the floor scrubber turns. Specifically, in a continuous backward-turning operation, due to the existence of the aforementioned fixed gap, the water stains scraped up and remaining in this gap during the backward phase cannot be continuously removed by the roller brush during the subsequent turning action, thus leaving a triangular stain residue on the floor, affecting the integrity of the cleaning.

[0030] Researchers, through in-depth analysis, discovered that the reasons for the aforementioned problems include: First, the drive mechanism of the squeegee in related technologies typically only provides a single vertical lifting degree of freedom, and its movement trajectory is constrained to a simple straight line, making it impossible to dynamically adjust the spatial position of the squeegee after it touches the ground during the cleaning process. Second, the motion logic of the squeegee is simplified to switching between "lifting" and "lowering to a fixed point" only based on the direction of travel of the floor scrubber (forward / backward), lacking the control dimension for fine-tuning its posture while in contact with the ground. These factors collectively result in the cleaning blind spot becoming a static, non-optimizable geometric parameter, thus limiting the continuous cleaning performance of the floor scrubber under complex cleaning paths.

[0031] To address the aforementioned issues, this application proposes a different technical approach. Its core concept lies in dynamically adjusting the instantaneous spatial relationship between the squeegee tip and the roller brush by enabling the squeegee blade to "first descend to the ground, then maintain contact and move laterally towards the roller brush" within a single pull-back stroke. This effectively reduces the area where the floor scrubber will turn without sacrificing the original advantage of edge contact, and avoids water stains that inevitably occur during turns due to blind spots. In other words, it provides a method for controlling the squeegee's movement trajectory and a corresponding actuator to solve the problem of discontinuous cleaning during turns caused by a fixed gap (i.e., a blind spot) between the squeegee and the roller brush in related technologies, thereby improving the cleaning integrity of the floor scrubber during pull-back and turning operations.

[0032] For ease of description, in the following embodiments of this application, the cleaning equipment is specifically a floor scrubber.

[0033] See Figure 1 and Figure 2This application provides a cleaning device, which includes a body (not shown) and a floor brush assembly 100 rotatably connected to the body. The floor brush assembly 100 includes a housing, a cleaning component (not shown) disposed in the housing, and a robotic arm assembly 102. The cleaning component includes a roller brush (not shown) rotatably disposed in the housing. The robotic arm assembly 102 includes a drive member 103, a transmission assembly 104, and a scraper 105. The drive member 103 drives the scraper 105 to descend along a first direction X to contact the surface to be cleaned via the transmission assembly 104. After the scraper 105 contacts the surface to be cleaned, it is also used to drive the scraper 105 to swing towards the roller brush while maintaining contact with the surface to be cleaned. Wherein, the first direction X is a vertical direction.

[0034] In this embodiment, the floor scrubber includes a body with a handle on top for the user to hold and operate. The floor brush assembly 100 is connected to the body via a rotating connection structure (not shown), allowing the body to tilt and rotate relative to the floor brush assembly 100 within a certain angle range to adapt to different floor environments.

[0035] The floor brush assembly 100 includes a housing with a roller brush horizontally disposed at the bottom of the housing. The roller brush has a rotation axis 121 perpendicular to the forward direction of the floor brush assembly 100 and is used to scrub or scrape the floor during forward or backward movement.

[0036] The drive unit 103 can be a servo motor or a motor. The transmission assembly 104 is connected between the output end of the drive unit 103 and the squeegee 105. When the floor scrubber needs to perform a pull-back squeegee action, the drive unit 103 starts, and through the transmission assembly 104, first drives the squeegee 105 downwards in the first direction X (i.e., the vertical direction) until the bottom edge of the squeegee 105 contacts the surface to be cleaned (e.g., the floor) and maintains a certain interference fit. After the squeegee 105 contacts the surface to be cleaned, the drive unit 103 continues to operate, driving the squeegee 105 through the transmission assembly 104 so that, without ever leaving the surface to be cleaned, the entire squeegee 105 oscillates about an axis toward the roller brush (i.e., toward the inside of the roller brush). This oscillation process causes the end of the squeegee 105 (especially the end furthest from the transmission assembly 104) to move closer to the roller brush, thereby significantly reducing the distance between the squeegee 105 and the roller brush.

[0037] By designing the movement of the squeegee 105 into two consecutive stages—first descending vertically to the ground, and then swinging towards the roller brush while maintaining its ground-hugging state—the squeegee 105 effectively removes water stains when the floor scrubber pulls back to wipe away water. Simultaneously, it minimizes the cleaning blind spot between the end of the squeegee 105 and the edge of the roller brush. When the user completes one pull-back action and turns to perform the next cleaning cycle, the water stains remaining in this blind spot are significantly reduced, effectively improving the problem of residual water stains on the surface to be cleaned, thus enhancing cleaning performance and user experience.

[0038] See Figures 1 to 5 In one embodiment, the transmission assembly 104 includes a sliding member 106 fixedly connected to the driving member 103, a sloping groove 107 transmission structure, and a first transmission member 108. The sliding member 106 and the first transmission member 108 are connected via the sloping groove 107 transmission structure. The first transmission member 108 is connected to the scraper blade 105 and is configured to reciprocate along the first direction X. The driving member 103 drives the sliding member 106 to reciprocate along the second direction Y, thereby driving the scraper blade 105 to rise and fall along the first direction X via the first transmission member 108. The second direction Y is parallel to the length direction of the scraper blade 105.

[0039] In this embodiment, the slider 106 is fixedly connected to the output end of the drive 103 (such as a servo motor) and can perform rotational or linear motion together with the output end. In this technical solution, the drive 103 drives the slider 106 to perform transverse reciprocating linear movement along the second direction Y. The second direction Y is parallel to the length direction of the scraper 105 itself, that is, parallel to the axis direction of the roller brush, and perpendicular to the first direction X (i.e., the vertical direction).

[0040] The first transmission member 108 and the sliding member 106 form a transmission engagement, and the first transmission member 108 itself is constrained to move only along the first direction X (lifting direction), and cannot move laterally along the second direction Y. The lower end of the first transmission member 108 is transmissionally connected to the scraper 105 (or to the intermediate component connecting the scraper 105, such as the second transmission member 120 below). When the driving member 103 operates, driving the sliding member 106 to move laterally along the second direction Y, the transmission action between the sliding member 106 and the first transmission member 108 will convert the lateral movement of the sliding member 106 into the vertical lifting and lowering movement of the first transmission member 108 along the first direction X.

[0041] The structure, which uses a laterally moving slider 106 to drive a vertically moving first transmission member 108, can efficiently convert the rotational motion or linear motion of the drive member 103 into the lifting motion required by the scraper blade 105. This compact structure is particularly suitable for scenarios where the internal space of the floor brush assembly 100 is limited. By setting the direction of movement of the drive member 103 (i.e., the second direction Y) to be parallel to the length direction of the scraper blade 105, the space along the roller brush axis of the floor brush assembly 100 can be fully utilized, making the overall structure more rational and helping to reduce the volume of the floor brush assembly 100.

[0042] See Figure 3 and Figure 4 In one embodiment, the inclined groove 107 transmission structure includes an inclined groove 107 angled to the first direction X and a transmission protrusion 109 that drives the inclined groove 107. One of the sliding member 106 and the first transmission member 108 is provided with the inclined groove 107, and the other is provided with the transmission protrusion 109. The sliding member 106 moves along the second direction Y to drive the first transmission member 108 to move along the first direction X through the cooperating inclined groove 107 and transmission protrusion 109.

[0043] In a preferred embodiment, a groove 107 is formed on the slider 106. This groove 107 is not vertical or horizontal, but rather inclined at an angle to the vertical first direction X. Correspondingly, a transmission protrusion 109 (such as a pin, roller, etc.) is provided on the first transmission member 108. This transmission protrusion 109 is inserted into the groove 107 of the slider 106. This design avoids reducing the structural strength of the first transmission member 108 by creating a groove, thereby improving the smoothness of the first transmission member 108's vertical movement along the first direction X. Alternatively, the groove 107 can be formed on the first transmission member 108, while the transmission protrusion 109 can be provided on the slider 106.

[0044] When the driving member 103 drives the sliding member 106 to move along the second direction Y (lateral), the transmission protrusion 109 is restricted by the groove wall of the inclined groove 107. The groove wall of the inclined groove 107 exerts a force on the transmission protrusion 109. This force can be decomposed into a vertical component and a horizontal component. At the same time, the first transmission member 108 is constrained to move only up and down along the first direction X. The horizontal component is canceled out by the housing (such as the upper cover 127 of the housing, which is connected to the lower cover 123 mentioned below), while the vertical component pushes the transmission protrusion 109 to move, thereby driving the entire first transmission member 108 to move along the first direction X (i.e., the vertical direction). The inclination angle of the inclined groove 107 determines the ratio between the lateral movement distance of the sliding member 106 and the vertical movement distance of the first transmission member 108. By designing a suitable angle, the required transmission ratio and stroke can be achieved.

[0045] The engagement of the inclined groove 107 and the transmission protrusion 109 constitutes a simple, reliable, and low-cost linear motion conversion mechanism. It can accurately and smoothly convert the lateral linear motion of the sliding member 106 into the vertical linear motion of the first transmission member 108 along the first direction X. The motion relationship is well-defined, and deviations are not easily generated. Furthermore, this structure has fewer parts, is easy to assemble, and has low frictional resistance during operation, which helps to improve the smoothness and reliability of the movement of the robotic arm assembly 102.

[0046] In one embodiment, the plane containing the inclined groove 107 is parallel to the vertical plane perpendicular to the forward direction of the floor brush assembly 100.

[0047] It is understandable that the vertical plane perpendicular to the forward direction of the floor brush assembly 100 is an imaginary vertical plane that is perpendicular to the ground and perpendicular to the forward direction.

[0048] This embodiment requires that the plane containing the inclined groove 107 (since the inclined groove 107 has a certain depth, its plane can be understood as the plane containing its centerline) be parallel to the hypothetical vertical plane mentioned above. This means that the inclined groove 107 is inclined in a vertical plane, rather than in a horizontal plane, so as to realize the lifting and lowering movement of the scraper 105 in the first direction X.

[0049] Setting the plane where the inclined groove 107 is located to be parallel to the vertical plane perpendicular to the direction of travel optimizes the force transmission path, reduces energy loss and possible jamming during motion conversion, and makes the lifting and lowering action of the scraper 105 smoother and more precise. This helps ensure that the scraper 105 can make stable contact with the ground with the set interference each time, thereby ensuring the consistency of the wiping effect and improving the service life of the transmission component 104.

[0050] See Figure 2 , Figure 4 , Figure 5 In one embodiment, the transmission structure further includes a guide engagement structure and a second transmission member 120. The first transmission member 108 and the second transmission member 120 are connected in a transmission manner and can rotate relative to each other. The scraper 105 is fixedly connected to the second transmission member 120. After the scraper 105 descends along the first direction X to contact the surface to be cleaned, the drive member 103 continues to drive the first transmission member 108 to descend along the first direction X through the sliding member 106. The first transmission member 108 drives the second transmission member 120 to swing toward the roller brush with the help of the guide engagement structure.

[0051] This embodiment introduces a second transmission component 120, forming a two-stage transmission structure. The first transmission component 108 is mainly responsible for realizing the lifting and lowering movement in the first direction X. The second transmission component 120 is rotatably connected to the first transmission component 108, allowing the second transmission component 120 to rotate relative to the first transmission component 108 within a certain angle range. The scraper 105 is directly or fixedly mounted on the second transmission component 120 through a mounting base, thereby driving the scraper 105 to swing towards the roller brush through the second transmission component 120 to reduce water stains.

[0052] By ingeniously configuring a first transmission member 108 and a second transmission member 120 that can rotate relative to each other, a single drive input (i.e., the drive member 103 drives the first transmission member 108 to continuously descend along the first direction X via the slider 106) is decomposed into two sequential output actions: first, the scraper 105 is driven to descend along the first direction X until the scraper 105 contacts the surface to be cleaned; then, the scraper 105 maintains contact with the surface to be cleaned while swinging towards the roller brush. This structure achieves relatively complex coincident motion through a single drive member 103 and a set of transmission components 104, simplifying the structure, reducing manufacturing costs, and improving the reliability of motion coordination.

[0053] See Figure 2 , Figure 4 , Figure 5 In one embodiment, the transmission assembly 104 further includes a pivoting structure through which the first transmission member 108 and the second transmission member 120 are rotatably connected relative to each other.

[0054] A pivoting structure is a connection method that allows two components to rotate relative to each other about a fixed axis. Specifically, the pivoting structure may include a shaft hole provided on the first transmission member 108 and a rotating shaft 121 provided on the second transmission member 120. The two are clearance-fitted or connected by bearings. Alternatively, the rotating shaft 121 may be provided on the first transmission member 108, and the shaft hole may be provided on the second transmission member 120. The center line of the rotating shaft 121 and the shaft hole constitutes the relative rotation axis 121 line between the first transmission member 108 and the second transmission member 120, and the scraper 105 swings around this axis.

[0055] The pivoting structure ensures that the rotation of the second transmission member 120 relative to the first transmission member 108 is a pure rotational motion around a defined axis, resulting in a clear and stable trajectory that avoids unnecessary wobbling or swaying. The pivoting structure provides a stable and low-friction fulcrum, ensuring the smoothness and precision of the scraper blade 105's oscillation. Furthermore, the pivoting structure is durable and can withstand the reaction force generated when the scraper blade 105 contacts the surface to be cleaned, guaranteeing the maintenance of motion accuracy over long-term use and thus ensuring the stability of the cleaning effect.

[0056] See Figure 2 , Figure 4 , Figure 5 In one embodiment, the pivoting structure includes a rotating shaft portion and a bushing portion, one of which is disposed on the first transmission member 108, and the other of which is disposed on the second transmission member 120.

[0057] In a preferred embodiment, a shaft portion (such as a short cylindrical shaft) is provided at the lower part of the first transmission member 108 facing the second transmission member 120, and a bushing portion (such as a lug with a hole) is formed at the corresponding position of the second transmission member 120. The shaft portion is inserted into the bushing portion to form a clearance fit or to be connected by an oil-impregnated bearing, thereby enabling the two to rotate relative to each other.

[0058] The direct fit between the shaft and the bushing results in a simple structure, mature assembly process, convenient processing and assembly, and low cost. Furthermore, the pivot structure effectively limits the rotation center, providing an accurate rotation axis 121 for the swing of the scraper 105. This is an economical and efficient solution for achieving a reliable pivot connection.

[0059] Furthermore, in one embodiment, two pivot structures are arranged symmetrically and at intervals along the second direction Y; their specific structures will not be described in detail here. This enhances the rigidity and stability of the second transmission member 120 during the oscillation process, limits any lateral swaying or torsional deformation that may occur when the second transmission member 120 oscillates around the axis, ensures a more precise and stable oscillation trajectory for the squeegee 105, and helps the squeegee 105 to evenly contact the surface to be cleaned along the retinal direction, achieving a consistent squeegee effect and improving cleaning quality.

[0060] See Figures 4 to 6 In one embodiment, the transmission assembly 104 further includes a guide engagement structure, which includes a guide member 122 and a guide groove 124 that engages with the guide member 122. The guide member 122 is disposed on the second transmission member 120. The housing also includes a lower cover 123 fixedly connected to the housing, and the guide groove 124 is formed on the lower cover 123. The guide groove 124 includes a vertical groove segment 125 extending along the first direction X and an inclined groove segment 107 extending at an acute angle to the vertical groove segment 125. When the guide member 122 moves within the vertical groove segment 125, the second transmission member 120 drives the scraper 105 to descend along the first direction X. When the guide member 122 moves into the inclined groove segment 107, the second transmission member 120 rotates relative to the first transmission member 108 while descending along the first direction X, so that the scraper 105 swings toward the roller brush.

[0061] Specifically, the guide member 122 is a pin protruding from the side of the second transmission member 120. The housing also includes a lower cover 123 as part thereof, which forms the mounting base of the robotic arm assembly 102. On the lower cover 123, a guide groove 124 of a specific shape that mates with the guide member 122 is precisely machined or formed according to the position of the guide member 122. The guide groove 124 consists of two continuous and smoothly transitioning groove segments: the upper segment is a vertical groove segment 125, whose extension direction is strictly parallel to the vertical first direction X; the lower segment is an inclined groove segment 107, whose extension direction forms an acute angle with the vertical direction, so that the scraper 105 can swing toward the roller brush.

[0062] The working principle and movement process of the guiding and mating structure are as follows: Initially, the guide member 122 is located at the top of the guide groove 124 (i.e., the beginning of the vertical groove section 125). When the drive member 103 is activated, the first transmission member 108, the second transmission member 120, and the scraper 105 are driven to descend along the first direction X via the sliding member 106. The guide member 122 on the second transmission member 120 moves downward along the vertical groove section 125 of the guide groove 124. Within the stroke of the vertical groove section 125, the vertical groove section 125 only allows the guide member 122 to make a vertical downward linear movement, thereby forcing the second transmission member 120 and the scraper 105 to descend vertically until the scraper 105 contacts the surface to be cleaned. After the scraper contacts the surface to be cleaned, the power provided by the drive member 103 causes the first transmission member 108 to continue descending. At this time, the guide member 122 just moves to the connection point between the vertical groove section 125 and the inclined groove section 107. Because the direction of the inclined groove 107 section has changed, the guide 122 must move along the inclined trajectory. This constraint causes the second transmission member 120 to rotate around its pivot connection point with the first transmission member 108 under the push of the first transmission member 108. This rotational motion is directly converted into the oscillation of the scraper 105 toward the roller brush. At the same time, the first transmission member 108 descends, causing the scraper 105 to continue to descend in order to maintain the contact between the scraper 105 and the surface to be cleaned.

[0063] By providing a guide groove 124 with a specific geometric shape on the lower cover 123, and cooperating with the guide member 122 on the second transmission member 120, the movement trajectory of the scraper 105 is precisely and reliably defined in a purely mechanical manner without the need for additional power. This guide-cooperation structure is simple in structure. Through the carefully designed guide groove 124 with a specific geometric shape, it ensures that the scraper 105 will first perform a vertical descent to contact the surface to be cleaned, and then perform a swinging motion towards the roller brush while in contact with the surface to be cleaned. This results in strong anti-interference capability, high operational reliability, and a significant reduction in cleaning blind spots.

[0064] See Figures 4 to 6In one embodiment, the guide mating structure is provided in two parts: the second transmission member 120 is provided with guide members 122 at opposite ends along the second direction Y, and the lower cover 123 is provided with guide grooves 124 at opposite ends along the second direction Y.

[0065] Specifically, the second transmission member 120 has a guide member 122 at each of its opposite ends along the second direction Y, such as a left guide pin and a right guide pin. Correspondingly, on the opposite sides of the lower cover 123 along the second direction Y, corresponding to the guide members 122, a guide groove 124 of identical shape and size is respectively formed, namely the left guide groove 124 and the right guide groove 124, and the vertical groove segment 125 and the inclined groove segment 107 of the left and right guide grooves 124 are completely symmetrical in space.

[0066] During operation, the guide members 122 at both ends of the second transmission component 120 are simultaneously embedded in the guide grooves 124 on the left and right sides of the lower cover 123, respectively. During movement, the two guide members 122 slide synchronously within their respective guide grooves 124. This symmetrical constraint design ensures that the two ends of the second transmission component 120 are always subjected to a balanced force during lifting, lowering, and swinging, thus improving the smoothness and reliability of its movement.

[0067] The symmetrical layout of the dual-guided structure provides stable support for the second transmission component 120, effectively preventing the second transmission component 120 from deflecting, jamming, or wearing on one side during movement. The balanced constraint force at both ends of the second transmission component 120 ensures that the end of the scraper 105 can contact the surface to be cleaned with a uniform interference fit when it descends and swings, resulting in a more consistent scraping effect and better cleaning effect.

[0068] See Figure 2 and Figure 3 In one embodiment, the output end of the drive member 103 and the slider 106 are integrally formed.

[0069] The drive component 103 (such as a servo motor) typically has an output end (such as an output swing arm). In this technical solution, the slider 106 is not a separate part that needs to be separately assembled to the output end, but is directly manufactured as a whole with the output end of the drive component 103 through an integral molding process. For example, the slider 106 can be directly injection molded or machined as part of the servo motor output swing arm. Alternatively, the slider 106 can be fixed to the output end by non-removable methods such as welding or riveting, making it functionally equivalent to a single part.

[0070] The output end of the drive component 103 and the sliding component 106 are designed as an integral or fixed structure, avoiding connection through connecting parts (such as screws, keyways, etc.). This avoids the problem of inaccurate motion transmission caused by loose connection, wear or assembly error, thereby improving the rigidity and motion accuracy of the entire transmission chain. This makes the action of the scraper 105 more accurate and reliable. At the same time, it also reduces the number of parts and assembly steps, which helps to reduce production costs and improve assembly efficiency.

[0071] See Figure 7 This application also provides a cleaning control method for cleaning equipment, used to control the cleaning equipment described in any of the above embodiments to perform cleaning operations; the method includes: S110. Control the scraper 105 to descend a first preset distance along the first direction X, so that the scraper 105 contacts the surface to be cleaned; S120. Control the scraper 105 to swing towards the roller brush at a first preset angle, and during the swinging process, the scraper 105 remains in contact with the surface to be cleaned.

[0072] This embodiment provides a cleaning control method that matches the cleaning equipment embodiment described above. It is executed by a controller (not shown) in the cleaning equipment and is used to intelligently control the robotic arm assembly 102 to complete specific compound movements in order to improve the problem of cleaning blind spots.

[0073] The core of the method lies in controlling the scraper 105 to perform two consecutive action phases: First stage (i.e., step S110): The controller sends a command to the drive member 103 (such as a servo motor) to control its output motion, which is converted into the vertical descent of the scraper 105 via the transmission assembly 104. Specifically, in a preferred embodiment, the controller controls the output end of the drive member 103 (such as an output swing arm) to move along the second direction Y, causing the slider 106 fixedly connected to it to move laterally along the second direction Y. The lateral movement of the slider 106 is converted into the linear descent of the first transmission member 108 along the first direction X through the transmission engagement between the slider 106 and the first transmission member 108 (e.g., a slant groove 107 transmission structure, where the slant groove 107 on the slider 106 interacts with the transmission protrusion 109 on the first transmission member 108). The first transmission member 108 then drives the second transmission member 120 and the scraper 105 connected to it to descend together. The controller controls the amount of operation of the drive unit 103 (such as rotation angle or time) to make the scraper 105 descend precisely by a first preset distance. This first preset distance is designed to ensure that the bottom of the scraper 105 can reliably contact the surface to be cleaned and form an appropriate interference fit under various typical surface conditions, so as to achieve water scraping and cleaning.

[0074] Second stage (i.e., step S120): After the scraper 105 contacts the surface to be cleaned, the controller continues to control the drive unit 103 to operate, causing the scraper 105 to perform a swinging motion. Specifically, the drive unit 103 continues to drive the slider 106 to move laterally, causing the first transmission member 108 to continue to descend. Since the scraper 105 and the second transmission member 120 fixed thereto are blocked by the surface to be cleaned, their movement trajectories are transformed under the forced constraint of the guide engagement structure. The guide engagement structure includes a guide member 122 provided on the second transmission member 120 and a guide groove 124 provided on the fixed lower cover 123. When the guide member 122 enters the inclined groove 107 section from the vertical groove section 125 of the guide groove 124, the inclined groove 107 section causes the guide member 122 (along with the second transmission member 120) to move along an inclined trajectory. This forces the second transmission member 120 to rotate around the pivot structure connected to the first transmission member 108, thereby causing the scraper 105 to swing toward the roller brush at a first preset angle. At the same time, the continuous descent of the first transmission component 108 causes the scraper 105 to also descend, thereby dynamically maintaining the contact pressure and interference between the scraper 105 and the surface to be cleaned during the entire oscillation process, ensuring that the wiping action is continuous and effective.

[0075] Through precise sequential control and the ingenious structural design of the cleaning equipment, the squeegee 105 first descends vertically to contact the surface to be cleaned, and then, while maintaining contact with the surface, swings towards the roller brush. This ensures that the squeegee 105 effectively removes water stains when the floor scrubber pulls back, and minimizes the cleaning blind spot between the end of the squeegee 105 and the roller brush. Furthermore, when the user turns to clean adjacent areas, residual water stains are significantly reduced, thus fundamentally improving the cleaning effect on the surface to be cleaned. This method is closely integrated with the structural design of the cleaning equipment, utilizing the guiding characteristics of the structure itself to simplify the control logic and improve the reliability and consistency of action execution.

[0076] In one embodiment, the method further includes: The drive member 103 is controlled to drive the slider 106 to move laterally along the second direction Y by a second preset distance, so that the first transmission member 108 drives the scraper 105 to descend along the first direction X by the first preset distance.

[0077] The specific control process is as follows: When the scraper 105 needs to descend, the controller controls the drive component 103 (for example, controls the servo motor to rotate clockwise by a certain angle). The output end of the drive component 103 drives the sliding component 106, which is fixedly connected to it, to move laterally a second preset distance along the second direction Y. The lateral movement of the sliding component 106 is converted into the vertical movement of the first transmission component 108 through the transmission relationship between it and the first transmission component 108 (such as the cooperation between the inclined groove 107 and the transmission protrusion 109). By determining the correspondence between the second preset distance and the first preset distance, the descent of the scraper 105 by the first preset distance can be precisely controlled by controlling the sliding movement of the second preset distance, thereby making it contact the surface to be cleaned.

[0078] This control method transforms the control of the height of the scraper 105 into the control of the output end position of the drive component 103 (corresponding to the lateral position of the slider 106). The control variable is singular. By determining the second preset distance, the precise control of the downward stroke of the scraper 105 can be achieved to adapt to the fine-tuning needs of different product models or the environment of the surface to be cleaned, thereby improving the accuracy and adaptability of the control.

[0079] In one embodiment, the method further includes: During the oscillation of the scraper 105, the interference between the scraper 105 and the surface to be cleaned remains unchanged.

[0080] The interference fit refers to the difference between the natural width of the squeegee 105 and the width of the squeegee 105 when it contacts the surface to be cleaned and wipes water. It determines the clamping force of the squeegee 105 on the surface to be cleaned and the wiping strength.

[0081] In this embodiment, the interference fit remains constant throughout the entire process of the squeegee 105 swinging from the start to the end. This means that the downward displacement of the first transmission component 108 driven by the drive component 103 must be matched in real time with the geometric lift generated by the swing of the second transmission component 120. Through theoretical calculations and experimental verification, the precise motion curve of the drive component 103 can be determined. The controller then controls the squeegee 105 according to this curve, so that the squeegee 105 can move in close contact with the surface to be cleaned with constant pressure during swinging, thereby keeping the interference fit constant. This ensures that the squeegee 105 has a consistent squeegee force on the surface to be cleaned, avoiding problems such as incomplete squeegeeing or squeegee 105 jumping due to pressure changes. This improves the uniformity and reliability of the squeegee effect and is beneficial to improving the overall cleaning effect.

[0082] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning device, characterized in that, The cleaning equipment includes a body and a floor brush assembly rotatably connected to the body, the floor brush assembly comprising: case; A cleaning component is disposed in the housing, the cleaning component including a roller brush rotatably disposed in the housing; A robotic arm assembly is disposed in the housing and includes a drive member, a transmission assembly, and a scraper. The drive member drives the scraper to descend in a first direction to contact the surface to be cleaned through the transmission assembly. After the scraper contacts the surface to be cleaned, it is also used to drive the scraper to swing toward the roller brush while maintaining contact with the surface to be cleaned. Wherein, the first direction is the vertical direction.

2. The cleaning equipment according to claim 1, characterized in that, The transmission assembly includes a sliding member fixedly connected to the driving member, a slanted groove transmission structure, and a first transmission member. The sliding member and the first transmission member are connected by the slanted groove transmission structure for transmission. The first transmission member is connected to the scraper and is configured to reciprocate along the first direction; The driving member is used to drive the sliding member to reciprocate along the second direction, so as to drive the scraper to rise and fall along the first direction through the first transmission member; The second direction is parallel to the length direction of the scraper.

3. The cleaning equipment according to claim 2, characterized in that, The inclined groove transmission structure includes an inclined groove that is angled to the first direction and a transmission protrusion that cooperates with the inclined groove transmission. The inclined groove is provided on one of the sliding member and the first transmission member, and the transmission protrusion is provided on the other. The sliding member moves along the second direction to drive the first transmission member to move along the first direction through the cooperating inclined groove and the transmission protrusion.

4. The cleaning equipment according to claim 3, characterized in that, The plane containing the inclined groove is parallel to the vertical plane perpendicular to the forward direction of the floor brush assembly.

5. The cleaning equipment according to claim 3, characterized in that, The transmission structure further includes a guide engagement structure and a second transmission component. The first transmission component and the second transmission component are connected in a transmission manner and can rotate relative to each other. The scraper is fixedly connected to the second transmission component. After the scraper descends along the first direction to contact the surface to be cleaned, the drive member continues to drive the first transmission member to descend along the first direction via the sliding member, and the first transmission member drives the second transmission member to swing toward the roller brush with the help of the guide engagement structure.

6. The cleaning equipment according to claim 5, characterized in that, The transmission assembly further includes a pivoting structure, through which the first transmission member and the second transmission member are rotatably connected relative to each other.

7. The cleaning equipment according to claim 6, characterized in that, The pivoting structure includes a rotating shaft and a bushing, one of which is located on the first transmission member and the other is located on the second transmission member.

8. The cleaning equipment according to claim 5, characterized in that, The transmission assembly further includes a guide engagement structure, which includes a guide member and a guide groove that engages with the guide member. The guide member is disposed on the second transmission member. The housing also includes a lower cover that is fixedly connected to the housing, and the guide groove is formed on the lower cover. The guide groove includes a vertical groove segment extending along the first direction and an inclined groove segment extending at an acute angle to the vertical groove segment. When the guide moves within the vertical groove section, the second transmission member drives the scraper to descend along the first direction; When the guide moves into the inclined groove section, the second transmission member rotates relative to the first transmission member while descending along the first direction, so that the scraper swings toward the roller brush.

9. The cleaning equipment according to claim 2, characterized in that, The output end of the driving component and the sliding component are integrally formed.

10. A cleaning control method for a cleaning device, characterized in that, The method is used to control the cleaning equipment as described in any one of claims 1-9 to perform cleaning operations; the method includes: The scraper is controlled to descend a first preset distance along the first direction so that the scraper comes into contact with the surface to be cleaned; The scraper is controlled to swing towards the roller brush at a first preset angle, and the scraper remains in contact with the surface to be cleaned during the swinging process.

11. The cleaning control method according to claim 10, characterized in that, The method further includes: During the oscillation of the scraper, the interference between the scraper and the surface to be cleaned remains constant.

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