Cleaning module and cleaning equipment

Abstract

The utility model provides a cleaning module and cleaning equipment, and the cleaning module comprises a driving assembly which is configured to output driving force; the water pumping assembly is configured to supply water under driving of the driving assembly and comprises a water pumping structure, one end of the water pumping structure is connected with the driving assembly in a clamped mode, and the water pumping structure is configured to pump water in a preset period or without a period under driving of the driving assembly. The moving plate is provided with at least one moving plate water inlet hole and is configured to be capable of continuously rotating, and the moving plate water inlet hole has a first opening angle; the static piece is arranged on one side of the water outlet direction of the movable piece and at least provided with n static piece water outlet holes, n is a natural number larger than or equal to 2, and the n static piece water outlet holes are each provided with n second opening angles; wherein the movable piece continuously rotates relative to the static piece, and responds to overlapping of the projection of the movable piece water inlet hole and the projection of at least one static piece water outlet hole, and the water pumping assembly supplies water through the static piece water outlet holes with the overlapped projections.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning robots, and in particular to a cleaning module and a cleaning device. Background Art

[0002] Cleaning robots currently include sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers, etc. Sweeping and mopping robots can both sweep and clean the floor, and are becoming more and more common in family life.

[0003] With the development of sweeping and mopping robots, the functions of sweeping and mopping robots are increasing, and the structure is becoming more and more complex. A sweeping and mopping robot can often meet the application requirements of a variety of different occasions. Due to the increasingly complex structure and the increasing number of integrated hardware structures, the size of the sweeping and mopping robots is becoming larger and larger, which is inconvenient to transport and use, and the cost is also increasing accordingly. Utility Model Content

[0004] The purpose of the present disclosure is to provide a cleaning module and an automatic cleaning device, which can solve the technical problem of water supply control in a multifunctional integrated cleaning device. The specific solution is as follows:

[0005] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning module, comprising:

[0006] a drive assembly configured to output a driving force;

[0007] A water pump assembly, configured to supply water under the drive of the drive assembly, comprising:

[0008] A water pumping structure, one end of which is engaged with the driving assembly and configured to pump water in a preset cycle or without a cycle under the drive of the driving assembly;

[0009] The moving plate has at least one moving plate water inlet hole, and is configured to be able to rotate continuously, and the moving plate water inlet hole has a first opening angle;

[0010] A static plate is arranged on one side of the water outlet direction of the dynamic plate, and is provided with at least n static plate water outlet holes, where n is a natural number greater than or equal to 2, and the n static plate water outlet holes respectively have n second opening angles;

[0011] The moving plate continuously rotates relative to the stationary plate, and in response to the overlap of the projection of the moving plate water inlet hole and the at least one stationary plate water outlet hole, the water pump assembly supplies water through the stationary plate water outlet hole with the overlapping projection.

[0012] In some embodiments, the moving plate is fixedly connected to the water pumping structure, and the moving plate rotates synchronously with the water pumping structure;

[0013] The number of water pumping cycles of the water pumping structure in one rotation is the same as the number of water outlet holes of the static plate, and the water outlet position of the water pumping structure in each water pumping cycle corresponds to the position of one water outlet hole of the static plate.

[0014] In some embodiments, the moving plate is differentially connected to the water pumping structure, and the moving plate rotates differentially with the water pumping structure.

[0015] In some embodiments, the ratio of the rotation speed of the rotor to the rotation speed of the water pumping structure is a non-integer.

[0016] In some embodiments, the second opening angles of the n static sheet water outlet holes are respectively A 1 , A 2 ,……,A n The first opening angle of the moving plate water inlet hole is B, and the ratio of the water output of the n static plate water outlet holes in one rotation of the water pump structure is (B+A 1 ):(B+A 2 ):……(B+A n-1 ):(B+A n ).

[0017] In some embodiments, the second opening angles of the n static sheet water outlet holes satisfy the following relationship: 1 2 =……=A n .

[0018] In some embodiments, the moving plate is connected to the water pump structure via a differential;

[0019] Among them, the water pumping structure includes a central gear, and the differential includes a plurality of surrounding gears, each having a central shaft, and the central shaft is connected to the moving plate; the plurality of surrounding gears are respectively engaged with the central gear, and in response to the rotation of the central gear, the plurality of surrounding gears rotate around the central shaft and around the central gear at the same time, thereby driving the moving plate to rotate differentially through the central shaft.

[0020] In some embodiments, the differential further comprises:

[0021] A gear ring connected to the water pump structure, wherein the inner wall of the gear ring is provided with continuous gear teeth;

[0022] Among them, the multiple surrounding gears are respectively engaged with the central gear and the ring gear. In response to the rotation of the central gear, the multiple surrounding gears rotate around the central axis and rotate along the gear teeth on the inner wall of the ring gear, thereby driving the movable plate to rotate through the central axis.

[0023] In some embodiments, the water pump assembly further comprises:​

[0024] The moving plate bracket is arranged between the moving plate and the water pumping structure, and is configured to rotate under the drive of the water pumping structure and drive the moving plate to rotate.

[0025] In some embodiments, the moving plate is connected to the driving assembly or other driving member, and rotates continuously under the drive of the driving assembly or other driving member.

[0026] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning device, comprising a cleaning module as described in any one of the above.

[0027] Compared with the prior art, the embodiments of the present disclosure have the following technical effects:

[0028] The cleaning module provided in the disclosed embodiment determines the proportional relationship between the opening angles of the static plate and the dynamic plate based on the synchronous movement or differential movement relationship between the water pumping structure and the dynamic plate, so that the water output within one rotation of the water pumping structure can be reasonably distributed from each water outlet of the static plate to the cleaning components, so that each cleaning component and each part of the cleaning component can obtain water supply as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of the cleaning equipment of some embodiments of the present disclosure.

[0031] Figure 2 Schematic diagram of the bottom structure of the cleaning device according to some embodiments of the present disclosure.

[0032] Figure 3 This is a schematic diagram of the wet cleaning module structure of the cleaning equipment of some embodiments of the present disclosure.

[0033] Figure 4-1 This is a schematic diagram of the structure of a driving assembly of a cleaning device according to some embodiments of the present disclosure at an angle.

[0034] Figure 4-2 This is a schematic structural diagram from another angle of the driving assembly of the cleaning device of some embodiments of the present disclosure.

[0035] Figure 5 This is a schematic diagram of the structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0036] Figure 6 This is a schematic diagram of the explosion structure of the water pump assembly of the cleaning equipment of some embodiments of the present disclosure.

[0037] Figure 7 This is a schematic diagram of the exploded structure of the water pump assembly of the cleaning equipment of some embodiments of the present disclosure from another perspective.

[0038] Figure 8 It is a schematic diagram of the static piece structure of the cleaning device of some embodiments of the present disclosure.

[0039] Fig. 9 A schematic diagram of the water supply flow of a water pump structure of a cleaning device according to some embodiments of the present disclosure.

[0040] Fig.10 Schematic diagram of the cross-sectional structure of a water pump assembly of a cleaning device according to other embodiments of the present disclosure.

[0041] Description of reference numerals:

[0042] Mobile platform 100, rear portion 110, forward portion 111, sensing system 120, position determination device 121, buffer 122, drive system 140, drive wheel assembly 141, steering assembly 142, human-computer interaction system 170, cleaning module 1000, dry cleaning module 300, roller brush 310, side brush 320, wet cleaning module 200, drive assembly 230, motor 231, worm 232, drive wheel assembly 233, first drive wheel assembly 2331, first power transmission device 23311, second drive wheel assembly 2332, second power transmission device 23321, third drive wheel assembly 2333, third power transmission device 2333 1. Clutch assembly 2334, cable gear 241, cable 242, cleaning assembly 2000, first cleaning assembly 210, second cleaning assembly 220, lifting assembly 240, supporting platform 290, water pumping assembly 250, water pumping structure 251, central gear 2512, water distributor 252, moving plate 2521, moving plate water inlet hole 25211, static plate 2522, static plate water outlet hole 25221, moving plate bracket 2523, bracket water inlet hole 25232, stopper 25233, differential 253, ring gear 2531, gear teeth 2532, surrounding gear 2533, central shaft 2534, housing 2526, water outlet 25261, water inlet 25262. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0044] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0045] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0046] It should be understood that although the terms first, second, third, etc. may be used to describe in the present disclosure, these should not be limited to these terms. These terms are only used to distinguish. For example, without departing from the scope of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0047] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or device. In the absence of more restrictions, the elements defined by the sentence "comprises a" do not exclude the presence of other identical elements in the product or device including the elements.

[0048] The optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0049] Figure 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment. Figure 1-2 As shown, the automatic cleaning device can be a vacuum robot, a mopping / brushing robot, a window climbing robot, etc. The automatic cleaning device can include a mobile platform 100, a sensing system 120, a control system, a driving system 140, a cleaning module 1000, an energy system and a human-computer interaction system 170. Among them:

[0050] The mobile platform 100 may be configured to automatically move along a target direction on an operating surface. The operating surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, in which case the automatic cleaning device works on the ground, and the ground is the operating surface; the automatic cleaning device may also be a window cleaning robot, in which case the automatic cleaning device works on the outer glass surface of a building, and the glass is the operating surface; the automatic cleaning device may also be a pipe cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, and the inner surface of the pipe is the operating surface. Purely for the purpose of demonstration, the following description in this application is illustrated by taking a mopping robot as an example.

[0051] In some embodiments, the mobile platform 100 can be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward part 111 and a backward part 110.

[0052] The perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward part 111 of the mobile platform 100, a cliff sensor and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices located at the bottom of the mobile platform, which provide the control system with various position information and motion status information of the machine.

[0053] In order to more clearly describe the behavior of the automatic cleaning device, the following direction is defined: the automatic cleaning device can move on the ground by various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, the front-to-back axis y, and the central vertical axis z. The forward drive direction along the front-to-back axis y is marked as "forward", and the rearward drive direction along the front-to-back axis y is marked as "rearward". The lateral axis x essentially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly. Among them, the automatic cleaning device can rotate around the x-axis. When the forward part of the automatic cleaning device is tilted upward and the rear part is tilted downward, it is "upward", and when the forward part of the automatic cleaning device is tilted downward and the rear part is tilted upward, it is "downward". In addition, the automatic cleaning device can rotate around the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right side of the Y axis, it is "right turn", and when the automatic cleaning device is tilted to the left side of the y axis, it is "left turn".

[0054] like Figure 2 As shown, cliff sensors are provided on the bottom of the mobile platform 100 and in front and rear of the driving wheel assembly, and the cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, thereby preventing the automatic cleaning device from being damaged. The aforementioned "front" refers to the side with the same direction of travel of the automatic cleaning device, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.

[0055] The location determination device 121 includes but is not limited to a camera and a laser distance measuring device (LDS).

[0056] Each component in the perception system 120 can operate independently or together to achieve the intended function more accurately. The surface to be cleaned is identified by the cliff sensor and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including the surface material, cleanliness, etc., and can be combined with a camera, a laser rangefinder, etc. for more accurate judgment.

[0057] The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly propels the automatic cleaning device to walk on the ground, the buffer 122 detects one or more events (or objects) in the driving path of the automatic cleaning device via a sensor system, such as an infrared sensor. The automatic cleaning device can control the driving wheel assembly through the events (or objects), such as obstacles and walls, detected by the buffer 122 to make the automatic cleaning device respond to the events (or objects), such as staying away from the obstacles.

[0058] The control system is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, which communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory. The application processor is configured to receive the environmental information sensed by the multiple sensors transmitted by the perception system 120, and use a positioning algorithm, such as SLAM, to draw a real-time map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device, and autonomously determine the driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward and / or steering according to the autonomously determined driving path. Further, the control system can also decide whether to start the cleaning module 1000 for cleaning operations according to the environmental information and the environmental map.

[0059] Specifically, the control system can combine the distance information and speed information fed back by the buffer, cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensor devices to comprehensively judge the current working state of the sweeper, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, full dust box, picked up, etc., and will also give specific next action strategies for different situations, so that the work of the automatic cleaning equipment is more in line with the owner's requirements and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the automatic cleaning equipment.

[0060] The drive system 140 can execute the drive command based on specific distance and angle information, such as x, y and θ components, to manipulate the automatic cleaning device to travel across the ground. The drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left and right wheels at the same time. In order to more accurately control the movement of the machine, it is preferred that the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically arranged along the horizontal axis defined by the mobile platform 100. In order for the automatic cleaning device to be able to move more stably on the ground or have stronger movement ability, the automatic cleaning device may include one or more steering assemblies 142, and the steering assembly 142 may be a driven wheel or a driving wheel, and its structural form includes but is not limited to a universal wheel, and the steering assembly 142 may be located in front of the driving wheel assembly 141.

[0061] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, which are then connected to a single-chip microcomputer control circuit. The host is charged by connecting to a charging pile through charging electrodes arranged on the side or below the body. If dust is attached to the exposed charging electrode, the plastic body around the electrode will melt and deform due to the cumulative effect of charge during the charging process, and even the electrode itself will deform, making it impossible to continue charging normally.

[0062] The human-machine interaction system 170 includes buttons on the host panel for users to select functions; it may also include a display screen and / or indicator lights and / or speakers, which display the current state of the machine or function selection items to the user; it may also include a mobile client program. For path navigation cleaning equipment, the mobile client can show the user a map of the environment where the equipment is located and the location of the machine, which can provide users with more abundant and humanized function items.

[0063] The cleaning module 1000 may include a dry cleaning module 300 and / or a wet cleaning module 200. Figure 2 As shown, the dry cleaning module 300 includes a roller brush 310 and the like. The roller brush, which has a certain interference with the ground, sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dry cleaning module may also include a side brush 320 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move the debris into the roller brush area of ​​the cleaning module.

[0064] According to one of the specific embodiments of the present disclosure, Figure 3As shown, the wet cleaning module 200 provided by the present disclosure is configured to clean at least a portion of the operating surface in a wet cleaning manner. Specifically, the wet cleaning module 200 includes a driving component 230, and the driving component 230 is used to output a driving force having a first working mode and a second working mode; the wet cleaning module 200 also includes a cleaning component 2000, and the cleaning component 2000 includes a first cleaning component 210 and a second cleaning component 220, wherein the first cleaning component 210 is configured to reciprocate in the first working mode of the driving component 230 to clean at least a portion of the operating surface, and the second cleaning component 220 is configured to reciprocate in the first working mode of the driving component 230 to clean at least a portion of the operating surface. The driving assembly 230 continuously rotates in the first working mode to clean at least a portion of the operating surface; the wet cleaning module 200 also includes a lifting assembly 240, which is configured to lift the cleaning assembly to separate from the operating surface in the second working mode of the driving assembly 230, and to drop the cleaning assembly to contact the operating surface under the action of gravity; the wet cleaning module 200 also includes a water pumping assembly 250, which has multiple water outlets, and the water pumping assembly 250 is configured to supply water to the first cleaning assembly 210 and the second cleaning assembly 220 respectively in the first working mode of the driving assembly 230. The cleaning module disclosed in the present invention realizes a structural design that drives multiple driven assemblies (the first cleaning assembly 210, the second cleaning assembly 220, the lifting assembly 240, and the water pumping assembly 250) to work by switching the working mode through one driving assembly 230, simplifies the overall structure of the cleaning module, and makes the overall design of the cleaning equipment more compact.

[0065] In some embodiments, Figure 3 As shown, the wet cleaning module 200 provided by the present disclosure is configured to clean at least a portion of the operating surface in a wet cleaning manner; wherein the wet cleaning module 200 includes a support platform 290, a first cleaning component 210 and a second cleaning component 220 are arranged on the side of the support platform 290 facing the operating surface, and a driving component 230, a lifting component 240, and a pumping component 250 are arranged on the side of the support platform 290 facing the moving platform: the first cleaning component 210 reciprocates along the surface to be cleaned under the drive of the driving component 230, and a cleaning cloth or a cleaning plate is provided on the contact surface of the first cleaning component 210 and the surface to be cleaned, and high-frequency friction is generated with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned. The second cleaning component 220 performs continuous rotation along the surface to be cleaned under the drive of the driving component 230, and a cleaning cloth or a cleaning plate is also provided on the contact surface of the second cleaning component 220 and the surface to be cleaned, and high-frequency friction is generated with the surface to be cleaned through continuous rotation, thereby removing stains on the surface to be cleaned.

[0066] In some embodiments, the second cleaning assembly is disposed at the edge of the first cleaning assembly, and the second cleaning assembly is configured to continuously rotate under the drive of the driving assembly to clean at least a portion of the operating surface. The first cleaning assembly has a plurality of water distribution holes, and the first cleaning assembly is configured to reciprocate under the drive of the driving assembly to clean at least a portion of the operating surface.

[0067] It can be understood that the higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion. For example, when the frequency of high-frequency vibration is set to the sound wave frequency, the hair tufts on the surface of the first cleaning component 210 will extend in the same direction more uniformly under the shaking of high-frequency vibration, so the overall cleaning effect is more uniform, rather than simply applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not cause the hair tufts to extend in nearly the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no messy water stains will be left.

[0068] The reciprocating motion may be repeated motion along any one or more directions within the operating surface, or may be vibration perpendicular to the operating surface, and there is no strict restriction on this. Optionally, the reciprocating motion direction of the cleaning module is roughly perpendicular to the direction of travel of the machine, because the reciprocating motion direction parallel to the direction of travel of the machine will cause instability to the moving machine itself, because the thrust and resistance in the direction of travel will make the drive wheel easy to slip. The impact of slipping is more obvious in the case of a wet cleaning module, because the wetness of the operating surface increases the possibility of slipping. In addition to affecting the smooth travel and cleaning of the machine, slipping will also cause inaccurate ranging of sensors such as odometers and gyroscopes, resulting in the inability of navigation-type automatic cleaning equipment to accurately locate and draw maps. In the case of frequent slipping, the impact on SLAM will not be ignored, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement component of the cleaning head in the direction of travel of the machine causes the machine to be constantly pushed forward and backward while traveling, so the walking of the machine will be unstable and smooth.

[0069] The cleaning intensity / efficiency of the cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the cleaning equipment. For example, the cleaning equipment can be dynamically adjusted according to the physical information of the surface to be cleaned detected by the sensing system 120. For example, the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, and other information, and transmit this information to the control system of the cleaning equipment. Accordingly, the control system can command the cleaning equipment to automatically and dynamically adjust the speed of the motor and the transmission ratio of the power transmission device according to the working environment of the cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the first cleaning component.

[0070] For example, when the cleaning device is working on a flat ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is working on a not-so-flat ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat ground is easier to clean than a not-so-flat ground, so cleaning an uneven ground requires a faster reciprocating motion (i.e., a higher frequency) and a larger water volume of the first cleaning component.

[0071] For another example, when the cleaning device is working on a desktop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the cleaning device is working on the ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, the desktop has less dust and oil, and the material constituting the desktop is also easier to clean, so the first cleaning component needs to perform fewer reciprocating motions and the water pump provides a relatively small amount of water to clean the desktop.

[0072] As an optional embodiment of the present disclosure, a lifting assembly 240 is provided between the support platform 290 and the mobile platform 100, which is used to make the cleaning assembly better contact with the surface to be cleaned, or to adopt different cleaning strategies for the surfaces to be cleaned of different materials. Optionally, the dry cleaning module 300 can be connected to the mobile platform 100 through a passive lifting assembly. When the cleaning equipment encounters an obstacle, the dry cleaning module 300 can more conveniently overcome the obstacle through the lifting assembly. Optionally, the wet cleaning module 200 can be connected to the mobile platform 100 through an active lifting assembly. When the wet cleaning module 200 is temporarily not involved in the work, or when encountering a surface to be cleaned that cannot be cleaned by the wet cleaning module 200, the wet cleaning module 200 is lifted by the active lifting assembly and separated from the surface to be cleaned, thereby achieving a change in the cleaning means.

[0073] In some embodiments, Figure 4-1 As shown, the drive assembly 230 includes a motor 231, which is configured to rotate forward in the first working mode to output a forward driving force, and reverse in the second working mode to output a reverse driving force; the motor 231 transmits power to the first cleaning assembly 210 and the second cleaning assembly 220, the lifting assembly 240, the water pump assembly 250, etc. through a power transmission device. The energy system provides power and energy for the motor 231, and is controlled as a whole by the control system. The power transmission device can be a gear or gear set transmission, a chain transmission, a belt transmission, or a worm gear, etc.

[0074] In some embodiments, the drive assembly 230 includes a worm 232, which is connected to the output shaft of the motor 231 and realizes forward or reverse rotation under the drive of the motor 231; the drive assembly 230 also includes multiple driving wheel assemblies 233, which are respectively engaged with the worm 232, and are driven by the worm 232 to rotate forward or reverse, respectively drive the first cleaning assembly 210, the second cleaning assembly 220, the water pump assembly 250 and the lifting assembly 240 to work in the first working mode or the second working mode. It can be understood by ordinary technicians in this field that the driving wheel assembly can be a gear or a gear set composed of multiple gears. In which, in response to the forward driving force, the first cleaning component 210 realizes reciprocating motion, the second cleaning component 220 realizes continuous rotation, and the water pumping component 250 supplies water to the first cleaning component 210 and the second cleaning component 220; in response to the reverse driving force, the first cleaning component 210 stops reciprocating motion, the second cleaning component 220 stops rotating, the water pumping component 250 stops supplying water to the first cleaning component 210 and the second cleaning component 220, and the lifting component 240 lifts the first cleaning component 210 and the second cleaning component 220 to separate from the operating surface.

[0075] In some embodiments, Figure 4-1 As shown, the driving wheel assembly 233 includes a first driving wheel assembly 2331, and the driving assembly 230 also includes a first power transmission device (not shown) matched with the first driving wheel assembly 2331. The first driving wheel assembly 2331 transmits power to the first cleaning assembly 210 through the first power transmission device. The first cleaning assembly 210 reciprocates under the drive of the first power transmission device to clean a part of the operating surface. Since the first cleaning assembly 210 can reciprocate in a local area for cleaning, it is possible to focus on cleaning the local heavy stain area. Optionally, the first driving wheel assembly 2331 is an asymmetric structure, and the first power transmission device can be a vibration connecting rod, which drives the first cleaning assembly 210 to vibrate back and forth under the rotation drive of the asymmetric structure.

[0076] In some embodiments, the driving wheel assembly 233 includes a second driving wheel assembly 2332, and the driving assembly 230 also includes a second power transmission device 23321 that cooperates with the second driving wheel assembly 2332. The second driving wheel assembly 2332 is engaged with the second power transmission device 23321 to transmit power to the second cleaning assembly 220. The second cleaning assembly 220 is driven by the second power transmission device 23321 to continuously rotate to clean a portion of the operating surface. Since the second cleaning assembly 220 can continuously rotate in a local area for cleaning, it can focus on cleaning local heavily stained areas. Optionally, the second power transmission device 23321 can be a gear set with multiple gears meshing and driving, or it can be a synchronous belt drive.

[0077] In some embodiments, Figure 4-2 As shown, the driving wheel assembly 233 includes a third driving wheel assembly 2333, and the driving assembly 230 also includes a third power transmission device 23331 that cooperates with the third driving wheel assembly 2333. It can be understood by ordinary technicians in this field that the third power transmission device 23331 can be a gear or a gear set composed of multiple gears. The third driving wheel assembly 2333 is meshed with the third power transmission device 23331 to transmit power to the water pumping assembly 250. The water pumping assembly 250 is driven by the third power transmission device 23331 to transport water to the first cleaning assembly 210 and the second cleaning assembly 220.

[0078] In some embodiments, the driving wheel assembly 233 includes a fourth driving wheel assembly, and the fourth driving wheel assembly includes, for example, a clutch assembly 2334. The clutch assembly 2334 is used to directly drive the lifting assembly 240. The lifting assembly 240 includes a cable gear 241 and a cable 242. The clutch assembly 2334 is arranged between the third power transmission device 23331 and the cable gear 241. The cable gear 241 is wound with a cable 242. The distal end of the cable 242 is wound around the support platform 290. When the motor 231 rotates in the reverse direction, the clutch assembly 2334 The third power transmission device 23331 is meshed and connected, and the third power transmission device 23331 provides a reverse driving force. Since the clutch assembly 2334 is reversely meshed with the third power transmission device 23331 at this time, it can provide driving force. The third power transmission device 23331 drives the cable gear 241 to rotate through the clutch assembly 2334. While the cable gear 241 rotates, it pulls the support platform 290 through the cable 242. The support platform 290 lifts the first cleaning component 210 and the second cleaning component 220 under the pulling of the cable 242. When the motor 231 rotates forward, the third power transmission device 23331 provides a forward driving force, and the clutch assembly 2334 is not meshed with the forward rotation of the third power transmission device 23331, and no driving force is provided. The cable gear 241 cannot pull the support platform 290 through the cable 242.

[0079] As described above, when the motor 231 rotates forward, the driving assembly 230 drives the first cleaning assembly 210 to vibrate and clean through the first driving wheel assembly 2331 and the first power transmission device, drives the second cleaning assembly 220 to rotate and clean through the second driving wheel assembly 2332 and the second power transmission device 23321, and drives the pump assembly 250 to supply water through the third driving wheel assembly 2333 and the third power transmission device 23331; when the motor 231 is reversed, the cable gear 241 is driven by the clutch assembly 2334, and the support platform 290 is pulled by the cable 242 to lift the first cleaning assembly 210 and the second cleaning assembly 220. The present application realizes the control of four motion modules by one motor. The motor rotates forward to drive the vibration of the vibrating member and the rotation of the rotating member, and at the same time realizes water supply for cleaning. The motor reverses to drive the lifting assembly to lift. The present application allows the driving structure to be reused multiple times, and the entire driving structure is more compact, which simplifies the number of motors, reduces energy consumption and noise, and improves user experience.

[0080] In some embodiments, Figure 5-Figure 7As shown, the water pumping assembly 250 includes a water pumping structure 251, and the water pumping structure 251 includes a connection portion connected to the third power transmission device 23331, so that the water pumping structure 251 rotates, for example, peristaltically, under the transmission of the third power transmission device 23331 to achieve water pumping. The water pumping structure 251 can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, a centrifugal pump, etc.

[0081] In some embodiments, the water pumping structure 251 includes a rotating part 2511, which squeezes the water pumping tube to achieve peristaltic pumping. The side of the rotating part 2511 facing the driving assembly 230 includes a connecting part connected to the third power transmission device 23331, such as a joint groove. The other end of the water pumping structure 251 has a center gear 2512, and the center gear 2512 rotates at a first speed under the drive of the rotating part 2511.

[0082] In some embodiments, the water pump assembly 250 further includes a differential 253, which is disposed on a side of the water pump structure 251 away from the drive assembly 230, and the differential 253 is configured to change the output speed of the central gear 2512. The setting of the differential 253 can increase or decrease the rotation speed of the water distributor, thereby increasing or decreasing the amount of water discharged through the water distributor, so as to achieve the purpose of accurately controlling the amount of water.

[0083] In some embodiments, the differential 253 includes a plurality of surrounding gears 2533, each of which has a central shaft 2534, and the central shaft 2534 is fixedly connected to the water distributor 252; the plurality of surrounding gears 2533 are respectively meshed with the central gear 2512, and in response to the rotation of the central gear 2512, the plurality of surrounding gears 2533 rotate around the central shaft 2534 and revolve around the central gear 2512 at the same time. Since the central shaft 2534 is fixedly connected to the rotating part of the water distributor 252, the rotating part of the water distributor is driven to rotate by the revolution of the central shaft 2534. The setting of the differential 253 can increase or decrease the rotation speed of the rotating part of the water distributor 252. Compared with the structure without a differential, the water output of the water distributor can be controlled by the setting of the differential.

[0084] In some embodiments, Figure 5-Figure 7As shown, the differential 253 also includes a ring gear 2531, which is connected to the water pumping structure 251 through at least one lug. Optionally, the ring gear 2531 constitutes a part of the outer shell of the water pumping assembly 250. The inner wall of the ring gear 2531 is provided with continuous gear teeth 2532, and the number of teeth of the gear teeth 2532 is set according to the need of speed increase or speed decrease of the differential; the multiple surrounding gears 2533 are respectively engaged with the central gear 2512 and the ring gear 2532. In response to the rotation of the central gear 2512, the multiple surrounding gears 2533 rotate around the central axis 2534 and rotate along the gear teeth 2532 on the inner wall of the ring gear 2531, thereby driving the rotating part of the water divider 252 to rotate through the central axis 2534.

[0085] In some embodiments, the number of the multiple surrounding gears 2533 is 2-5, for example 3 or 4. The arrangement of multiple surrounding gears 2533 can increase the rotational stability of the differential, make the speed increase or deceleration output more stable, and improve the stability of the water output of the water distributor.

[0086] In some embodiments, the second speed is greater than or less than the first speed. According to application requirements, a replaceable gear ring 2531 is provided to make the second speed greater than or less than the first speed. When the second speed is greater than the first speed, the speed of the rotating part of the water divider is increased to increase the water supply. When the second speed is less than the first speed, the speed of the rotating part of the water divider is reduced to reduce the water supply.

[0087] In some embodiments, the water pump assembly 250 further includes a water distributor 252 , which is connected to the differential 253 , and at least a portion of the water distributor 252 rotates at a second speed along with the differential 253 , so as to distribute the water of the water pump assembly 250 to the first cleaning assembly 210 and / or the second cleaning assembly 220 .

[0088] In some embodiments, Figure 6 , Figure 7As shown, the water divider 252 includes: a moving plate 2521, the moving plate 2521 has at least one moving plate water inlet hole 25211, and the moving plate 2521 is configured to rotate continuously in the first working mode of the driving assembly 230. Of course, the moving plate 2521 can also rotate independently under the drive of other driving members, and there is no limitation on this; a static plate 2522, the static plate 2522 is arranged on the side of the water outlet direction of the moving plate 2521, the static plate 2522 has a plurality of static plate water outlet holes 25221, and the static plate water outlet holes 25221 are respectively connected to the plurality of water outlets of the water supply assembly; wherein, the moving plate 2521 rotates continuously relative to the static plate 2522, and in response to the overlap of the projection of the at least one moving plate water inlet hole 25211 and the static plate water outlet hole 25221, the water divider 252 supplies water to the first cleaning assembly 210 and / or the second cleaning assembly 220 through the static plate water outlet hole 25221 with the overlapping projection. Optionally, the moving piece 2521 and the static piece 2522 are selected from at least one of the following materials: ceramic, metal, hard plastic, etc., so as to ensure that the moving piece 2521 and the static piece 2522 are in smooth rotational contact.

[0089] Optionally, the moving piece 2521 has a moving piece water inlet hole 25211, and the surface of the static piece 2522 is evenly spaced along the circumferential direction. 3-8 static piece water outlet holes 25221 are arranged, for example, 6 static piece water outlet holes 25221 are arranged, each static piece water outlet hole 25221 is connected to the water outlet pipe, and the water flow is supplied to the first cleaning component 210 or the second cleaning component 220 through the water outlet pipe. The moving piece 2521 is attached to the static piece 2522 and the moving piece 2521 rotates continuously relative to the static piece 2522. The moving piece 2521 rotates continuously relative to the static piece 2522, and the moving piece water inlet hole 25211 will slide through the six static piece water outlet holes 25221 in sequence. When the moving piece water inlet hole 25211 overlaps with the projection of one of the static piece water outlet holes 25221, the water will flow from the moving piece water inlet hole 25211 with the overlapping projection to the static piece water outlet hole 25221, and the water will flow through the static piece water outlet hole 25221 to the first cleaning component 210 or the second cleaning component 220 connected thereto. It can be understood that the water distributor 252 supplies water to the static piece water outlet holes 25221 in turn through rotation, that is, it supplies water to the water distribution holes of the first cleaning component 210 or the second cleaning component 220 in turn. When the rotating speed of the moving piece 2521 is fast enough, it can be considered that water is continuously supplied to each water distribution hole of the first cleaning component 210 or the second cleaning component 220.

[0090] In some embodiments, Figure 8As shown, the static piece 2522 has a plurality of slots 25222 on one side close to the moving piece 2521. The angles of the slots 25222 can be the same or different. The slot angle refers to the size of the central angle of the circle or center of the static piece 2522 and the side lines of the slots on both sides. The slot angle determines the amount of water output through the slots 2522. Figure 8 As shown, the groove 25222 has a certain depth, and the bottom of the groove 2522 has a through static plate water outlet hole 25221. The sizes of the static plate water outlet holes 25221 in each groove 25222 can be basically the same. When the moving plate water inlet hole 25211 slides over the groove 25222, the water will enter the groove 25222 and then flow out through the static plate water outlet hole 25221. Therefore, the water output is positively correlated with the angle of the groove.

[0091] In some embodiments, Figure 6-Figure 7 As shown, the water divider 252 also includes a rotor bracket 2523, one side of which is connected to the surrounding gear 2533 through a central shaft 2534, wherein the central shaft 2534 is stationary relative to the rotor bracket 2523, and the surrounding gear 2533 rotates around the central gear, thereby driving the rotor bracket 2523 to rotate differentially, and the other side of the rotor bracket 2523 is engaged with the rotor 2521, and the rotor bracket 2523 is configured to rotate differentially under the drive of the differential 253 and drive the rotor 2521 to rotate. At least one clamping position 25233 is provided on the inner edge of the rotor bracket 2523, and the rotor bracket 2523 is relatively fixed after being engaged with the rotor 2521 through the clamping position 25233, so that the rotor bracket 2523 can drive the rotor 2521 to rotate together.

[0092] In some embodiments, the rotor bracket 2523 further includes at least one bracket water inlet hole 25232, and the at least one bracket water inlet hole 25232 overlaps with the at least one rotor water inlet hole 25211, so that water flows through the at least one bracket water inlet hole 25232 and the at least one rotor water inlet hole 25211 and then flows out from the static sheet water outlet hole 25221. Optionally, the rotor bracket 2523 is tightly fitted with the rotor 2521, the rotor bracket 2523 includes one bracket water inlet hole 25232, the rotor 2521 includes one rotor water inlet hole 25211, and the bracket water inlet hole 25232 overlaps with the rotor water inlet hole 25211, so that water flows through the bracket water inlet hole 25232 and the rotor water inlet hole 25211 and then flows out from the static sheet water outlet hole 25221.

[0093] In some embodiments, the movable plate bracket 2523 and the movable plate 2521 are connected to form a cavity, and the movable plate bracket 2523 includes 1-3 bracket water inlet holes 25232, for example, 3 bracket water inlet holes 25232, so that water flows into the cavity through the 3 bracket water inlet holes 25232 and then is buffered in the cavity. As the movable plate bracket 2523 and the movable plate 2521 rotate, the water flows out after the movable plate water inlet hole 25211 overlaps with the static plate water outlet hole 25221. This cavity structure can ensure the continuity of water supply to multiple water distribution holes, reducing the requirements for the rotation speed of the movable plate bracket 2523.

[0094] In some embodiments, Figure 5 As shown, the water distributor 252 also includes a shell 2526, and the shell 2526 is configured to accommodate the moving piece 2521, the static piece 2522 and the moving piece bracket 2523; wherein the multiple water outlets 25261 are arranged on the shell 2526, and the shell has a water inlet 25262, water flows into the shell 2526 from the water inlet 25262, and then flows into the bracket water inlet hole 25232 from the gap between the shell 2526 and the bracket water inlet hole 25232, and flows out from the at least one water outlet 25261 after passing through the bracket water inlet hole 25232, the moving piece water inlet hole 25211 and the static piece water outlet hole 25221.

[0095] In some embodiments, the water divider 252 further includes a soft rubber pad, which is disposed on a side of the static sheet 2522 away from the moving sheet 2521. The soft rubber pad includes at least one soft rubber pad hole, which is disposed one-to-one with the static sheet water outlet hole 25221, and the soft rubber pad is sealed between the static sheet 2522 and the housing 2526 to prevent water entering the housing 2526 from the water inlet 25262 from directly flowing to the side of the static sheet 2522.

[0096] In some embodiments, the water separator 252 further includes at least one sealing ring, which is disposed between the rotor bracket 2521 and the housing 2526. The housing 2526 includes a front housing and a rear housing, and an additional sealing ring may be disposed between the front housing and the rear housing to seal the front housing and the rear housing.

[0097] The cleaning module provided in the above embodiment includes a water pumping assembly with an integrated water divider, and the water pumping assembly includes a water pumping structure, a differential and a water divider. Through the cooperation of the water pumping structure and the differential, the rotation speed of the water divider can be changed to increase or decrease the rotation speed of the water divider, thereby controlling the size of the water flow distributed by the water divider to meet the water flow requirements of the cleaning assembly under different cleaning modes. The structural design of the water divider is simple, making the cleaning module and the cleaning equipment as a whole more compact.

[0098] In some embodiments, the ratio of the rotation speed of the rotor to the rotation speed of the water pumping structure is a non-integer. When the water pumping structure adopts a periodic water pump, such as a peristaltic pump, Fig. 9 As shown, area 1000 represents the water output of the water pumping structure for one rotation, which includes 3 water pumping cycles, and each water pumping cycle pumps water outward in the form of pulses. Since the water distributor rotor and the water pumping structure rotate differentially, and the ratio of the rotation speed of the rotor to the rotation speed of the water pumping structure is a non-integer, the angle of the rotor will correspond to different points on the flow diagram of the water pumping structure in each rotation of the rotor. That is, in each rotation of the rotor, the flow through the rotor inlet at the same angle position is different. For example, when the ratio of the rotation speed of the rotor to the rotation speed of the water pumping structure is 3.7, the position of the rotor at a certain angle during the first rotation corresponds to x1 on the flow diagram, the second rotation is x2, the third rotation is x3... In this way, after the pumping structure is continuously rotated, the position of the rotor inlet at a certain angle will cover all points on the flow diagram after rotating enough times. Therefore, when adjusting the water distribution ratio of the water distributor, it is not necessary to consider the pulsation characteristics of the pumping structure. The average water output of the pumping structure can be used, and its average is the output flow rate of the pumping structure per unit time. Therefore, the water distribution of the water distributor has nothing to do with the output characteristics of the pumping structure, and it is relatively simple to adjust the water distribution ratio. On the contrary, when the ratio of the rotation speed of the rotor to the rotation speed of the pumping structure is an integer, after a certain number of rotations, the position of the rotor inlet at a certain angle will only involve individual positions on the flow diagram, and the corresponding water output flow rate will be uneven.

[0099] In some embodiments, the second opening angles of the n static sheet water outlet holes are respectively A 1 , A 2 ,……,A n The first opening angle of the moving plate water inlet hole is B, and the ratio of the water output of the n static plate water outlet holes in one rotation of the water pump structure is (B+A 1 ):(B+A 2 ):……(B+A n-1 ):(B+A n ). Therefore, the water distributor and the water pump structure rotate at a differential speed, and the flow characteristics of the water pump structure at different angles no longer correspond to the same angle of the water distributor. Therefore, when the water distributor moves for a long enough time, it can be approximately considered that the pulsation of the water pump structure has no effect on the water outlet of the water distributor, and it can be approximately considered that the water inlet characteristics of the water distributor are stable. It is only necessary to set the water outlet angle according to the above ratio according to the needs of the cleaning component.

[0100] In some other embodiments, the water distributor 252 is synchronously connected to the water pumping structure 2511, such as Fig.10As shown, the water divider 252 includes: a moving piece 2521, the moving piece 2521 has at least one moving piece water inlet hole 25211, and the moving piece 2521 is configured to rotate continuously in the first working mode of the driving assembly 230; a static piece 2522, the static piece 2522 is arranged on the side of the water outlet direction of the moving piece 2521, and the static piece 2522 has a plurality of static piece water outlet holes 25221, and the static piece water outlet holes 25221 are respectively connected with a plurality of water outlets of the water supply assembly; wherein, the moving piece 2521 rotates continuously relative to the static piece 2522, and in response to the overlap of the projection of the at least one moving piece water inlet hole 25211 and the static piece water outlet hole 25221, the water divider 252 supplies water to the first cleaning assembly 210 and / or the second cleaning assembly 220 through the static piece water outlet holes 25221 with the overlapped projection. The structures of the moving piece 2521 and the static piece 2522 are as described above, and are not described in detail here.

[0101] In some embodiments, Fig.10 As shown, the water distributor 252 further includes a rotor bracket 2523, which is engaged with the rotor 2521, and the rotor bracket 2523 is configured to rotate continuously under the drive of the water pumping structure 2511 and drive the rotor 2521 to rotate continuously. At least one clamping position 25233 is provided on the inner edge of the rotor bracket 2523, and the rotor bracket 2523 is relatively fixed after being engaged with the rotor 2521 through the clamping position 25233, so that the rotor bracket 2523 can drive the rotor 2521 to rotate together. Optionally, the rotor bracket 2523 includes a joint 25231, which is arranged on a side of the rotor bracket 2523 away from the rotor 2521, and the joint 25231 is engaged with the water pumping structure 2511, so that the rotor bracket 2523 can rotate synchronously with the water pumping structure 2511 under the drive of the water pumping structure 2511. The specific structure of the moving piece bracket 2523 is as described in the above embodiment and will not be repeated here.

[0102] In some embodiments, Fig.10 As shown, the water divider 252 also includes a soft rubber pad 2524, which is arranged on the side of the static sheet 2522 away from the moving sheet 2521. The soft rubber pad 2524 includes at least one soft rubber pad hole 25241, and the soft rubber pad hole 25241 is arranged one-to-one with the static sheet water outlet hole 25221. The soft rubber pad 2524 is sealed between the static sheet 2522 and the housing 2526 to prevent the water entering the housing 2526 from the water inlet 25262 from directly flowing to the side of the static sheet 2522.

[0103] like Fig. 9As shown, the water pumping structure supplies water by squeezing the water pumping pipe through the squeezing part, so its flow characteristic diagram has periodicity. For example, the water pumping structure includes 3 squeezing parts, and 3 pulsating peaks will be generated when the water pumping structure rotates one circle. Since the water distributor rotor bracket and the water pumping structure are set to be connected at a fixed angle and rotate synchronously. Then, each angle of rotation of the water pumping structure constantly corresponds to the angle of rotation of the water distributor rotor. At this time, by adjusting the opening angle of the static plate, the total flow of different outlets can be allocated according to the flow values ​​at the corresponding angles obtained at different outlets in the flow characteristic diagram.

[0104] In the embodiment described above, the movable plate 2521 is fixedly connected to the water pumping structure 2511, and the movable plate rotates synchronously with the water pumping structure 2511; wherein, the number of water pumping cycles of the water pumping structure 2511 within one rotation is the same as the number n of water outlet holes 25221 of the static plate 2522, and the water outlet position of the water pumping structure in each of the water pumping cycles corresponds to the position of a water outlet hole of the static plate.

[0105] The water pump assembly of this embodiment has a simple structure, and the moving plate bracket can be directly connected to the water pump structure. The water supply demand can be met by designing static plate openings at different angles. In addition, when the overall water supply is not very large, the water supply allocated according to the static plate opening angle can basically meet the needs of the cleaning assembly.

[0106] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0107] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A cleaning module, characterized in that: include: a drive assembly configured to output a driving force; A water pump assembly, configured to supply water under the drive of the drive assembly, comprising: A water pumping structure, one end of which is engaged with the driving assembly and configured to pump water in a preset cycle or without a cycle under the drive of the driving assembly; The moving plate has at least one moving plate water inlet hole, and is configured to be able to rotate continuously, and the moving plate water inlet hole has a first opening angle; A static plate is arranged on one side of the water outlet direction of the dynamic plate, and is provided with at least n static plate water outlet holes, where n is a natural number greater than or equal to 2, and the n static plate water outlet holes respectively have n second opening angles; The moving plate continuously rotates relative to the stationary plate, and in response to the overlap of the projection of the moving plate water inlet hole and the at least one stationary plate water outlet hole, the water pump assembly supplies water through the stationary plate water outlet hole with the overlapping projection.

2. The cleaning module according to claim 1, characterized in that: The moving plate is fixedly connected to the water pumping structure, and the moving plate rotates synchronously with the water pumping structure; The number of water pumping cycles of the water pumping structure in one rotation is the same as the number of water outlet holes of the static plate, and the water outlet position of the water pumping structure in each water pumping cycle corresponds to the position of one water outlet hole of the static plate.

3. The cleaning module according to claim 1, characterized in that: The moving plate is differentially connected to the water pumping structure, and the moving plate rotates along with the water pumping structure at a differential speed.

4. The cleaning module according to claim 3, characterized in that: The ratio of the rotation speed of the moving plate to the rotation speed of the water pumping structure is a non-integer.

5. The cleaning module according to claim 3, characterized in that: The second opening angles of the n static sheet water outlet holes are A1, A2, ..., A n , the first opening angle of the moving plate water inlet hole is B, and the ratio of the water output of the n static plate water outlet holes in one rotation of the water pump structure is (B+A1): (B+A2): ... (B+A n-1 ):(B+A n ).

6. The cleaning module according to claim 5, characterized in that: The second opening angles of the n static sheet water outlet holes satisfy the following relationship: A1 <A2=……=A n .

7. The cleaning module according to claim 3, characterized in that: The moving plate is connected to the water pump structure via a differential; Among them, the water pumping structure includes a central gear, and the differential includes a plurality of surrounding gears, each having a central shaft, and the central shaft is connected to the moving plate; the plurality of surrounding gears are respectively engaged with the central gear, and in response to the rotation of the central gear, the plurality of surrounding gears rotate around the central shaft and around the central gear at the same time, thereby driving the moving plate to rotate differentially through the central shaft.

8. The cleaning module according to claim 7, characterized in that: The differential also includes: A gear ring connected to the water pump structure, wherein the inner wall of the gear ring is provided with continuous gear teeth; Among them, the multiple surrounding gears are respectively engaged with the central gear and the ring gear. In response to the rotation of the central gear, the multiple surrounding gears rotate around the central axis and rotate along the gear teeth on the inner wall of the ring gear, thereby driving the movable plate to rotate through the central axis.

9. The cleaning module according to claim 1, characterized in that: The water pump assembly also includes: The moving plate bracket is arranged between the moving plate and the water pumping structure, and is configured to rotate under the drive of the water pumping structure and drive the moving plate to rotate.

10. The cleaning module according to claim 1, characterized in that: The moving plate is connected to the driving assembly and rotates continuously under the drive of the driving assembly.

11. A cleaning device, characterized in that: A cleaning module comprising any one of claims 1-10.

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