Cleaning device

Abstract

The utility model belongs to the technical field of cleaning appliances, and provides a cleaning device which comprises a main machine shell and a cleaning device body. The power-assisted wheel set is arranged at the bottom of the main case; the induction wheel set is arranged at the bottom of the main machine shell, and the induction wheel set generates an induction signal in the rotating process; and the main control board is in communication connection with the power-assisted wheel set and the induction wheel set, and the main control board is suitable for generating a rotation direction signal according to the induction signal so as to control the rotation direction of the power-assisted wheel set and generating a rotation speed signal according to the induction signal so as to control the rotation speed of the power-assisted wheel set. The rotating direction of the power-assisted wheel set is the running direction of the cleaning device, the rotating speed of the power-assisted wheel set is the running speed of the cleaning device, the running direction and the running speed of the cleaning device are recognized through the induction wheel set, and therefore the power-assisted wheel set is controlled to adjust the rotating direction and the rotating speed of the power-assisted wheel set, and the power-assisted wheel set provides power for the cleaning device. And the cleaning device can be pushed and pulled in a more labor-saving manner.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning appliances, and in particular relates to a cleaning device. Background Art

[0002] A mite remover is a cleaning device that is mainly used to clean dust and mites from household products and disinfect them to provide a more suitable living environment for humans. When a mite remover is used to clean soft materials, such as bedding, it will sink into the bedding, making it difficult to push and pull.

[0003] The existing power-assisting scheme adopts a power-assisting wheel group and a sensing wheel group, and uses the sensing wheel group to identify the moving state of the mite removal device and control the power-assisting wheel driving wheel to provide power assistance.

[0004] In the related prior art, the induction wheel group can only identify the direction but not the speed change. The speed provided by the power-assist wheel group is constant but cannot provide different power-assist speeds according to the change of the user's pushing and pulling speed, resulting in poor user experience. Utility Model Content

[0005] In view of this, the utility model provides a cleaning device to solve the problem in the prior art that the speed change of the induction wheel group cannot be identified, resulting in a poor user experience.

[0006] The utility model provides a cleaning device, which comprises: a main housing; a power-assist wheel group, which is arranged at the bottom of the main housing; an induction wheel group, which is arranged at the bottom of the main housing, and the induction wheel group generates an induction signal during rotation; a main control board, which is respectively communicatively connected with the power-assist wheel group and the induction wheel group, and the main control board is suitable for generating a rotation direction signal according to the induction signal to control the rotation direction of the power-assist wheel group, and generating a rotation speed signal according to the induction signal to control the rotation speed of the power-assist wheel group.

[0007] The beneficial effect is that the rotation direction of the power-assisted wheel group is the running direction of the cleaning device, and the rotation speed of the power-assisted wheel group is the running speed of the cleaning device. The running direction and running speed of the cleaning device are identified by the sensing wheel group, thereby controlling the power-assisted wheel group to adjust the rotation direction and rotation speed of the power-assisted wheel group. The power-assisted wheel group provides assistance to the cleaning device, making pushing and pulling the cleaning device more labor-saving.

[0008] As an optional embodiment, the cleaning device also includes a bracket, which is connected to the bottom of the main housing, and the induction wheel group includes: an auxiliary wheel, which is provided with a first rotating shaft, and the first rotating shaft is rotatably connected to the bracket; a grating recognition component, which is connected to the first rotating shaft, and the grating recognition component is suitable for generating a grating signal during the rotation of the auxiliary wheel, and the grating signal is the induction signal.

[0009] The beneficial effect is that the grating recognition component can rotate with the rotation of the auxiliary wheel. The grating recognition component can generate a grating signal during the rotation process. The grating signal includes the number of light signals output by the grating recognition component when it rotates one circle. The more light signals there are, the faster the auxiliary wheel rotates. Therefore, the main control board can control the rotation speed of the power-assisted wheel group according to the number of light signals output when the grating recognition component rotates one circle.

[0010] As an optional embodiment, the grating recognition component includes: a mounting frame, which is detachably connected to the bracket, and the mounting frame forms an installation space; a transmission mechanism, which is arranged in the installation space, and the transmission mechanism has an input end and an output end, and the input end is connected to the first rotating shaft; a grating component, which is arranged at the output end; wherein the output end is a rotating part, and the transmission mechanism has a transmission ratio greater than 1, so that the rotation speed of the output end is greater than the rotation speed of the input end.

[0011] The beneficial effect is that the sensing wheel group is connected to the grating assembly through a transmission mechanism with a transmission ratio greater than 1, which can accelerate the rotation of the grating and output a larger number of light signals, so that the rotation speed of the auxiliary wheel can be identified, and then the rotation speed of the power-assisted wheel group can be controlled, thereby achieving the purpose of power-assisted adaptation to the user's operating intention.

[0012] As an optional embodiment, the grating assembly includes: a grating body, which rotates coaxially with the output end; a light transmitter; and a light receiver, which is arranged in one or more groups corresponding to the light transmitter, and the light receiver is communicatively connected to the main control board.

[0013] The beneficial effect is that when the grating body rotates, the light transmitter and the light receiver output pulse signals, and the waveform of the first signal is used as a reference. The second signal has two waveforms when pushing forward and pulling back. The pulse signal outputs 0 at a low level and outputs 1 at a high level. When it is detected that the output of the first signal changes from 0 to 1, the direction is judged by the value output by the second signal. Within a program acquisition cycle, the number of pulses of any group of signals is counted, and the speed of the driving motor of the power-assisted wheel preset by the program is determined according to the number of pulses, and the speed of the driving motor is controlled to change to the preset value through an electrical signal to realize the control of the rotation speed of the power-assisted wheel group.

[0014] As an optional embodiment, the bracket is provided with a first positioning structure and a first guide structure, the mounting frame is provided with a second positioning structure and a second guide structure, the first positioning structure cooperates with the second positioning structure for positioning, the first guide structure cooperates with the second guide structure in a concave-convex manner, the input end passes through the first guide structure and the second guide structure, and the first rotating shaft, the input end, the first guide structure and the second guide structure are coaxially arranged.

[0015] The beneficial effect is that when the mounting frame is installed on the bracket, the first positioning structure cooperates with the second positioning structure, and the first guide structure cooperates with the second guide structure to position the mounting frame, ensuring that the centers of the auxiliary wheel, the first guide structure, the second guide structure and the first rotating shaft coincide, thereby preventing eccentricity and reducing transmission resistance.

[0016] As an optional implementation, the grating recognition component further includes a cover plate, the cover plate is provided with a third positioning structure, the mounting frame is provided with a fourth positioning structure, and the third positioning structure cooperates with the fourth positioning structure for positioning.

[0017] The beneficial effect is that when the cover plate is installed on the mounting frame, the third positioning structure cooperates with the fourth positioning structure to ensure the installation position of the cover plate and the mounting frame, and ensures that the setting position of the transmission mechanism in the installation space meets the design requirements.

[0018] As an optional implementation, the cover plate is provided with a limiting column extending into the installation space, and the limiting column is suitable for axially limiting the first rotating shaft.

[0019] The beneficial effect is that the axial movement of the first rotating shaft can be limited, thereby improving the transmission accuracy of the transmission mechanism.

[0020] As an optional implementation, the transmission mechanism includes a gear box, the gear box has the input end and the output end, and the output end is the second rotating shaft.

[0021] The beneficial effect is that the output end of the gear box rotates faster, saving the installation space of the transmission mechanism.

[0022] As an optional implementation, the gearbox is a three-stage acceleration gear mechanism.

[0023] The beneficial effect is that the three-stage acceleration gear mechanism can reduce the installation space while meeting the transmission ratio.

[0024] As an optional embodiment, the gearbox includes: a first gear, which is arranged at the input end; a second gear, which is meshed with the first gear; a third gear, which rotates synchronously with the second gear; a fourth gear, which is meshed with the third gear; a fifth gear, which rotates synchronously with the fourth gear; a sixth gear, which is meshed with the fifth gear, and the sixth gear is provided with the output end; wherein the first gear, the third gear and the fifth gear are large gears, and the transmission ratio between the two meshing gears is greater than 2.

[0025] The beneficial effect is that, under the premise of the same transmission ratio, the use of the above-mentioned gear box can not only meet the installation requirements of the grating recognition component, but also more accurately identify the rotation speed of the auxiliary wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a bottom view structural schematic diagram of the cleaning device of an embodiment of the utility model;

[0028] Figure 2 It is a schematic diagram of the explosion structure of the induction wheel group of the cleaning device according to an embodiment of the utility model;

[0029] Figure 3 It is a cross-sectional structural schematic diagram of the transmission mechanism of the cleaning device according to an embodiment of the utility model;

[0030] Figure 4 It is a three-dimensional structural schematic diagram of the transmission mechanism of the cleaning device according to one embodiment of the utility model;

[0031] Figure 5 It is a schematic diagram of the exploded structure of the gear set of the transmission mechanism of the cleaning device according to the embodiment of the utility model;

[0032] Figure 6 A control logic diagram of the rotation direction of the cleaning device of an embodiment of the utility model;

[0033] Figure 7 This is a control logic diagram of the rotation speed of the cleaning device according to an embodiment of the utility model.

[0034] Description of reference numerals:

[0035] 10. Cleaning device;

[0036] 100. Main housing;

[0037] 200, power-assisted wheel set;

[0038] 300, induction wheel set;

[0039] 310, bracket;

[0040] 3101, first positioning structure;

[0041] 3102. The first guide structure.

[0042] 320, training wheels;

[0043] 321, first rotating shaft;

[0044] 330, grating recognition component;

[0045] 331, mounting frame;

[0046] 3311, second positioning structure;

[0047] 3312, second guide structure;

[0048] 3313, the third positioning structure;

[0049] 3314, fifth positioning structure;

[0050] 332, cover plate;

[0051] 3321, fourth positioning structure;

[0052] 3322, sixth positioning structure;

[0053] 3323, limit column;

[0054] 333, transmission mechanism;

[0055] 3301, input terminal;

[0056] 3302, output terminal;

[0057] 3331, first gear;

[0058] 3332, second gear;

[0059] 3333, third gear;

[0060] 3334, fourth gear;

[0061] 3335, fifth gear;

[0062] 3336, sixth gear;

[0063] 3337, first transmission shaft;

[0064] 3338, second transmission shaft;

[0065] 334, grating assembly;

[0066] 3341, grating body;

[0067] 3342, light transmitter;

[0068] 3343, light receiver;

[0069] 3344, grating cover;

[0070] 400. Main control board. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0072] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0073] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0075] Combine the following Figures 1 to 7 , describing an embodiment of the utility model.

[0076] like Figure 1 and Figure 2As shown, according to an embodiment of the utility model, a cleaning device 10 is provided, which includes a main housing 100, a power-assisted wheel group 200, a sensing wheel group 300 and a main control board 400. The power-assisted wheel group 200 and the sensing wheel group 300 are respectively arranged at the bottom of the main housing 100. The sensing wheel group 300 generates a sensing signal during rotation. The main control board 400 is communicatively connected with the power-assisted wheel group 200 and the sensing wheel group 300 respectively. The main control board 400 is suitable for generating a rotation direction signal and a rotation speed signal according to the sensing signal to control the rotation direction and rotation speed of the power-assisted wheel group 200.

[0077] The cleaning device 10 can be a mite remover. The main housing 100 is a lower housing, which is generally arranged in a rectangular structure to facilitate the installation of a cleaning component. Specifically, the cleaning component includes a roller brush, which can absorb objects on the surface to be cleaned into the cleaning device 10, thereby achieving the purpose of cleaning the surface to be cleaned.

[0078] The cleaning device 10 is also provided with a push-pull rod. When the user uses the cleaning device 10, the user pushes or pulls the push-pull rod, and the induction wheel group 300 rotates. The induction wheel group 300 can generate an induction signal during the rotation process. The main control board 400 obtains the induction signal and controls the rotation direction and rotation speed of the power-assisted wheel group 200 according to the induction signal. Therefore, the rotation direction and rotation speed of the power-assisted wheel group 200 can be adjusted according to the push-pull speed and push-pull direction applied to the push-pull rod. That is, according to the changes in the push-pull speed and push-pull direction applied by the user to the cleaning device 10, the power-assisted wheel group 200 can provide different power-assisted speeds and different power-assisted directions, so that the action of the power-assisted wheel group 200 is coordinated with the action applied to the push-pull rod, thereby improving the user experience.

[0079] It can be understood that the roller brush, the induction wheel set 300 and the booster wheel set 200 are all installed at the bottom of the main housing 100, so that the induction wheel and the booster wheel set 200 can contact the surface to be cleaned. When the cleaning device 10 is pushed or pulled, the induction wheel set 300 will rotate, and when the cleaning device 10 is stationary, the induction wheel set 300 will also stop rotating. Therefore, the movement state of the induction wheel set 300 can feedback the movement state of the cleaning device 10 as a whole, and the induction wheel set 300 can generate a sensing signal according to its own movement state, thereby judging whether the overall operation state of the cleaning device 10 is forward, backward or stationary.

[0080] The induction wheel group 300 sends the induction signal to the main control board 400, and the main control board 400 controls the rotation direction and rotation speed of the booster wheel group 200 according to the induction signal. The rotation direction includes forward rotation, backward rotation, and stationary rotation. If the cleaning device 10 is pushed forward, the induction wheel group 300 rotates forward, so that the main control board 400 controls the booster wheel group 200 to rotate forward, which saves the effort of pushing the cleaning device 10 forward, making it easier to push the cleaning device 10 forward. If the cleaning device 10 is pulled backward, the induction wheel group 300 rotates backward, so that the main control board 400 can control the booster wheel group 200 to rotate backward, which can also save the effort of pulling the cleaning device 10 backward, making it easier to pull the cleaning device 10 backward.

[0081] More specifically, taking the forward and backward movement of the cleaning device 10 as an example, if the push-pull rod is pushed forward to increase the speed, the induction wheel set 300 will move forward to increase the speed, and the main control board 400 will control the booster wheel set 200 to move forward to increase the speed according to the induction signal generated by the induction wheel set 300 during the rotation process. Similarly, if the push-pull rod is pulled backward to increase the speed, the induction wheel set 300 will move backward to increase the speed, and the main control board 400 will control the booster wheel set 200 to move backward to increase the speed according to the induction signal generated by the induction wheel set 300 during the rotation process. If the speed is reduced, the same is true, which will not be repeated here.

[0082] Therefore, when the user pushes forward, forward assistance is provided; when the user pulls backward, backward assistance is provided; when the user accelerates and pushes forward, the rotation speed of the power-assisting wheel set 200 increases; when the user decelerates and pulls backward, the rotation speed of the power-assisting wheel set 200 decreases.

[0083] In another embodiment, if Figure 2 and Figure 3 As shown, the cleaning device 10 also includes a bracket 310, which is connected to the bottom of the main housing 100. The induction wheel group 300 includes an auxiliary wheel 320 and a grating recognition component 330. The auxiliary wheel 320 is provided with a first rotating shaft 321, and the first rotating shaft 321 is rotatably connected to the bracket 310; the grating recognition component 330 is connected to the first rotating shaft 321, and the grating recognition component 330 is suitable for generating a grating signal during the rotation of the auxiliary wheel 320, and the grating signal is an induction signal.

[0084] The grating recognition component 330 can rotate with the rotation of the auxiliary wheel 320. The grating recognition component 330 can generate a grating signal during the rotation process. The grating signal includes the number of light signals output by the grating recognition component 330 when it rotates one circle. The more light signals there are, the faster the auxiliary wheel 320 rotates. Therefore, the main control board 400 can control the rotation speed of the power-assisted wheel group 200 according to the number of light signals output when the grating recognition component 330 rotates one circle.

[0085] It is understandable that the grating signal also includes the rotation direction signal of the grating recognition component 330 , so that the main control board 400 can identify the rotation direction of the auxiliary wheel 320 to control the rotation direction of the power-assisted wheel assembly 200 .

[0086] The direction control logic of the power-assisted wheel set 200 is as follows: Figure 6 As shown, when the grating body 3341 rotates, two groups of light emitters 3342 and light receivers 3343 output two groups of pulse signals. Taking the waveform of the first signal as the reference, the second signal has two waveforms when pushing forward and pulling back. The pulse signal outputs 0 when the level is low and outputs 1 when the level is high. The program detects when the output of the first signal changes from 0 to 1, and the value of the second signal output is used to determine the direction. In this example, when the output of the first signal changes from 0 to 1, the second signal outputs 1, which is identified as pushing forward; if the second signal outputs 0, it is identified as pulling back.

[0087] In another embodiment, if Figure 3 As shown, the grating recognition component 330 includes a mounting frame 331, a transmission mechanism 333 and a grating component 334. The mounting frame 331 is detachably connected to the bracket 310, the mounting frame 331 forms an installation space, the transmission mechanism 333 is arranged in the installation space, the transmission mechanism 333 has an input end 3301 and an output end 3302, the input end 3301 is connected to the first rotating shaft 321, and the grating component 334 is arranged at the output end 3302; wherein the output end 3302 is a rotating part, and the transmission mechanism 333 has a transmission ratio greater than 1, so that the rotation speed of the output end 3302 is greater than the rotation speed of the input end 3301.

[0088] It can be understood that if the grating component 334 is directly connected to the first rotating shaft 321 of the sensing wheel group 300, the sensing wheel group 300 rotates one circle, and the signal output by the grating identification component 330 is small, so that the sensing wheel group 300 can only identify the direction but cannot identify the speed change. Then the speed provided by the auxiliary wheel group 200 is constant, and different auxiliary speeds cannot be used according to the change of the user's push-pull speed, and the user experience is poor. Therefore, the transmission mechanism 333 is set to increase the rotation speed output by the sensing wheel group 300, and the grating component 334 is connected to the output end 3302 of the transmission mechanism 333, so that the rotation speed of the grating component 334 is increased, thereby increasing the number of light signals output by the grating component 334, so that the rotation speed of the auxiliary wheel 320 can be more accurately identified.

[0089] Furthermore, the grating assembly 334 includes a grating body 3341, a light emitter 3342 and a light receiver 3343. The grating body 3341 rotates coaxially with the output end 3302. The light receiver 3343 and the light emitter 3342 are arranged in a one-to-one correspondence as one or more groups. The light receiver 3343 is communicatively connected to the main control board 400.

[0090] The light emitter 3342 emits a light signal, and the light receiver 3343 receives the light signal emitted by the light emitter 3342 . The light emitter 3342 and the light receiver 3343 are respectively disposed on two opposite sides of the grating body 3341 in a one-to-one correspondence.

[0091] The main control board 400 controls the direction and speed of rotation of the motor of the power-assisted wheel group 200 according to the grating signal output by the grating component 334. Among them, the signal output by the grating component 334 is a high level or a low level, which identifies whether the cleaning device 10 is pushed forward or pulled backward, thereby correspondingly controlling the driving motor of the power-assisted wheel group 200 to provide forward or backward assistance. Of course, the identification of whether the cleaning device 10 is pushed forward by a high level or a low level can be controlled by a program without specific limitation. According to the amount of signal output per unit time, the speed of the driving motor of the power-assisted wheel group 200 preset by the program is matched, and then the speed of the power-assisted wheel group 200 is controlled to match the running speed of the cleaning device 10, so as to realize the acceleration or deceleration push and pull of the cleaning device 10, and the driving motor of the power-assisted wheel group 200 is accelerated or decelerated accordingly, which reduces the pulling feeling and improves the user experience.

[0092] Continue to combine Figure 6 As shown, when the grating body 3341 rotates, two groups of light emitters 3342 and light receivers 3343 output two groups of pulse signals. Taking the waveform of the first signal as the reference, the second signal has two waveforms when pushing forward and pulling backward. The pulse signal outputs 0 when it is low level and outputs 1 when it is high level. When it is detected that the output of the first signal changes from 0 to 1, the direction is judged by the value of the second signal output. In this example, when the output of the first signal changes from 0 to 1, the second signal outputs 1, which is identified as pushing forward; if the second signal outputs 0, it is identified as pulling backward.

[0093] Continue to combine Figure 7 As shown, two groups of light transmitters 3342 and light receivers 3343 output two groups of pulse signals. Within a program acquisition cycle, the number of pulses of any one group of signals is counted, and the speed of the driving motor of the power-assisted wheel preset by the program is controlled by the number of pulses, and the speed of the driving motor is changed to the preset value through the electrical signal to realize the speed control of the driving motor. When the number of pulses is a, the speed of the power-assisted wheel motor is V1, and when the number of pulses is b, the speed of the power-assisted wheel motor is V2......

[0094] The rotation speed control logic of the power-assisted wheel set 200 is shown in the figure. The grating body 3341 rotates 1 circle and outputs X signals. The transmission ratio of the transmission mechanism 333 is Y. The auxiliary wheel 320 rotates 1 circle, and the grating body 3341 rotates Y circles, and a total of X×Y signals are output. The main control board 400 can identify the running direction and running speed of the induction wheel set 300 according to the difference and number of the signals output by the grating within the program scanning time.

[0095] It also includes a grating cover 3344, which is connected to the cover plate 332. Two groups of light receivers 3343 are installed on the cover plate 332, and two groups of light emitters 3342 are installed on the grating cover 3344. The rotation direction and rotation speed of the grating are identified through the two groups of light emitters 3342 and the light receivers 3343, thereby controlling the operation of the power-assisted wheel.

[0096] In another embodiment, the bracket 310 is provided with a first positioning structure 3101 and a first guide structure 3102, the mounting frame 331 is provided with a second positioning structure 3311 and a second guide structure 3312, the first positioning structure 3101 and the second positioning structure 3311 cooperate for positioning, the first guide structure 3102 and the second guide structure 3312 cooperate in a concave-convex manner, the input end 3301 passes through the first guide structure 3102 and the second guide structure 3312, and the first rotating shaft 321, the input end 3301, the first guide structure 3102 and the second guide structure 3312 are coaxially arranged.

[0097] The first positioning structure 3101 is a column, and the second positioning structure 3311 is a positioning hole. The first positioning structure 3101 is inserted into the second positioning structure 3311 for positioning. The first guide structure 3102 is a conical protrusion structure, and the second guide structure 3312 is a conical recessed hole structure. The first guide structure 3102 slides along the inner wall of the second guide structure 3312 for guidance. The mounting frame 331 is a box structure. When the mounting frame 331 is installed on the bracket 310, the first positioning structure 3101 cooperates with the second positioning structure 3311, and the first guide structure 3102 cooperates with the second guide structure 3312 to position the mounting frame 331, ensuring that the centers of the auxiliary wheel 320, the first guide structure 3102, the second guide structure 3312 and the first rotating shaft 321 coincide with each other, which can prevent eccentricity and reduce transmission resistance.

[0098] In another embodiment, Figure 3 As shown, the grating recognition component 330 also includes a cover plate 332 , the cover plate 332 is provided with a third positioning structure 3313 , the mounting frame 331 is provided with a fourth positioning structure 3321 , and the third positioning structure 3313 cooperates with the fourth positioning structure 3321 for positioning.

[0099] In this embodiment, the third positioning structure 3313 is a column, the fourth positioning structure 3321 is a positioning hole, and the third positioning structure 3313 and the fourth positioning structure 3321 are arranged in a one-to-one correspondence, and two are respectively arranged. When the cover plate 332 is installed on the mounting frame 331, the third positioning structure 3313 and the fourth positioning structure 3321 cooperate to position, which can ensure the installation position of the cover plate 332 and the mounting frame 331, and ensure that the center distance between the gears meets the design requirements.

[0100] In another embodiment, the cover plate 332 is provided with a limiting column 3323 extending into the installation space. The limiting column 3323 is suitable for axially limiting the first rotating shaft 321 , and can limit the axial movement of the first rotating shaft 321 , thereby improving the transmission accuracy of the transmission mechanism 333 .

[0101] In another embodiment, Figure 4 and Figure 5 As shown, the transmission mechanism 333 includes a gear box, and the gear box has an input end 3301 and an output end 3302, and the output end 3302 is a second rotating shaft.

[0102] It is understandable that both the input end 3301 and the output end 3302 are shaft structures. The transmission mechanism 333 is configured in the form of a gear box structure, and the gear box increases the rotation speed of the output end 3302, so that the rotation speed of the auxiliary wheel 320 can be more accurately identified.

[0103] Specifically, the gear box is a three-stage acceleration gear mechanism, which can ensure that the transmission ratio can meet the requirements of the frame increase rotation speed and that the installation space can meet the size requirements.

[0104] More specifically, Figure 5 As shown, the gearbox includes a first gear 3331, a second gear 3332, a third gear 3333, a fourth gear 3334, a fifth gear 3335 and a sixth gear 3336, wherein the first gear 3331 is arranged at the input end 3301, and the second gear 3332 is meshed with the first gear 3331; the third gear 3333 rotates synchronously with the second gear 3332, the fourth gear 3334 is meshed with the third gear 3333, the fifth gear 3335 rotates synchronously with the fourth gear, the sixth gear 3336 is meshed with the fifth gear 3335, and the sixth gear 3336 is provided with an output end 3302; wherein the first gear 3331, the third gear and the fifth gear 3335 are large gears, and the transmission ratio between the two meshing gears is greater than 2.

[0105] The first gear 3331 is connected to the first rotating shaft 321 of the auxiliary wheel 320, and has 29 teeth. The second gear 3332 meshing with the first gear 3331 has 12 teeth, forming a first stage transmission, and the transmission ratio is 2.417, that is, when the first gear 3331 rotates 1 circle, the second gear 3332 rotates 2.417 circles. The third gear 3333 is spaced apart from the second gear 3332 and is coaxially arranged with the first transmission shaft 3337, so that the third gear 3333 rotates synchronously with the second gear 3332. The third gear 3333 has 31 teeth, and the fourth gear 3334 meshing with the third gear 3333 has 13 teeth, forming a second stage transmission, and the transmission ratio is 2.384, that is, when the third gear 3333 rotates 1 circle, the fourth gear 3334 rotates 2.384 circles. The fifth gear 3335 and the fourth gear 3334 are spaced apart from each other and are arranged coaxially with the second transmission shaft 3338, so that the fifth gear 3335 and the fourth gear 3334 rotate synchronously. The number of teeth of the fifth gear 3335 is 30, and the number of teeth of the sixth gear 3336 meshing with the fifth gear 3335 is 11, forming a third-stage transmission, with a transmission ratio of 2.727 and a total transmission ratio of 15.7. The grating body 3341 rotates 1 circle to output 40 signals, and the auxiliary wheel 320 rotates 1 circle, then the first gear 3331 rotates 1 circle, the sixth gear 3336 rotates 15.7 circles, and the grating body 3341 rotates 15.7 circles to output 628 signals. In this example, the grating rotates 1 circle to output 40 signals, that is, the induction wheel rotates 1 circle and the grating outputs 628 signals.

[0106] Obviously, the above embodiments are merely examples for clear description and are not limitations of the implementation methods.

[0107] For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the protection scope of the invention of the utility model.

Claims

1. A cleaning device, characterized in that: The cleaning device (10) comprises: Main housing (100); A booster wheel assembly (200) is arranged at the bottom of the main housing (100); An induction wheel set (300) is arranged at the bottom of the main housing (100), and the induction wheel set (300) generates an induction signal during rotation; A main control board (400) is communicatively connected to the power-assisting wheel group (200) and the sensing wheel group (300), respectively. The main control board (400) is suitable for generating a rotation direction signal according to the sensing signal to control the rotation direction of the power-assisting wheel group (200), and generating a rotation speed signal according to the sensing signal to control the rotation speed of the power-assisting wheel group (200).

2. The cleaning device according to claim 1, characterized in that The cleaning device (10) further comprises a bracket (310), wherein the bracket (310) is connected to the bottom of the main housing (100), and the induction wheel assembly (300) comprises: The auxiliary wheel (320) is provided with a first rotating shaft (321), and the first rotating shaft (321) is rotatably connected to the bracket (310); A grating recognition component (330) is connected to the first rotating shaft (321), and the grating recognition component (330) is suitable for generating a grating signal during the rotation of the auxiliary wheel (320), and the grating signal is the sensing signal.

3. The cleaning device according to claim 2, characterized in that: The grating recognition component (330) comprises: A mounting frame (331) detachably connected to the bracket (310), wherein the mounting frame (331) forms a mounting space; A transmission mechanism (333) is arranged in the installation space, the transmission mechanism (333) has an input end (3301) and an output end (3302), and the input end (3301) is connected to the first rotating shaft (321); A grating component (334), disposed at the output end (3302); Wherein, the output end (3302) is a rotating part, and the transmission mechanism (333) has a transmission ratio greater than 1, so that the rotation speed of the output end (3302) is greater than the rotation speed of the input end (3301).

4. The cleaning device according to claim 3, characterized in that: The grating assembly (334) includes: The grating body (3341) rotates coaxially with the output end (3302); Light emitter (3342); The light receiver (3343) is arranged in one or more groups in a one-to-one correspondence with the light transmitter (3342), and the light receiver (3343) is communicatively connected with the main control board (400).

5. The cleaning device according to claim 3, characterized in that: The bracket (310) is provided with a first positioning structure (3101) and a first guiding structure (3102), and the mounting frame (331) is provided with a second positioning structure (3311) and a second guiding structure (3312); the first positioning structure (3101) and the second positioning structure (3311) cooperate for positioning, the first guiding structure (3102) and the second guiding structure (3312) cooperate in a concave-convex manner, the input end (3301) passes through the first guiding structure (3102) and the second guiding structure (3312), and the first rotating shaft (321), the input end (3301), the first guiding structure (3102) and the second guiding structure (3312) are coaxially arranged.

6. The cleaning device according to claim 3, characterized in that: The grating recognition component (330) further comprises a cover plate (332), the cover plate (332) is provided with a third positioning structure (3313), the mounting frame (331) is provided with a fourth positioning structure (3321), and the third positioning structure (3313) cooperates with the fourth positioning structure (3321) for positioning.

7. The cleaning device according to claim 6, characterized in that: The cover plate (332) is provided with a limiting column (3323) extending into the installation space, and the limiting column (3323) is suitable for axially limiting the first rotating shaft (321).

8. The cleaning device according to any one of claims 3 to 7, characterized in that The transmission mechanism (333) comprises a gear box, wherein the gear box has the input end (3301) and the output end (3302), and the output end (3302) is a second rotating shaft.

9. The cleaning device according to claim 8, characterized in that The gear box is a three-stage acceleration gear mechanism.

10. The cleaning device according to claim 9, characterized in that The gearbox comprises: A first gear (3331), disposed at the input end (3301); A second gear (3332) meshing with the first gear (3331); A third gear (3333) rotates synchronously with the second gear (3332); a fourth gear (3334), meshing with the third gear (3333); a fifth gear (3335) which rotates synchronously with the fourth gear; a sixth gear (3336), meshing with the fifth gear (3335), the sixth gear (3336) being provided with the output end (3302); Among them, the first gear (3331), the third gear and the fifth gear (3335) are large gears, and the transmission ratio between the two gears meshing with each other is greater than 2.

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