Cleaning module and cleaning equipment

Abstract

The utility model provides a cleaning module and cleaning equipment, the cleaning module comprises a module body, a cleaning swing arm and an elastic support, the cleaning swing arm is rotatably connected with the module body, and the cleaning swing arm can swing among an extending position, a retracting position and an ending position relative to the module body; the retracting position is located between the extending position and the terminating position; the elastic bracket is arranged on the module body; when the cleaning swing arm is located at the recovery position, the cleaning swing arm pushes the elastic support to be located at a first position in a stretching state; when the cleaning swing arm is located at the stop position, the cleaning swing arm pushes the elastic support to be located at a second position in the stretching state; when the cleaning swing arm is located at the extending position, the elastic support is located at a third position, away from one side of the second position, of the first position. According to the cleaning module provided by the invention, the cleaning swing arm can return twice.

Description

Technical Field

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

[0002] With the development of modern society, more and more people are focusing on work, and have little time to clean their homes. However, daily cleaning and maintenance of home hygiene affects people's quality of life. In order to save time and maintain home hygiene, more and more people are starting to buy cleaning equipment to clean their homes in a timely and convenient manner. Cleaning equipment can automatically clean the floor in the room with a certain degree of artificial intelligence.

[0003] Most of the cleaning devices in the related art are sweeping robots. When the sweeping robots perform cleaning tasks, the cleaning heads on the swing arms of the sweeping robots can effectively clean the floor.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0005] The purpose of the present disclosure is to provide a cleaning module and a cleaning device.

[0006] According to one aspect of the present disclosure, a cleaning module is provided, the cleaning module comprising:

[0007] Module body;

[0008] A cleaning swing arm, the cleaning swing arm comprising a swing arm body and a cleaning head, one end of the swing arm body being rotatably connected to the module body, and the cleaning head being arranged on the other end of the swing arm body; the cleaning swing arm can swing between an extended position, a retracted position and a terminal position relative to the module body, and the retracted position is located between the extended position and the terminal position;

[0009] An elastic bracket is arranged on the module body; when the cleaning swing arm is located at the recovery position, the cleaning swing arm pushes the elastic bracket to be located at a first position under stress; when the cleaning swing arm is located at the end position, the cleaning swing arm pushes the elastic bracket to be located at a second position under stress; when the cleaning swing arm is located at the extended position, the elastic bracket is located at a third position on the side of the first position away from the second position.

[0010] In an exemplary embodiment of the present disclosure, the cleaning module further includes:

[0011] A detection component is arranged on the module body, and the detection component is configured to output a first position signal when the cleaning swing arm is located at the recovery position, output a second position signal when the cleaning swing arm is located at the end position, and output a third position signal when the cleaning swing arm is located at the extended position.

[0012] In an exemplary embodiment of the present disclosure, the detection component is arranged relative to the elastic bracket, outputs the first position signal when the elastic bracket is located at the first position, outputs the second position signal when the elastic bracket is located at the second position, and outputs the third position signal when the elastic bracket is located at the third position.

[0013] In an exemplary embodiment of the present disclosure, the elastic bracket includes a bracket and a first elastic member, the bracket is connected to the first elastic member, and the first elastic member is in a stressed state driven by the bracket.

[0014] In an exemplary embodiment of the present disclosure, the bracket includes a supporting portion and a positioning portion, the positioning portion is provided with a grating hole, and the detection component includes an optical signal transmitter and an optical signal receiver; when the optical signal emitted by the optical signal transmitter passes through the grating hole and is received by the optical signal receiver, the detection component outputs the first position signal.

[0015] In an exemplary embodiment of the present disclosure, in the rotation direction of the bracket, shielding portions are provided on both sides of the grating hole on the positioning portion, and when the light signal emitted by the light signal transmitter is blocked by the shielding portion, the detection component outputs the second position signal or the third position signal, and the second position signal is the same as the third position signal.

[0016] In an exemplary embodiment of the present disclosure, the bracket also includes a guide portion, a guide groove is provided on the module body, and the guide portion is located in the guide groove; when the bracket switches between the first position, the second position and the third position, the guide groove forms a limit for the movement of the guide portion.

[0017] In an exemplary embodiment of the present disclosure, the cleaning module further includes:

[0018] An elastic limiting member is provided on the module body, and the elastic limiting member is configured so that the force applied to the elastic bracket increases when the elastic bracket moves from the first position toward the second position.

[0019] In an exemplary embodiment of the present disclosure, the elastic limit member is configured to move between a first limit position and a second limit position. When the elastic bracket is located at the first position, the elastic limit member is located at the first limit position; when the elastic bracket is located at the second position, the elastic limit member is located at the second limit position.

[0020] In an exemplary embodiment of the present disclosure, when the elastic limiting member is located at the first limiting position, the elastic limiting member is in a free state or a stressed state.

[0021] In an exemplary embodiment of the present disclosure, the elastic limit member includes a limit member and a second elastic member, the limit member is connected to the second elastic member, and the second elastic member is configured to be able to be in a stressed state or a free state under the drive of the limit member.

[0022] In an exemplary embodiment of the present disclosure, a first limiting structure and a second limiting structure are provided on the module body, the first limiting structure is configured to limit the movement of the limiting member from the first limiting position toward a side away from the second limiting position, and the second limiting structure is configured to limit the movement of the limiting member from the second limiting position toward a side away from the first limiting position.

[0023] In an exemplary embodiment of the present disclosure, the cleaning module further includes:

[0024] A driving assembly is configured to drive the cleaning swing arm to swing between the first position and the third position.

[0025] In an exemplary embodiment of the present disclosure, a limiting portion is provided on the module body, and when the elastic bracket is located at the third position, the limiting portion is configured to limit the swing of the elastic bracket from the third position toward a side away from the first position.

[0026] In an exemplary embodiment of the present disclosure, when the cleaning swing arm is located at the third position, the cleaning swing arm and the elastic bracket are spaced apart.

[0027] In an exemplary embodiment of the present disclosure, when the cleaning swing arm is located at the extended position, the cleaning swing arm is arranged in contact with the elastic bracket.

[0028] According to another aspect of the present disclosure, a cleaning device is provided, which includes the cleaning module described in any one of the above embodiments.

[0029] The cleaning module provided by the present invention is characterized in that the cleaning swing arm can be located in the extended position for cleaning operations, thereby increasing the cleaning area and being able to clean sanitary dead corners such as corners, legs of tables and chairs, thereby improving the cleaning effect; the cleaning swing arm can also be located in the retracted position for cleaning operations, and when the cleaning swing arm collides with an obstacle, the cleaning swing arm can be swung to the retracted position by external force, and in the process of swinging to the retracted position, the elastic bracket is squeezed by the cleaning swing arm and is in a stressed state, thereby achieving a buffering effect when the elastic bracket is swung by the external force through the elastic bracket; further, when the cleaning swing arm is performing cleaning operations in the retracted position, if it is squeezed by the external environment, the cleaning swing arm continues to push the elastic bracket to swing toward the end position, and when the cleaning swing arm swings toward the end position, the elastic bracket further provides a buffering effect, effectively buffering the external squeezing force on the cleaning swing arm when it is in the retracted position, thereby improving the reliability of the cleaning swing arm during the swinging process when it is subjected to external force.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0032] Figure 1 A schematic diagram of a cleaning device provided for one embodiment of the present disclosure.

[0033] Figure 2 A front view of a cleaning device provided in accordance with an embodiment of the present disclosure.

[0034] Figure 3 A schematic diagram of a cleaning swing arm in a recovery position provided for an embodiment of the present disclosure.

[0035] Figure 4 A schematic diagram of a cleaning swing arm in an extended position provided for an embodiment of the present disclosure.

[0036] Figure 5 A schematic diagram of a cleaning swing arm provided for an embodiment of the present disclosure.

[0037] Figure 6 A schematic diagram of a cleaning swing arm in a cleaning module provided in an embodiment of the present disclosure being in a recovery position.

[0038] Figure 7A partially opened enlarged view of a cleaning swing arm in a cleaning module provided in an embodiment of the present disclosure when the cleaning swing arm is in a recovery position.

[0039] Figure 8 A partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided in an embodiment of the present disclosure is located in the recovery position.

[0040] Fig. 9 A schematic diagram of a cleaning swing arm in a cleaning module provided in an embodiment of the present disclosure being located at a terminal position.

[0041] Fig.10 A partially opened enlarged view of a cleaning swing arm in a cleaning module provided in an embodiment of the present disclosure when the cleaning swing arm is in the end position.

[0042] Fig.11 A partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided in an embodiment of the present disclosure is located at the end position.

[0043] Fig.12 A schematic diagram of a cleaning swing arm in an extended position in a cleaning module provided in an embodiment of the present disclosure.

[0044] Fig.13 A partially opened enlarged view of a cleaning swing arm in a cleaning module provided in an embodiment of the present disclosure when the cleaning swing arm is in an extended position.

[0045] Fig.14 A partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided in an embodiment of the present disclosure is in the extended position.

[0046] Fig.15 A schematic diagram of an elastic limiter provided in accordance with an embodiment of the present disclosure.

[0047] Fig.16 A partially opened exploded view of an elastic swing arm provided in one embodiment of the present disclosure.

[0048] Description of reference numerals:

[0049] 10. Cleaning equipment;

[0050] 100. Equipment body;

[0051] 200, cleaning swing arm; 210, swing arm body; 220, cleaning head; 230, driving assembly; 240, slide rod; 250, gear set;

[0052] 300, elastic bracket; 310, bracket; 311, supporting portion; 312, positioning portion; 3121, grating hole; 3122, first shielding portion; 3123, second shielding portion; 313, guiding portion; 314, abutting portion; 320, first elastic member;

[0053] 400, elastic limiting member; 410, limiting member; 420, second elastic member;

[0054] 500, detection component; 510, optical signal transmitter; 520, optical signal receiver;

[0055] 600, module body; 610, guide groove; 620, slide groove; 630, limit part. DETAILED DESCRIPTION

[0056] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0057] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a certain structure is "on" other structures, it may mean that the certain structure is formed integrally on the other structure, or that the certain structure is "directly" disposed on the other structure, or that the certain structure is "indirectly" disposed on the other structure through another structure.

[0058] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used merely as labels and are not intended to limit the quantity of their objects.

[0059] like Figure 1 to Figure 4As shown, the cleaning device 10 includes a device body 100 and a cleaning module. One end of a swing cleaning arm 200 of the cleaning module is rotatably mounted on the device body 100, and the swing arm can be located at a recovery position, an extended position and a terminal position by swinging relative to the device body 100; a cleaning head 220 is provided on the free end of the cleaning swing arm 200, and the cleaning operation is performed by the cleaning head 220; the cleaning device 10 can be, for example, a mopping / brushing robot, a vacuum suction robot, a window climbing robot, etc.

[0060] The embodiment of the present disclosure provides a cleaning module, such as Figures 5 to 14 As shown, the cleaning module includes: a module body 600, a cleaning swing arm 200 and an elastic bracket 300, one end of the cleaning swing arm 200 is rotatably connected to the module body 600, and the cleaning swing arm 200 can be located at an extended position, a retracted position and a terminal position relative to the module body 600 by swinging, and the retracted position is located between the extended position and the terminal position; the elastic bracket 300 is arranged on the module body 600, when the cleaning swing arm 200 is located at the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located at a first position in a stressed state; when the cleaning swing arm 200 is located at the terminal position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located at a second position in a stressed state; when the cleaning swing arm 200 is located at the extended position, the elastic bracket 300 is located at a third position on the side of the first position away from the second position.

[0061] In the cleaning module provided by the present disclosure, the cleaning swing arm 200 can be located in the extended position for cleaning operations, which increases the cleaning area and can clean sanitary dead corners such as corners and legs of tables and chairs, thereby improving the cleaning effect; the cleaning swing arm 200 can also be located in the recovery position for cleaning operations. When the cleaning swing arm 200 encounters an obstacle and collides, the cleaning swing arm 200 is subjected to an external force and can be swung to the recovery position. In the process of swinging to the recovery position, the elastic bracket 300 is squeezed by the cleaning swing arm 200 and is in a stressed state, and the elastic bracket 300 is used to achieve a buffering effect when the elastic bracket 300 is subjected to an external force and swings; further, when the cleaning swing arm 200 is in the recovery position for cleaning operations, if it is squeezed by the outside world, the cleaning swing arm 200 continues to push the elastic bracket 300 to swing toward the end position. When the cleaning swing arm 200 swings toward the end position, the elastic bracket 300 further provides a buffering effect, effectively buffering the external squeezing force on the cleaning swing arm 200 when it is in the recovery position, thereby improving the reliability of the cleaning swing arm 200 in the swinging process when it is subjected to an external force.

[0062] In one embodiment, Figure 7 , Fig.10 and Fig.13As shown, the elastic bracket 300 includes a bracket 310 and a first elastic member 320 . The bracket 310 is connected to the first elastic member 320 . The first elastic member 320 can be in a stressed state or a free state driven by the bracket 310 .

[0063] The first elastic member 320 may be a spring, one end of which is connected to the module body 600, and the other end of which is connected to the bracket 310. When the bracket 310 moves from the third position toward the first position, and when the first position moves toward the second position, the bracket 310 continuously generates a tensile force on the elasticity, so that the spring is in a tensile state.

[0064] like Figure 8 , Fig.11 and Fig.14 As shown, the bracket 310 includes a support portion 311 and a guide portion 313, wherein the support portion 311 is used to abut against the cleaning swing arm 200; a guide groove 610 is provided on the module body 600, and the guide portion 313 is located in the guide groove 610; when the bracket 310 switches between the first position, the second position and the third position, the guide groove 610 forms a limit to the movement of the guide portion 313. The arrangement of the guide portion 313 and the guide groove 610 improves the stability and reliability of the bracket 310 rotating on the module body 600, and when the bracket 310 provides a buffering force to the cleaning swing arm 200, it can provide a supporting force to the cleaning swing arm 200 more stably, thereby improving the stability of the cleaning swing arm 200 when it is returned to its original position by an external force.

[0065] Among them, Figure 8 , Fig.11 and Fig.14 As shown, one end of the support portion 311 is rotatably connected to the module body 600, and the other end is connected to the guide portion 313, that is, the rotation ends of the guide portion 313 and the support portion 311 are located at opposite ends of the support portion 311, which can prevent the support portion 311 from being misaligned after being squeezed by the cleaning swing arm 200, thereby further improving the stability of the support portion 311.

[0066] like Fig.12As shown, when the cleaning swing arm 200 is in the extended position, the cleaning swing arm 200 and the elastic bracket 300 are spaced apart, that is, when the cleaning swing arm 200 is in the extended position, there is no acting force between the cleaning swing arm 200 and the elastic bracket 300, and the cleaning swing arm 200 performs a normal cleaning operation. When the cleaning swing arm 200 swings toward the recovery position, the cleaning swing arm 200 pushes the elastic bracket 300 to be in a stressed state, thereby providing a buffering effect through the elastic bracket 300. Of course, when the cleaning swing arm 200 is in the extended position, the cleaning swing arm 200 can also be arranged in contact with the elastic bracket 300, that is, the elastic bracket 300 can continuously provide an elastic acting force to the cleaning swing arm 200, which can improve the stability of the cleaning swing arm 200 when performing cleaning operations in the extended position.

[0067] Among them, when the elastic bracket 300 is located in the third position, the elastic bracket 300 may be in a stressed state, that is, the first elastic member 320 is in a stressed state driven by the bracket 310; by making the elastic bracket 300 in a stressed state, the stability of the elastic bracket 300 in the third position can be improved by elastic force; of course, when the elastic bracket 300 is located in the third position, the elastic bracket 300 may be in a free state, that is, the first elastic member 320 is in a free state; when the bracket 310 is located in the third position, the first elastic member 320 is in a free state, which is convenient for the assembly and setting of the elastic bracket 300; when the bracket 310 is located in the third position, the first elastic member 320 is in a stressed state, which can enhance the buffering force provided by the elastic bracket 300.

[0068] The module body 600 is provided with a limiting portion, and when the elastic bracket 300 is located at the third position, the limiting portion is configured to limit the swing of the elastic bracket 300 from the third position toward the side away from the first position. Figure 7 to Figure 14 As shown, a limit portion 630 is provided on the module body 600, and an abutment portion 314 is provided on the bracket 310. When the bracket 310 is located at the third position, the abutment portion 314 abuts against the limit portion 630, that is, the limit portion 630 forms a swing limit for the bracket 310 from the third position toward the side away from the first position.

[0069] Among them, the abutment portion 314 is located at one end of the guide portion 313 away from the support portion 311. The abutment portion 314 moves under the drive of the guide portion 313, forming a limit on the movement of the abutment portion 314 toward the third position, thereby limiting the bracket 310 at the third position, forming a limit on the rotation range of the bracket 310.

[0070] like Figure 5 and Fig.16As shown, the cleaning module also includes: a driving assembly 230, which is configured to drive the cleaning swing arm 200 to swing between the first position and the third position. When the cleaning head 220 needs to be extended for cleaning, the driving assembly 230 drives the swing arm body 210 to rotate through the gear set 250 to extend relative to the module body 600; when the cleaning head 220 needs to be in the recovery position for cleaning, the driving assembly 230 can drive the swing arm body 210 to rotate to the recovery position through the gear set 250.

[0071] The module body 600 further includes another driving assembly, and the first end of the swing arm is connected to the driving assembly; another gear set can be provided in the swing arm to achieve the purpose of driving the output shaft of the driving assembly to drive the cleaning head 220 to rotate at a high speed, and the speed of the cleaning head 220 can be 500 rpm to 3000 rpm to improve the cleaning efficiency and cleaning effect, and the speed is, for example, 500 rpm, 800 rpm, 1000 rpm, 2000 rpm, 3000 rpm, etc., which are not listed one by one in this disclosure. Of course, the speed of the cleaning head 220 can also be less than 500 rpm or greater than 3000 rpm, and this disclosure does not limit this.

[0072] Among them, a receiving space may be formed in the swing arm body 210 to install the gear set in the swing arm body 210. The swing arm body 210 may be a rectangular parallelepiped, and the extension direction of the swing arm body 210 may be its length direction. The swing arm body 210 swings in its width direction, and the receiving space formed in the thickness direction of the swing arm body 210 can accommodate the gear set, so as to avoid the swing arm body 210 being too large.

[0073] Among them, the swing arm body 210 swings back and forth within a preset angle range, and the preset angle can be 20°~120°, for example, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, etc., which are not listed one by one in the present disclosure.

[0074] Among them, the driving component that drives the swing arm body 210 to swing and the driving component that drives the cleaning head 220 can be two independent driving components, or a clutch structure can be used to adopt one driving component to achieve the purpose of swinging the swing arm body 210 and driving the cleaning head 220 to rotate. The present disclosure does not impose any restrictions on this.

[0075] Among them, Fig.14 As shown, a slide rod 240 is provided on the swing arm body 210, and a slide groove 620 is provided on the module body 600. The end of the slide rod 240 is located in the slide groove 620, forming a guide for the swing arm body 210 to swing relative to the module body 600, thereby improving the stability of the swing arm body 210 when swinging.

[0076] In one embodiment, Figure 6 to Figure 14 As shown, the cleaning module also includes: an elastic stopper 400, which is arranged on the module body 600, and the elastic stopper 400 is configured so that the elastic support 300 is subjected to a larger force when it moves from the first position toward the second position. By setting the elastic stopper 400, when the support 310 moves from the first position toward the second position, the first elastic member 320 and the elastic stopper 400 are subjected to a larger force at the same time, that is, a buffering force is provided at the same time, thereby improving the buffering effect on the cleaning swing arm 200; at the same time, by setting the stopper 410, a travel limit is formed on the rotation of the support 310 relative to the module body 600, so that the cleaning swing arm 200 can swing to the maximum end position relative to the module body 600, thereby avoiding damage caused by excessive swing angle of the swing arm.

[0077] Among them, Fig.15 As shown, the elastic stopper 400 includes a stopper 410 and a second elastic member 420, the stopper 410 is connected to the second elastic member 420, and the second elastic member 420 is configured to be in a stressed state or a free state under the drive of the stopper 410. Fig.15 As shown, the second elastic member 420 can be a torsion spring, and the limiter 410 can drive the torsion spring to generate a torsion force. By arranging the torsion spring to cooperate with the limiter 410, on the one hand, the space occupied by the elastic limiter 400 can be reduced, and on the other hand, the elastic force that can be provided by the second elastic member 420 can be increased. Of course, the second elastic member 420 can also be an elastic member such as a spring, a buffer rubber, etc., and the present disclosure does not limit this.

[0078] Among them, the elastic limit member 400 is configured to move between a first limit position and a second limit position. When the elastic bracket 300 is located at the first position, the elastic limit member 400 is located at the first limit position; when the elastic bracket 300 is located at the second position, the elastic limit member 400 is located at the second limit position, so that the elastic limit member 400 only provides a buffering force when the bracket 310 moves from the second position toward the third position, that is, it provides a buffering force when the cleaning swing arm 200 is subjected to an external force at the recovery position and swings toward the terminal position.

[0079] Among them, the module body 600 may be provided with a first limiting structure and a second limiting structure, the first limiting structure is configured to limit the movement of the limiting member 410 from the first limiting position toward the side away from the second limiting position, and the second limiting structure is configured to limit the movement of the limiting member 410 from the second limiting position toward the side away from the first limiting position. Through the first limiting structure and the second limiting structure, the second elastic member 420 provides an elastic buffering force when the bracket 310 rotates toward the second position, so as to limit the bracket 310 in the third position. The first limiting structure and the second limiting structure may be protruding structures on the module body 600 or other structures that can be detachably arranged; of course, the first limiting structure and the second limiting structure may not be provided, and the rotation range of the limiting member 410 is limited by the free state and the maximum force state of the second elastic member 420 itself, thereby limiting the position of the bracket 310 rotation.

[0080] When the elastic limiting member 400 is located at the first limiting position, the elastic limiting member 400 is in a free state or a stressed state. When the elastic limiting member 400 is located at the first limiting position and is in a free state, it is convenient for the assembly and setting of the elastic limiting member 400; when the elastic limiting member 400 is located at the first limiting position and is in a stressed state, the buffering force provided by the second elastic member 420 can be increased.

[0081] In one embodiment, Figure 6 to Figure 14 As shown, the cleaning module also includes: a detection component 500. The detection component 500 is arranged on the module body 600, and the detection component 500 is configured to output a first position signal when the cleaning swing arm 200 is in the recovery position, output a second position signal when the cleaning swing arm 200 is in the termination position, and output a third position signal when the cleaning swing arm 200 is in the extended position. The cleaning swing arm 200 is in the recovery position, and can continue to move to the termination position when it is hit by an external force. As a safety function, it prevents the cleaning swing arm 200 from being directly damaged by an external force when working in the recovery position; by setting the detection component 500, it is possible to determine whether the cleaning swing arm 200 is in the extended position, the recovery position or the termination position, thereby judging the working state of the cleaning swing arm 200.

[0082] In one embodiment, the detection component 500 is arranged relative to the bracket 310. When the bracket 310 is located at the first position, a first position signal is output; when the bracket 310 is located at the second position, a second position signal is output; when the elastic bracket 300 is located at the third position, a third position signal is output. The position of the swing arm body 210 can be output by judging the position of the bracket 310.

[0083] Among them, Figure 8 , Fig.11 and Fig.14As shown, a positioning portion 312 is provided on the bracket 310, and a grating hole 3121 is provided on the positioning portion 312. The detection component 500 includes an optical signal transmitter 510 and an optical signal receiver 520. When the optical signal emitted by the optical signal transmitter 510 is received by the optical signal receiver 520 through the grating hole 3121, the detection component 500 outputs a first position signal.

[0084] Among them, Figure 8 , Fig.11 and Fig.14 As shown, in the rotation direction of the bracket 310, a first blocking portion 3122 and a second blocking portion 3123 are provided on both sides of the grating hole 3121 on the positioning portion 312, and when the optical signal emitted by the optical signal transmitter 510 is blocked by the first blocking portion 3122, the detection component 500 outputs a second position signal; when the optical signal emitted by the optical signal transmitter 510 is blocked by the second blocking portion 3123, the detection component 500 outputs a third position signal; wherein the second position signal and the third position signal may be the same.

[0085] In one embodiment, the bracket 310 can reciprocate between the first position and the second position, and outputs a first position signal when the bracket 310 is located at the first position, and outputs a second position signal when the bracket 310 is located at the second position. When the bracket 310 moves from the first position to the second position, the detection component 500 can directly output the second position signal, that is, when the bracket 310 moves from the first position to the second position and is located at the second position, the detection component 500 outputs the second position signal.

[0086] When the bracket 310 moves from the second position toward the first position, the detection component 500 may continue to output the second position signal until the bracket 310 is located at the first position, at which time the detection component 500 outputs the first position signal.

[0087] In one embodiment, when the bracket 310 is located at the first position, a first position signal is outputted, and when the bracket 310 is located at the second position, a second position signal is outputted. When the bracket 310 moves from the first position toward the second position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the second position, at which time the detection component 500 outputs the second position signal.

[0088] When the bracket 310 moves from the second position toward the first position, the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the second position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.

[0089] In one embodiment, the detection component 500 outputs a first position signal when the bracket 310 is located at the first position, outputs a second position signal when the bracket 310 is located at the second position, and outputs a fourth position signal when the bracket 310 is located between the first position and the second position, that is, the detection component 500 outputs the fourth position signal when the bracket 310 moves from the first position toward the second position and when the bracket 310 moves from the second position toward the first position.

[0090] When the bracket 310 moves from the first position to the second position, the detection component 500 may output a fourth position signal; when the bracket 310 moves from the second position to the first position, the detection component 500 may output a fifth position signal.

[0091] In one embodiment, the bracket 310 can reciprocate between the first position and the third position, and outputs a first position signal when the bracket 310 is located at the first position, and outputs a third position signal when the bracket 310 is located at the third position. When the bracket 310 moves from the first position to the third position, the detection component 500 can directly output the third position signal, that is, when the bracket 310 moves from the first position to the third position and is located at the third position, the detection component 500 outputs the third position signal.

[0092] When the bracket 310 moves from the third position toward the first position, the detection component 500 may continue to output the third position signal until the bracket 310 is located at the first position, at which time the detection component 500 outputs the first position signal.

[0093] In one embodiment, when the bracket 310 is located at the first position, a first position signal is outputted, and when the bracket 310 is located at the third position, a third position signal is outputted. When the bracket 310 moves from the first position toward the third position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the third position, at which time the detection component 500 outputs the third position signal.

[0094] When the bracket 310 moves from the third position toward the first position, the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the third position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.

[0095] In one embodiment, the first position signal is output when the bracket 310 is located at the first position, the third position signal is output when the bracket 310 is located at the third position, and the detection component 500 outputs a fifth position signal when the bracket 310 is located between the first position and the third position, that is, the detection component 500 outputs a sixth position signal when the bracket 310 moves from the first position toward the third position and when the bracket 310 moves from the third position toward the first position.

[0096] When the bracket 310 moves from the first position to the third position, the detection component 500 may output a sixth position signal; when the bracket 310 moves from the third position to the first position, the detection component 500 may output a seventh position signal.

[0097] In one embodiment, the second position signal and the third position signal are the same signal. For example, the first position signal may be a switch state in the detection assembly 500 showing "1", and the second position signal and the third position signal may be a switch state in the detection assembly 500 showing "0". Through the detection assembly 500, it can be determined whether the bracket 310 is recovered in place to be located at the first position.

[0098] Of course, the second position signal and the third position signal may be different signals, that is, the specific position of the cleaning swing arm 200 may be determined by the first position signal, the second position signal and the third position signal.

[0099] In another embodiment, the detection component 500 is connected to the bracket 310, and the detection component 500 determines the position of the bracket 310 based on the travel of the bracket 310, that is, the cleaning swing arm 200 pushes the bracket 310 to move, thereby obtaining the rotation travel of the bracket 310 through the detection component 500 to determine the position of the bracket 310.

[0100] The detection assembly 500 may include a trigger switch, and the switch may be triggered by the rotation of the bracket 310, so that the switch state of the trigger switch displays 1 or the switch state displays 0. For example, when the second position signal is the same as the third position signal, when the cleaning swing arm 200 is recovered to the recovery position, the switch state displays 1; when the cleaning swing arm 200 is hit by an external force and continues to recover to the end position, the switch state changes to 0; when the cleaning swing arm 200 is not recovered in place or is pulled out by an external force, the switch state is 0.

[0101] Among them, the detection component 500 can also be set with multiple detection points. After the bracket 310 is connected to the detection component 500, when the bracket 310 is located at different positions, different detection points can be triggered, thereby determining the position information of the cleaning swing arm 200 when it is located at different positions.

[0102] The embodiment of the present disclosure also provides a cleaning device 10, such as Figure 1 to Figure 4 As shown, the cleaning device 10 includes: an equipment body 100 and a cleaning module provided in the above embodiment, the first end of the swing arm of the cleaning module is rotatably mounted on the equipment body 100, and the swing arm can be located at a recovery position, an extended position and a terminal position by swinging relative to the equipment body 100; a cleaning head 220 is provided on the second end of the swing arm.

[0103] In the cleaning device 10 provided by the present disclosure, the cleaning head 220 can swing within a preset angle range relative to the device body 100 under the drive of the swing arm, so as to perform cleaning operations at the target position, which can improve the cleaning area coverage formed by the cleaning head 220, thereby improving the cleaning effect of the cleaning device 10; at the same time, the swing arm is located in the recovery position and can continue to move to the end position when hit by external force, which serves as a safety function to prevent the swing arm from being directly damaged by external force when working in the recovery position.

[0104] Among them, when the cleaning head 220 is in the recovery position, the cleaning head 220 can perform normal cleaning operations and clean the debris in the cleaning area of ​​the cleaning head 220 to the sewage suction port; when the cleaning head 220 is in the extended position, the cleaning area corresponding to the cleaning head 220 is also extended to the outside of the cleaning device 10, so that cleaning operations can be performed on more areas, avoiding cleaning dead corners and improving the cleaning effect of the cleaning device 10. For example, when the cleaning device 10 is circular as a whole, when it is necessary to clean corners such as wall corners, if the cleaning head 220 is in the recovery position, the cleaning area of ​​the cleaning head 220 cannot cover the wall corners, resulting in the inability to clean the wall corners, forming a sanitary dead corner; at this time, by positioning the cleaning head 220 in the extended position, the cleaning head 220 is positioned outside the cleaning device 10, and the cleaning area formed by the cleaning head 220 is also moved toward the outside of the cleaning device 10, thereby increasing the area of ​​the cleaning area corresponding to the cleaning head 220, thereby achieving the purpose of cleaning sanitary dead corners such as wall corners, and improving the cleaning effect of the cleaning device 10.

[0105] In one embodiment, the cleaning device 10 includes an outer shell, which serves as the shell of the entire machine. When the cleaning device 10 is in a circular, elliptical, quasi-circular or other shape as a whole, the outer shell includes a top cover portion and an annular side wall portion. The top cover portion and the annular side wall portion enclose a accommodating space, and the accommodating space is used to assemble various modules, such as a drive module, a liquid supply module, a battery module, a control module, a dirt suction module, a mopping module, a sensing module, etc.

[0106] In one embodiment, the driving module can manipulate the cleaning device 10 to travel across the ground in the forward direction based on a driving command with distance and angle information (e.g., x, y, and θ components). The driving module can include a first driving wheel module and a second driving wheel module. The first driving wheel module and the second driving wheel module are arranged along the transverse axis defined by the cleaning device 10, and the extension direction of the transverse axis is the forward direction of the cleaning device 10. In order for the cleaning device 10 to be able to move more stably or more powerfully on the ground, the cleaning device 10 may include one or more driven wheels, and the driven wheels include but are not limited to universal wheels. The driving wheel module includes a walking wheel and a driving motor and a control circuit for controlling the driving motor, and the driving wheel module can also be connected to a circuit and an odometer for measuring the driving current. The driving wheel module can be detachably connected to the bottom shell for convenient disassembly and maintenance. The driving wheel can have a biased drop-down suspension system, which is fastened in a movable manner, such as being attached in a rotatable manner, connected to the bottom shell, and receiving a spring bias that is biased downward and away from the bottom shell. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground contact force, while the cleaning head 220 of the cleaning device 10 also contacts the ground with a certain pressure.

[0107] In one embodiment, the sensing module includes a position determination device on the housing, a collision sensor disposed on the buffer of the forward portion of the housing, a proximity sensor disposed on the housing, a cliff sensor disposed at the lower portion of the housing, and a magnetometer, accelerometer, gyroscope, odometer and other sensing devices disposed inside the housing, for providing the control module with various position information and motion state information of the cleaning device 10. The position determination device may be a camera or a laser ranging device.

[0108] In one embodiment, the control module is arranged on the circuit board in the housing, and includes a non-temporary memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and the application processor uses a positioning algorithm, such as real-time positioning and map construction, according to the obstacle information fed back by the laser ranging device to draw a real-time map of the environment where the cleaning device 10 is located. And combined with the distance information and speed information fed back by the sensor devices such as the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers set on the buffer, it is comprehensively judged what working state the cleaning device 10 is currently in, where it is located, and the current posture of the cleaning device 10, such as passing the threshold, getting on the carpet, being on the cliff, being stuck above or below, the suction box is full, being picked up, etc., and specific next action strategies are given for different situations, so that the cleaning device 10 has better cleaning performance and user experience.

[0109] In one embodiment, a sewage suction module is provided on the cleaning device 10, and the sewage suction module includes a negative pressure fan, a sewage suction box and a sewage suction channel. The outlet of the sewage suction channel is connected to the sewage suction box, and the inlet of the sewage suction channel is exposed from the cover plate. The negative pressure fan is connected to the sewage suction box, so that the sewage suction box maintains a negative pressure state when the cleaning device 10 performs a cleaning operation, thereby making the inlet of the sewage suction channel in a negative pressure state.

[0110] Among them, the cleaning head 220 is arranged adjacent to the sewage suction port. Through the high-speed rotation of the cleaning head 220, the debris can be cleaned to the vicinity of the sewage suction port. Then, the debris is sucked into the sewage suction channel through the sewage suction port due to the negative pressure, and then enters the sewage suction box, thereby realizing the debris cleaning operation on the surface to be cleaned.

[0111] Among them, Figure 5 As shown, the sewage suction port is located in the middle position of the bottom of the cleaning device 10, and the cleaning head 220 is located in the front side of the sewage suction port, so that the debris swept by the cleaning head 220 can be basically located in the middle position of the sewage suction port, so that the swept debris can better enter the sewage suction port.

[0112] Among them, the negative pressure provided by the negative pressure fan can be 3000Pa~7000Pa to enhance the negative pressure absorption effect of debris. The negative pressure is, for example, 3000Pa, 4000Pa, 5000Pa, 6000Pa, 7000Pa, etc., which are not listed one by one in the present disclosure; of course, the negative pressure provided by the negative pressure fan may also be less than 3000Pa or greater than 7000Pa, which is not limited in the present disclosure.

[0113] Among them, a roller brush rotating around an axis parallel to the ground can also be set at the sewage suction port. The roller brush with a certain interference with the ground sweeps up the debris on the ground and rolls it into the sewage suction channel, and then the suction gas generated by the negative pressure fan and passing through the sewage suction box is sucked into the sewage suction box.

[0114] In one embodiment, the cleaning device 10 further includes a mopping module and a liquid supply module, the mopping module includes a wet cleaning head, the liquid supply module includes a liquid supply component, and the liquid supply component delivers cleaning liquid to the wet cleaning head. The wet cleaning head can be arranged below the liquid supply component, and the cleaning liquid inside the liquid supply component is transmitted to the wet cleaning head through a water supply mechanism, so that the wet cleaning head performs wet cleaning on the surface to be cleaned. Of course, the cleaning liquid inside the liquid supply part can also be directly sprayed onto the surface to be cleaned, and the wet cleaning head cleans the surface by evenly applying the cleaning liquid.

[0115] Among them, the wet cleaning head can be arranged at the bottom of the cleaning device 10, and the wet cleaning head can be, for example, a cleaning pad arranged parallel to the surface to be cleaned. The wet cleaning head is used to clean the surface to be cleaned, and the driving assembly is used to drive the wet cleaning head to basically reciprocate along the target surface, and the target surface is a part of the surface to be cleaned. The wet cleaning head reciprocates along the surface to be cleaned, and a cleaning cloth or a cleaning plate is provided on the contact surface between the wet cleaning head 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 higher the friction frequency, the more friction times per unit time, and the high-frequency reciprocating motion has a cleaning ability far greater than ordinary reciprocating motion, such as rotation, friction cleaning, and optionally, the friction frequency is close to sound waves, and the cleaning effect will be much higher than the rotation friction cleaning of dozens of revolutions per minute. On the other hand, the hair tufts on the surface of the wet cleaning head 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 just applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not make the hair tufts extend in nearly the same direction. The effect is that the water marks on the surface to be cleaned after high-frequency vibration cleaning are more uniform, and no messy water stains are left.

[0116] In one embodiment, the battery module includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit. The cleaning device 10 can be charged by connecting a charging pile to a charging electrode disposed on the body, such as the side, bottom, or top of the body.

[0117] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the description and practicing what is disclosed herein. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A cleaning module, characterized in that: include: Module body; A cleaning swing arm, the cleaning swing arm comprising a swing arm body and a cleaning head, one end of the swing arm body being rotatably connected to the module body, and the cleaning head being arranged on the other end of the swing arm body; the cleaning swing arm can swing between an extended position, a retracted position and a terminal position relative to the module body, and the retracted position is located between the extended position and the terminal position; An elastic bracket is arranged on the module body; when the cleaning swing arm is located at the recovery position, the cleaning swing arm pushes the elastic bracket to be located at a first position under stress; when the cleaning swing arm is located at the end position, the cleaning swing arm pushes the elastic bracket to be located at a second position under stress; when the cleaning swing arm is located at the extended position, the elastic bracket is located at a third position on the side of the first position away from the second position.

2. The cleaning module according to claim 1, characterized in that: The cleaning module also includes: A detection component is arranged on the module body, and the detection component is configured to output a first position signal when the cleaning swing arm is located at the recovery position, output a second position signal when the cleaning swing arm is located at the end position, and output a third position signal when the cleaning swing arm is located at the extended position.

3. The cleaning module according to claim 2, characterized in that: The detection component is arranged opposite to the elastic bracket, outputs the first position signal when the elastic bracket is located at the first position, outputs the second position signal when the elastic bracket is located at the second position, and outputs the third position signal when the elastic bracket is located at the third position.

4. The cleaning module according to claim 3, characterized in that: The elastic bracket includes a bracket and a first elastic member. The bracket is connected to the first elastic member. The first elastic member is in a stressed state driven by the bracket.

5. The cleaning module according to claim 4, characterized in that: The bracket includes a supporting portion and a positioning portion, the positioning portion is provided with a grating hole, and the detection component includes an optical signal transmitter and an optical signal receiver; when the optical signal emitted by the optical signal transmitter passes through the grating hole and is received by the optical signal receiver, the detection component outputs the first position signal.

6. The cleaning module according to claim 5, characterized in that: In the rotation direction of the bracket, shielding parts are provided on both sides of the grating hole on the positioning part. When the light signal emitted by the optical signal transmitter is blocked by the shielding part, the detection component outputs the second position signal or the third position signal, and the second position signal is the same as the third position signal.

7. The cleaning module according to claim 4, characterized in that: The bracket also includes a guide portion, a guide groove is provided on the module body, and the guide portion is located in the guide groove; when the bracket switches between the first position, the second position and the third position, the guide groove forms a limit for the movement of the guide portion.

8. The cleaning module according to claim 1, characterized in that: The cleaning module also includes: An elastic limiting member is provided on the module body, and the elastic limiting member is configured so that the force applied to the elastic bracket increases when the elastic bracket moves from the first position toward the second position.

9. The cleaning module according to claim 8, characterized in that: The elastic limiting member is configured to move between a first limiting position and a second limiting position. When the elastic bracket is located at the first position, the elastic limiting member is located at the first limiting position; when the elastic bracket is located at the second position, the elastic limiting member is located at the second limiting position.

10. The cleaning module according to claim 9, characterized in that: When the elastic limiting member is located at the first limiting position, the elastic limiting member is in a free state or a stressed state.

11. The cleaning module according to claim 8, characterized in that: The elastic limiting member includes a limiting member and a second elastic member, the limiting member is connected to the second elastic member, and the second elastic member is configured to be in a stressed state or a free state under the drive of the limiting member.

12. The cleaning module according to claim 11, characterized in that: The module body is provided with a first limiting structure and a second limiting structure, the first limiting structure is configured to limit the limiting member from moving from the first limiting structure toward a side away from the second limiting structure, and the second limiting structure is configured to limit the limiting member from moving from the second limiting structure toward a side away from the first limiting structure.

13. The cleaning module according to claim 12, characterized in that: The cleaning module also includes: A driving assembly is configured to drive the cleaning swing arm to swing between the first position and the third position.

14. The cleaning module according to claim 1, characterized in that: The module body is provided with a limiting portion, and when the elastic bracket is located at the third position, the limiting portion is configured to limit the swing of the elastic bracket from the third position toward a side away from the first position.

15. The cleaning module according to claim 1, characterized in that: When the cleaning swing arm is located at the extended position, the cleaning swing arm and the elastic bracket are spaced apart.

16. The cleaning module according to claim 1, characterized in that: When the cleaning swing arm is located at the extended position, the cleaning swing arm is arranged in contact with the elastic bracket.

17. A cleaning device, characterized in that: It comprises the cleaning module according to any one of claims 1 to 16.

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