Cleaning module and cleaning equipment

Abstract

The utility model discloses a cleaning module (1000) and a cleaning device. The cleaning module (1000) comprises a cleaning part (100), an execution part (200) and a first driving assembly (400), the execution part (200) is in transmission connection with the cleaning part (100), and the first driving assembly (400) is used for driving the execution part (200) to ascend and descend so that the cleaning part (100) can be switched among a lifting state, a first cleaning state and a second cleaning state; when the cleaning piece (100) is in a lifting state, the cleaning piece (100) is separated from the ground (A); when the cleaning piece (100) is in the first cleaning state, the cleaning piece (100) is in contact with the ground (A); when the cleaning piece (100) is in the second cleaning state, the cleaning piece (100) makes contact with the ground (A), and the downward pressure on the ground (A) is larger compared with the downward pressure on the ground (A) in the first cleaning state.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment, and specifically relates to a cleaning module and a cleaning equipment. Background Art

[0002] Cleaning equipment is a common intelligent cleaning appliance, such as a sweeping robot, an automatic sweeper, etc., which can automatically drive and clean the floor. The current cleaning equipment has a good cleaning effect on ordinary stains, but the cleaning effect on stubborn stains needs to be improved. Utility Model Content

[0003] In order to solve the technical problem that current cleaning equipment is difficult to meet different cleaning needs, the present application provides a cleaning module and a cleaning equipment.

[0004] In a first aspect of the present application, a cleaning module is provided, which is installed in a device body of a cleaning device, and the cleaning module comprises:

[0005] Cleaning parts;

[0006] An actuator, drivingly connected to the cleaning element;

[0007] The first driving component is used to drive the actuator to rise and fall so that the cleaning element switches between a raised state, a first cleaning state and a second cleaning state; when the cleaning element is in the raised state, the cleaning element is separated from the ground; when the cleaning element is in the first cleaning state, the cleaning element is at least partially exposed outside the device body and in contact with the ground; when the cleaning element is in the second cleaning state, the cleaning element is in contact with the ground and exerts a greater downward pressure on the ground than in the first cleaning state.

[0008] In some embodiments, during the process in which the cleaning member is driven to descend by the first driving assembly and switches from a raised state to a first cleaning state and a second cleaning state, the height of the output end of the first driving assembly relative to the ground gradually decreases.

[0009] In some embodiments, the first driving assembly includes a first power element and a spiral lifting mechanism, the first power element is used to output torque, the input component of the spiral lifting mechanism is used to transmit the torque output by the first power element, and the output component of the spiral lifting mechanism moves together with the actuator in the lifting direction;

[0010] In the process that the cleaning member is driven to descend by the output component and switches from the raised state to the first cleaning state and the second cleaning state, the height of the output component relative to the input component is gradually reduced.

[0011] In some embodiments, the output component is an output screw sleeve sleeved on the actuator; and the input component is an input screw sleeve sleeved on the output screw sleeve.

[0012] In some embodiments, the cleaning module further includes a shell, and the spiral lifting mechanism and the actuator are both installed in the inner cavity of the shell; the output component is configured to move relative to the shell in the lifting direction and to be relatively stationary with the shell in the rotation direction.

[0013] In some embodiments, the output component is provided with a first anti-rotation portion; the housing is provided with a second anti-rotation portion, and the second anti-rotation portion conflicts with the first anti-rotation portion in the rotation direction.

[0014] In some embodiments, the first driving assembly further includes a first transmission assembly for transmitting the torque output by the first power element to an input component of the screw lifting mechanism.

[0015] In some embodiments, the first transmission assembly includes a plurality of transmission gears, and an output gear for outputting torque in the first transmission assembly is sleeved on an input component of the spiral lifting mechanism.

[0016] In some embodiments, the first power element is disposed below the first transmission assembly and arranged side by side with the actuator; the output shaft of the first power element is parallel to the rotation axes of the actuator and the cleaning element.

[0017] In some embodiments, the cleaning module also includes a second driving component for driving the cleaning member to rotate, and the output end of the second driving component is configured to move relative to the actuator in the lifting direction and to rotate together with the actuator in the rotation direction; the output end of the first driving component is configured to rotate relative to the actuator in the rotation direction and to move together with the actuator in the lifting direction.

[0018] In some embodiments, the second driving assembly includes a second power element and a rotating transmission member driven by the second power element, and the rotating transmission member is configured to move relative to the actuator in a lifting direction and rotate together with the actuator in a rotating direction.

[0019] In some embodiments, the actuator or the rotating transmission member is provided with a relatively convex structure, and the relatively convex structure limits the relative rotation of the rotating transmission member and the actuator.

[0020] In some embodiments, the relatively outwardly convex structure is a structure that is convex and / or concave relative to the part body; there is more than one relatively outwardly convex structure; when the number of the relatively outwardly convex structures is more than two, the more than two relatively outwardly convex structures are spaced apart along the rotation direction.

[0021] In some embodiments, the actuator is provided with a first prism, the inner cavity of the rotating transmission member is provided with a first prism-shaped inner cavity, the rotating transmission member is slidably mounted on the first prism, and the edges of the first prism constitute the relatively convex structure.

[0022] In some embodiments, the first prism and the rest of the actuator form a limiting shoulder, the rotating transmission member is a gear provided with the prismatic inner cavity, the gear can be slidably mounted on the first prism and limited by the limiting shoulder.

[0023] In some embodiments, the second drive assembly further includes a second transmission assembly for transmitting the torque output by the second power element to the rotating transmission member.

[0024] In some embodiments, the second transmission assembly includes a reversing transmission mechanism, and the output shaft of the second power element is connected to the reversing transmission mechanism so that the output shaft of the second power element is perpendicular to the rotation axes of the actuator and the cleaning element.

[0025] In some embodiments, the cleaning module further includes a shell, and at least a portion of the first drive assembly, at least a portion of the second drive assembly, and the actuator are all installed in an inner cavity of the shell.

[0026] In some embodiments, the inner cavity of the shell is divided into a first chamber and a second chamber; the actuator passes through the bottom wall of the first chamber and extends into the second chamber; the output end of the second drive component is arranged in the first chamber; the output end of the first drive component is arranged in the second chamber.

[0027] In some embodiments, the first shell includes an upper cover, a middle shell and a bottom shell connected in sequence, the upper cover and the middle shell together form the first chamber, and the middle shell and the bottom shell together form the second chamber; the output end of the first drive assembly is set at an upper limit position with the middle shell in the rotation direction.

[0028] In some embodiments, the cleaning module also includes a first shell, a second shell, a third shell and a swinging assembly installed on the third shell; at least part of the first driving assembly and the actuator are installed on the first shell to form a cleaning assembly; the second shell is mounted on the outside of the first shell; the cleaning assembly is driven by the swinging assembly and swings in the second shell.

[0029] In some embodiments, the swing assembly includes:

[0030] A first cam is connected to the first housing, and a connection between the first cam and the first housing is staggered relative to a rotation axis of the actuator and the cleaning member;

[0031] A third power element is mounted on the third housing;

[0032] The second cam is used to transmit the power of the third power element. The second cam interacts with the first cam under the drive of the third power element to switch the first housing between the first position and the second position.

[0033] In some embodiments, the execution element is detachably connected to the cleaning element.

[0034] In some embodiments, the actuator is configured to move relative to the cleaning member in a lifting direction and to be relatively stationary relative to the cleaning member in a rotating direction; an elastic member is provided in the actuator and / or the cleaning member, and the elastic member is compressed when the relative distance between the actuator and the cleaning member is reduced.

[0035] In some embodiments, the actuator includes a sleeve portion having a prismatic inner cavity; the cleaning member is provided with a second prism, and the second prism is liftably inserted into the sleeve portion.

[0036] In some embodiments, a mounting cover, a first magnetic member, and a second magnetic member are provided between the actuator and the cleaning member; the second prism is a hollow structure, the mounting cover and the elastic member are both provided in the cavity of the second prism, the first magnetic member is installed in the mounting cover and is located above the elastic member, and the second magnetic member is provided in the sleeve portion and is adsorbed to the first magnetic member.

[0037] In some embodiments, the cleaning member is provided with an avoidance cavity, and the sleeve portion extends into the avoidance cavity.

[0038] In a second aspect of the present application, a cleaning device is provided, comprising a device body and the cleaning module of the first aspect, wherein the cleaning module is installed in the device body.

[0039] According to one or more embodiments of the present application, a cleaning module is provided with a cleaning member, an actuator and a first drive assembly, the actuator is connected to the cleaning member by transmission, and the first drive assembly acts on the cleaning member through the actuator to realize the lifting of the cleaning member, so that the cleaning member is lifted to different heights, and different downward pressures are generated on the ground, corresponding to different working states: lifting state, first cleaning state, and second cleaning state. When the cleaning member is in the lifting state, the cleaning member is separated from the ground. The lifting state is suitable for the movement process of the cleaning device equipped with the cleaning module in non-cleaning requirements (for example, the movement process of returning to the pile for self-cleaning after cleaning is completed), so that the cleaning member can avoid obstacles on the ground. When the cleaning member is in the first cleaning state, the cleaning member contacts the ground, and the cleaning member cleans the ground normally; when the cleaning member switches from the first cleaning state to the second cleaning state, the cleaning member contacts the ground and has a tendency to move further toward the ground. The cleaning member can still clean the ground normally in the second cleaning state, but the downward pressure on the ground is greater than that in the first cleaning state, and can clean up stubborn stains such as dried stains and heavy oil stains, thereby improving the cleaning effect.

[0040] According to the cleaning module provided by one or more embodiments of the present application, the cleaning member is driven by the first driving component to rise and fall to different heights, generating different downward pressures on the ground, so that the cleaning member can achieve three working states, and when the cleaning member is in the second cleaning state, it can clean the ground with a greater downward pressure, thereby being able to clean stubborn stains such as dried stains and heavy oil stains, thereby improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 A schematic structural diagram of a cleaning module in one or more embodiments of the present application is shown.

[0043] Figure 2A A schematic diagram of the structure when the cleaning module is in a raised state in one or more embodiments of the present application is shown.

[0044] Figure 2B A schematic structural diagram of a cleaning module in one or more embodiments of the present application when the cleaning module is in a first cleaning state is shown.

[0045] Figure 2C A schematic diagram of the structure of the cleaning module in one or more embodiments of the present application when the cleaning module is in the second cleaning state is shown.

[0046] Figure 3 A schematic structural diagram of a cleaning assembly of a cleaning module in one or more embodiments of the present application is shown.

[0047] Figure 4 Shows Figure 3 Front view of the cleaning module.

[0048] Figure 5 Shows Figure 4 AA cross-sectional view of the cleaning module.

[0049] Figure 6 Shows Figure 1 Assembly structure diagram of the actuator, the first drive component and the second drive component in the cleaning module.

[0050] Figure 7 Shows Figure 1 Assembly structure diagram of the first drive component in the cleaning module.

[0051] Fig. 8A Shows Figure 1 Schematic diagram of the structure of the actuator in the cleaning module.

[0052] Figure 8B Shows Fig. 8A A full cross-sectional diagram of the actuator.

[0053] Fig.9A Shows Figure 1 Schematic diagram of the structure of the output screw sleeve in the cleaning module.

[0054] Fig. 9B Shows Fig.9A Front view of the output screw sleeve.

[0055] Fig. 9C Shows Fig.9A Top view of the output screw sleeve.

[0056] Fig.10 Shows Figure 1 Assembly structure diagram of the output screw sleeve and the middle shell in the cleaning module.

[0057] Fig.11A Shows Figure 1 A schematic diagram of the structure of the cleaning parts in the cleaning module.

[0058] Fig. 11B Shows Fig.11A A top view of the cleaning part.

[0059] Fig. 11C Shows Fig. 11B BB section view of the cleaning part.

[0060] Fig.11D Shows Fig. 11C A partial enlarged view of point C.

[0061] Fig.12 The schematic diagrams of the structures of the cleaning modules in other embodiments of the present application are shown.

[0062] Fig.13 Shows Fig.12 An exploded view of the cleaning module.

[0063] Fig.14 Shows Fig.12 Schematic diagram of the structure of the swing component in the cleaning module.

[0064] Fig.15 Shows Fig.12 Schematic diagram of the swing position of the cleaning module.

[0065] Fig.16 A schematic diagram showing the working principle of a cleaning device in one or more embodiments of the present application is shown.

[0066] Explanation of reference numerals: 1000-cleaning module; 1100-cleaning assembly. 100-cleaning member; 110-frame, 111-second prism, 112-avoidance cavity, 113-limiting groove; 120-cleaning part; 130-elastic member; 140-installation cover, 141-limiting protrusion, 150-first magnetic member; 160-second magnetic member. 200-actuator; 210-first prism, 211-limiting shoulder; 220-sleeve part, 221-second prism-shaped inner cavity. 300-second driving assembly; 310-second power element; 320-rotating transmission member, 321-first prism-shaped inner cavity; 330-second transmission assembly, 331-worm, 332-worm wheel. 400-first driving assembly; 410-first power element; 420-screw lifting mechanism; 421-input screw sleeve, 421a-input component; 422-output screw sleeve, 422a-output component, 4221-first anti-rotation part, 4222-external protrusion, 4223-helical teeth; 430-first transmission assembly, 431-output gear. 500-housing, 501-first chamber, 502-second chamber; 510-first housing, 511-upper cover, 512-middle housing, 513-bottom housing, 514-second anti-rotation part; 520-second housing; 530-third housing. 600-swinging assembly; 610-third power element; 620-third transmission assembly; 621-first cam, 6211-swing arm; 622-second cam; 630-reset spring. 2000-cleaning equipment, 2100-equipment body, 2200-travel mechanism. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0068] In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides various specific examples of processes and materials, but those of ordinary skill in the art may recognize the application of other processes and / or the use of other materials.

[0069] In the related art, cleaning equipment is usually suitable for set cleaning scenarios. For example, household mops can only clean ordinary stains: dust, spilled liquids, etc., but dried stains, heavy oil stains, etc. are difficult to clean and usually need to be cleaned again manually. The reason is that in the related art, cleaning equipment usually has only two working modes: lifting state and cleaning state. When the cleaning equipment is in the cleaning state, the downward pressure is constant, so it can only clean ordinary stains, and it cannot remove stubborn stains that require greater cleaning downward pressure to remove.

[0070] To this end, one or more embodiments of the present application provide a cleaning module and a cleaning device that can automatically adjust the downward pressure during cleaning, and can at least to a certain extent clean stubborn stains to meet different cleaning needs. The present application is described in detail below in conjunction with specific embodiments and drawings.

[0071] In a first aspect of the present application, a cleaning module is provided. The cleaning module is a component unit of a cleaning device, installed in a device body of the cleaning device, and used to clean the floor. Figure 1 , Figure 2A , Figure 2B and Figure 2C, respectively show the overall structural diagram of the cleaning module 1000 and the structural schematic diagram under different working states. The cleaning module 1000 includes a cleaning member 110, an executive member 200 and a first drive assembly 400. The executive member 200 is transmission-connected to the cleaning member 110. The first drive assembly 400 acts on the cleaning member 110 through the executive member 200 to achieve the lifting and lowering of the cleaning member 110. The cleaning member 110 can be a mop, a cleaning roller brush, a rotating cleaning brush, etc., which is not limited in this application. The first drive assembly 400 can drive the cleaning member 110 to lift vertically or tiltedly, and can achieve the height change of the cleaning member 110 relative to the ground A. The first drive assembly 400 can adopt any device that provides lifting and moving in the prior art, and the specific structure is not limited in this application.

[0072] The cleaning member 100 is raised to different heights, exerting different downward pressures on the ground, corresponding to different working states: the raised state, the first cleaning state, and the second cleaning state. When the cleaning member 100 is in the raised state, please refer to Figure 2A , the cleaning element 100 is separated from the ground A. The lifting state is suitable for the cleaning device equipped with the cleaning module to move in the process of non-cleaning requirements (for example, the process of returning to the pile for self-cleaning after cleaning), so that the cleaning element 100 can avoid obstacles on the ground A. When the cleaning element 100 is in the first cleaning state, please refer to Figure 2B , the cleaning member 100 is in contact with the ground A, and the cleaning member 100 is cleaning the ground A normally. When the cleaning member 100 switches from the first cleaning state to the second cleaning state, the cleaning member 100 is in contact with the ground A and has a tendency to move further toward the ground A. When the cleaning member 100 is in the second cleaning state, please refer to Figure 2C The cleaning element 100 can still clean the floor A normally in the second cleaning state, but the downward pressure on the floor A is greater than that in the first cleaning state, and can clean stubborn stains such as dried stains and heavy oil stains, thereby improving the cleaning effect.

[0073] It is understandable that when the cleaning member 100 is in the first cleaning state and the second cleaning state, the cleaning member 100 is in contact with the ground A, and the height of the cleaning member 110 relative to the ground A does not change. The difference lies in the difference in the downward pressure exerted by the cleaning member 100 on the ground A. Specifically, when the cleaning member 100 is in the second cleaning state, the cleaning member 100 has a tendency to move further toward the ground A, but is blocked by the ground A and cannot continue to descend. Therefore, the cleaning member 100 will exert a greater downward pressure on the ground A. When the cleaning member 100 moves relative to the ground A, it will exert a greater friction force with the ground A, which can clean stubborn stains such as dried stains and heavy oil stains, thereby achieving a better cleaning effect.

[0074] It should be noted that the height of the cleaning member 110 relative to the ground A in the present application refers to the height H of the cleaning member 100 as a whole from the ground, rather than the height of a part of the cleaning member 100 relative to the ground A. After the cleaning member 110 contacts the ground A, its height H from the ground is zero. In some embodiments, the cleaning member 100 is a compressible item such as a mop or sponge. When the cleaning member 100 is in the first cleaning state and the second cleaning state, the compression degree of the compressible item is different, and the height h of the upper surface of the cleaning member 100 relative to the ground A is also different. Specifically, when the cleaning member 100 is in the first cleaning state, the height h1 of the upper surface of the cleaning member 100 relative to the ground A is greater than the height h2 of the upper surface of the cleaning member 100 relative to the ground A when the cleaning member 100 is in the second cleaning state. Figure 2B and Figure 2C shown.

[0075] In the present application, the height H of the cleaning member 110 from the ground in the raised state, the first cleaning state, and the second cleaning state and the downward pressure on the ground A can be determined according to actual use needs. It can be a fixed value, a numerical range, or a numerical set. This application does not impose any restrictions.

[0076] In some embodiments, the height H of the cleaning member 110 from the ground in the lifting state and the first cleaning state and the downward pressure on the ground A are both fixed values. In the second cleaning state, the downward pressure of the cleaning member 110 on the ground A can be infinitely adjusted, that is, the downward pressure F of the cleaning member 110 on the ground A in the second cleaning state is a numerical range, F0≤F≤Fmax, where F0 is the downward pressure of the cleaning member 110 on the ground A in the first cleaning state, and Fmax is the downward pressure of the cleaning member 110 on the ground A at the maximum descending stroke. In some embodiments, the downward pressure of the cleaning member 110 on the ground A in the second cleaning state is a set of values, that is, the cleaning member 110 has multiple strong cleaning gears in the second cleaning state, and different strong cleaning gears correspond to different downward pressures.

[0077] In some embodiments, when the cleaning member 100 is driven to descend by the first driving assembly 400, switches from the lifting state to the first cleaning state, and further switches to the second cleaning state, the height of the output end of the first driving assembly 400 relative to the ground A gradually decreases. In other words, the action output by the output end of the first driving assembly 400 is a continuous descent or ascent, so consumers can stop the lifting and lowering of the cleaning member 110 at any position according to actual use needs, thereby realizing stepless adjustment of the downward pressure of the cleaning member 110 on the ground A from zero to maximum downward pressure. Conventional linear moving mechanisms such as cylinders and electric telescopic rods can achieve this function, so the specific structure of the first driving assembly 400 is not limited in this application.

[0078] See also Figure 3 and Figure 4In some embodiments, the first drive assembly 400 includes a first power element 410, which can output torque to drive the actuator 200 to rotate and lift; in some embodiments, the first power element 410 can output force to drive the actuator 200 to move linearly to achieve lifting. The output end of the first drive assembly 400 is rotatably matched with the actuator 200, for example, a bearing and a slider slot structure are used to form a rotating pair, so that when the first drive assembly 400 drives the actuator 200 to lift, the actuator 200 can still keep rotating.

[0079] See also Figure 3 , Figure 4 and Figure 5 In some embodiments, the first driving assembly 400 includes a first power element 410 and a spiral lifting mechanism 420. The first power element 410 is used to output torque and drive the actuator 200 to rise and fall. The spiral lifting mechanism 420 has an input component 421a and an output component 422a. The input component 421a is used to transmit the torque output by the first power element 410. The input component 421a and the output component 422a are spirally matched in the process of transmitting power. When the input component 421a and the output component 422a rotate relative to each other, the input component 421a and the output component 422a will also form a relative movement along the direction of the rotating shaft a, thereby converting the torque into a lifting movement. The output component 422a moves together with the actuator 200 in the lifting direction. The output component 422a and the actuator 200 can be set to an upper limit (for example, a conflict limit) or fixedly connected in the lifting direction. When the output component 422a moves up and down, it drives the actuator 200 and the cleaning component 100 to rise and fall together. When the input component 421a is set at the upper axial limit of the rotating shaft a, the input component 421a only rotates, and the output component 422a only moves axially. In some embodiments, the output component 422a and the actuator 200 are set at the upper limit in the lifting direction, so the output component 422a can drive the actuator 200 to lift and lower together. The output component 422a and the actuator 200 rotate in the rotation direction, and when the actuator 200 rotates, the output component 422a will not rotate accordingly. In short, the input component 421a only rotates, the output component 422a only moves up and down, and the actuator 200 can rotate and move up and down.

[0080] The spiral fit can realize stepless height adjustment. When the cleaning member 100 is driven by the output member 422a to gradually descend from the highest position, the cleaning member 100 is gradually switched from the lifting state to the first cleaning state, and then from the first cleaning state to the second cleaning state, the height of the output member 422a relative to the input member 421a is gradually reduced. In other words, when the cleaning member 100 is in different working states, the height of the output member 422a relative to the input member 421a is different.

[0081] See also Figure 5 , shows the specific structure of the spiral lifting mechanism 420 in some embodiments, and the spiral lifting mechanism 420 includes an input screw sleeve 421 and an output screw sleeve 422. The input screw sleeve 421 serves as an input component 421a; the output screw sleeve 422 is rotatably sleeved on the actuator 200, serving as an output component 422a. The outer surface of the output screw sleeve 422 is provided with a spiral ridge, and the cavity wall of the inner cavity of the input screw sleeve 421 is provided with a spiral groove. The output screw sleeve 422 is arranged in the inner cavity of the input screw sleeve 421, and the spiral ridge of the output screw sleeve 422 is embedded in the spiral groove of the input screw sleeve 421 to form a spiral rotation pair. The total lift of the spiral groove of the input screw sleeve 421 should be greater than the maximum lifting stroke required by the actuator 200 to meet the lifting requirements of the cleaning member 110.

[0082] In some embodiments, the cleaning module 1000 further includes a housing 500, and the actuator 200 and the first driving assembly 400 are both mounted and fixed through the housing 500. The spiral lifting mechanism 420 and the actuator 200 are both mounted in the inner cavity of the housing 500, and the first power element 410 is mounted outside the housing 500, such as Figure 1 and Figure 6 shown.

[0083] In some embodiments, the output component 422a is configured to move relative to the housing 500 in the lifting direction and to be relatively stationary relative to the housing 500 in the rotation direction. The output component 422a is rotationally limited by the housing 500, and the housing 500 limits the rotation of the output component 422a, so that the input component 421a and the output component 422a of the spiral lifting mechanism 420 can rotate relative to each other. The output component 422a and the housing 500 can be rotationally limited by a buckle structure, a threaded fastener, a pin shaft, and the like, and the specific structure is not limited in this application.

[0084] See also Figure 5 In some embodiments, the output screw sleeve 422 is provided with a first anti-rotation portion 4221, and the housing 500 is provided with a second anti-rotation portion 514. The first anti-rotation portion 4221 and the second anti-rotation portion 514 collide with each other in the rotation direction to limit the rotation of the output screw sleeve 422. To improve the rotation limiting effect, multiple first anti-rotation portions 4221 and second anti-rotation portions 514 can be provided, and the multiple first anti-rotation portions 4221 and second anti-rotation portions 514 are spaced apart along the rotation direction.

[0085] In some embodiments, the first anti-rotation portion 4221 may be a hole formed on the output screw sleeve 422, and the second anti-rotation portion 514 may be a rod extending into the hole. Fig.9A , Fig. 9B and Fig. 9CAs shown, the outer surface of the output screw sleeve 422 is provided with more than three convex parts 4222 spaced apart along the circumferential direction, and the convex parts 4222 are provided with outwardly protruding spiral teeth 4223. The spiral teeth 4223 of each convex part 4222 are located on the same spiral curve, which is also the spiral curve of the spiral groove of the screw sleeve. A first anti-rotation part 4221 is formed between two adjacent convex parts 4222. Please refer to Fig.10 The shell 500 is provided with more than three second stop parts 514 distributed at intervals along the circumferential direction. The second stop parts 514 are circular arc tube segment structures. The arc angle of the second stop part 514 is the same as the included angle between two adjacent outer protrusions 4222. The second stop part 514 is embedded between two adjacent outer protrusions 4222 to achieve rotation limitation of the shell 500 and the output screw sleeve 422.

[0086] In some embodiments, the first drive component 400 also includes a first transmission component 430 for transmitting the torque output by the first power element 410 to the input component 421a of the spiral lifting mechanism 420. The first transmission component 430 can be used only to transmit torque, such as a spur gear; it can also convert linear motion into torque for transmission, such as a gear rack. The specific structure is not limited in this application.

[0087] See also Figure 7 In some embodiments, the first transmission assembly 430 includes a plurality of transmission gears, and the first transmission assembly 430 can realize functions such as speed increase, speed reduction, direction change or torque increase during the process of transmitting torque. The output gear 431 for outputting torque in the first transmission assembly 430 is sleeved on the input component 421a of the spiral lifting mechanism 420, and the two can realize torque transmission through key connection or interference fit.

[0088] See also Figure 5 and Figure 7 In some embodiments, the first power element 410 is disposed below the first transmission assembly 430, and the free area below the space where the first transmission assembly 430 is located is reasonably utilized, so that the structure of the entire cleaning module 1000 is more compact and smaller in size. Figure 5 and Figure 7 In some embodiments, the first power element 410 is arranged side by side with the actuator 200 , and the output shaft of the first power element 410 is parallel to the rotation axis a of the actuator 200 and the cleaning element 110 .

[0089] In some embodiments, the cleaning member 110 needs to rotate during cleaning. Figure 1 , Figure 3 , Figure 4 and Figure 5The cleaning module 1000 includes a cleaning member 110, an actuator 200, a first drive assembly 400 and a second drive assembly 300. The actuator 200 is transmission-connected to the cleaning member 110. The first drive assembly 400 and the second drive assembly 300 both act on the cleaning member 110 through the actuator 200 to achieve lifting and / or rotation of the cleaning member 110.

[0090] The output end of the first drive assembly 400 rotates relative to the actuator 200 in the rotation direction and moves together in the lifting direction. For example, the output screw sleeve 422 can be rotatably connected to the actuator 200 and set at an upper limit in the lifting direction, so that when the first drive assembly 400 drives the actuator 200 to lift, the actuator 200 can still keep rotating. The output end of the second drive assembly 300 moves relative to the actuator 200 in the lifting direction and rotates together in the rotation direction. For example, the output end of the second drive assembly 300 can slide with the actuator 200 in the lifting direction and set at an upper limit in the rotation direction. Along the lifting direction of the actuator 200 and the cleaning member 100, the output end of the second drive assembly 300 and the actuator 200 can be relatively displaced, but the output end of the second drive assembly 300 and the actuator 200 cannot move relative to each other in the rotation direction but rotate together. When the second drive component 300 drives the actuator 200 and the cleaning component 100 to rotate, since the output end of the first drive component 400 (for example, the output screw sleeve 422 in some embodiments) is rotationally connected to the actuator 200, the first drive component 400 will not interfere with the rotation of the actuator 200, thereby ensuring that the lifting and lowering movement and rotational movement of the cleaning component 110 do not interfere with each other.

[0091] See also Figure 5 , the rotation axis a of the cleaning member 110 is the central axis of the cleaning member 110, and the lifting direction of the cleaning member 110 may be parallel to the rotation axis a of the rotation movement of the cleaning member 110. In some embodiments, the lifting direction of the cleaning member 110 may also be set at an angle to the rotation axis a of the cleaning member 110, for example, the lifting direction of the cleaning member 110 is perpendicular to the rotation axis a of the cleaning member 110. The specific movement direction of the cleaning member 110 is not limited in this application.

[0092] See also Figure 5 , Figure 6 and Figure 7In some embodiments, the second driving assembly 300 includes a second power element 310 and a rotating transmission element 320. The second power element 310 outputs torque, which acts on the rotating transmission element 320 to drive the rotating transmission element 320 to rotate. The rotating transmission element 320 and the actuator 200 slide in cooperation in the lifting direction of the actuator 200 and the cleaning element 110. That is, along the lifting direction of the actuator 200 and the cleaning element 110, the rotating transmission element 320 and the actuator 200 can be relatively displaced. At the same time, the rotating transmission element 320 and the actuator 200 are set to an upper limit in the rotation direction of the actuator 200 and the cleaning element 110. That is, along the rotation direction of the actuator 200 and the cleaning element 110, the rotating transmission element 320 and the actuator 200 cannot move relative to each other, but rotate together, so that the second power element 310 can drive the actuator 200 and the cleaning element 110 to rotate through the rotating transmission element 320.

[0093] Therefore, the actuator 200 and the cleaning member 110 have the following three motion states:

[0094] a) Lifting only: The first power element 410 drives the actuator 200 to rise or fall, and during the lifting and lowering process of the actuator 200, the rotating transmission member 320 does not move in the lifting direction. When the actuator 200 drives the cleaning member 110 to descend, the downward pressure of the cleaning member 110 can be adjusted, thereby increasing the cleaning force of the cleaning member 110 on the ground A, which can clean stubborn stains to a certain extent and expand the usage scenarios. When the actuator 200 drives the cleaning member 110 to rise, the height of the cleaning member 110 can be adjusted so that the cleaning member 110 avoids obstacles on the ground A, which can improve the obstacle-crossing ability of the cleaning equipment equipped with the cleaning module 1000 to a certain extent.

[0095] b) Rotation only: The second power element 310 drives the actuator 200 and the cleaning element 110 to rotate through the rotating transmission element 320, and the output end of the first driving assembly 400 is rotatably connected to the actuator 200, so the actuator 200 can rotate relative to the first driving assembly 400, thereby driving the cleaning element 110 to rotate, and cleaning the ground A, such as mopping the floor. The cleaning device equipped with the cleaning module 1000 can achieve fixed-point cleaning. In the case of heavy stains on the ground A, the cleaning device only needs to move above the heavy stains, and the second power element 310 drives the cleaning element 110 to rotate, so that the heavy stains can be cleaned, without the need for the cleaning device to reciprocate for cleaning.

[0096] c) Simultaneous rotation and lifting: When the cleaning member 110 of the cleaning module 1000 rotates to clean the floor A, the first power element 410 can simultaneously drive the actuator 200 to descend and adjust the downward pressure of the cleaning member 110; or when encountering obstacles or objects that need to be avoided (for example, when walking on a carpet, you need to avoid the mop from dirtying the carpet), the first power element 410 can simultaneously drive the actuator 200 to rise and increase the height of the actuator 200 from the ground.

[0097] Since the cleaning member 110 can achieve a better cleaning effect when it rotates, the cleaning member 100 rotates when the cleaning member 100 is in the first cleaning state and the second cleaning state. When the cleaning member 100 is in the raised state, since the cleaning member 100 is separated from the ground A and cannot clean the ground, the cleaning member 100 does not rotate in this state. In the process of the cleaning member 100 descending and switching from the raised state to the first cleaning state, and in the process of the cleaning member 100 descending and switching from the first cleaning state to the raised state, the cleaning member 100 can be set not to rotate. In addition, the cleaning member 100 can also be set not to rotate during the obstacle crossing process of the cleaning member 100. The non-rotation of the cleaning member 100 not only reduces energy consumption, but also prevents the sewage in the cleaning member 100 from being thrown out under the action of centrifugal force and soiling the ground A.

[0098] The rotating transmission member 320 rotates together with the actuator 200, and the rotating transmission member 320 and the actuator 200 need to limit each other in the rotation direction. In some embodiments, the actuator 200 or the rotating transmission member 320 is provided with a relatively convex structure, and the relatively convex structure limits the relative rotation of the rotating transmission member 320 and the actuator 200, and allows the rotating transmission member 320 and the actuator 200 to rotate relative to each other in the lifting direction. The relatively convex structure can be a structure that is convex relative to the part body, such as a slider, a key, or an edge of a prism, or a structure that is concave relative to the part body, such as a limiting groove or a local recessed portion. The specific structure is not limited in this application. The number of relatively convex structures is more than one. When the number of relatively convex structures is more than two, the more than two relatively convex structures are spaced apart along the rotation direction, so that the force between the rotating transmission member 320 and the actuator 200 is uniform, thereby improving the rotation stability of the actuator 200.

[0099] See also Fig. 8A and Figure 8B In some embodiments, one of the actuator 200 and the rotating transmission member 320 is provided with a prism, and the other is provided with a sliding sleeve, and the inner cavity of the sliding sleeve is prism-shaped and has the same shape as the prism. The sliding sleeve is slidingly sleeved on the prism, and the edges of the prism constitute the convex structure. Since the inner cavity shape of the sliding sleeve is the same as that of the prism, the sliding sleeve and the prism can slide relative to each other in the lifting direction. The sliding sleeve can be a sleeve structure with both ends connected, or a slide groove structure with one end closed, which is not limited in this application.

[0100] In some embodiments, Fig. 8A and Figure 8B As shown, the actuator 200 is provided with a first prism 210, and the first prism 210 can be a triangular prism, a quadrangular prism, a hexagonal prism, etc. The rotating transmission member 320 is a gear provided with a prismatic inner cavity 221, and the prismatic inner cavity 221 passes through the gear, and the gear can be slidably mounted on the first prism 210. The height of the first prism 210 should be greater than the designed maximum lifting stroke of the cleaning member 110. In some embodiments, the rest of the actuator 200 except the first prism 210 is larger than the outer contour of the first prism 210, so that the first prism 210 and the rest of the actuator 200 form a limiting shoulder 211, such as Fig. 8A The rotating transmission member 320 is slidably mounted on the first prism 210 and is limited by the limiting shoulder 211. The limiting shoulder 211 limits the lowest position of the rotating transmission member 320 relative to the first prism 210, corresponding to the maximum rising position of the cleaning member 100.

[0101] In other embodiments, one of the actuator 200 and the rotating transmission member 320 is provided with a slider, and the other is provided with a slide groove. The slider is slidably embedded in the slide groove along the lifting direction, and the slider forms an outer convex structure. The slider can slide in the slide groove along the lifting direction. When the rotating transmission member 320 rotates, the groove wall of the slide groove contacts the slider, and the entire actuator 200 is pushed to rotate by the slider. In order to ensure uniform force, multiple sliders can be provided, and the multiple sliders are spaced apart along the rotation direction.

[0102] In some embodiments, the second drive assembly 300 further includes a second transmission assembly 330 for transmitting the torque output by the second power element 310 to the rotating transmission member 320. The second transmission assembly 330 can realize functions such as speed increase, speed reduction, reversal or torque increase in the process of transmitting torque. The second transmission assembly 330 includes a reversing transmission mechanism, which can be any mechanism in the prior art that can realize power direction conversion, such as a worm gear mechanism, a bevel gear transmission mechanism, a belt transmission mechanism, etc. The output shaft of the second power element 310 is connected to the reversing transmission mechanism, so that the axial direction of the output shaft of the second power element 310 is set at an angle to the axial direction of the rotating axis a of the actuator 200 and the cleaning member 110, so as to facilitate the arrangement of the second power element 310.

[0103] See also Figure 6, shows a structural diagram of the second drive assembly 300 using a worm gear 332 and worm 331 mechanism to achieve reversing in certain embodiments. The worm 331 of the worm gear 332 and worm 331 mechanism is fixedly connected or integrally formed with the output shaft of the second power element 310, and the torque is transmitted from the worm 331 to the worm gear 332, and then transmitted to the second power element 310 through a number of intermediate transmission gears. Since the rotation axes a of the worm gear 332 and the worm 331 are perpendicular to each other, and the intermediate transmission gears are all spur gears, the output shaft of the second power element 310 is perpendicular to the rotation axes a of the actuator 200 and the cleaning element 110, and the second power element 310 can be arranged at a position away from the actuator 200 to avoid the movement space of the cleaning element 110.

[0104] In some embodiments, the cleaning module 1000 further includes a housing 500, through which the actuator 200, the first drive assembly 400 and the second drive assembly 300 are mounted and fixed. At least part of the first drive assembly 400, at least part of the second drive assembly 300 and the actuator 200 are all mounted in the inner cavity of the housing 500.

[0105] See also Figure 5 , the housing 500 is provided with a first chamber 501 and a second chamber 502. The actuator 200 penetrates the bottom wall of the first chamber 501 and extends into the second chamber 502. The output end of the second drive assembly 300 is provided in the first chamber 501, and is transmission-connected with the part of the actuator 200 located in the first chamber 501 to transmit torque. The output end of the first drive assembly 400 (for example, the spiral lifting mechanism 420 in some embodiments) is provided in the second chamber 502, and is upper-limited in the lifting direction with the part of the actuator 200 located in the second chamber 502 to transmit lifting power.

[0106] The housing 500 of the cleaning module 1000 may be an integrated structure or a split structure, and the specific form is not limited in this application. Figure 1In some embodiments, the housing 500 of the cleaning module 1000 includes a first housing 510 and a second housing 520, and the first housing 510 is provided with a first chamber 501 and a second chamber 502. The actuator 200, the first drive assembly 400 and the rotating transmission member 320 are all installed on the first housing 510, and the second power element 310 is installed on the second housing 520. Since the second power element 310 needs to drive the actuator 200 and the cleaning member 110 to rotate to clean the floor A, it needs to output a large torque, and the first power element 410 will only work when the height of the cleaning member 110 needs to be adjusted, so the output power is relatively small relative to the second power element 310, and the corresponding first power element 410 is small in size and can be installed on the first housing 510 together with the actuator 200 and the rotating transmission member 320. The second power element 310 is relatively large in size, and when installed on the second housing 520, it will not interfere with the assembly and movement of the first housing 510 and the parts installed thereon.

[0107] In the case where the second driving assembly 300 further includes a second transmission assembly 330, the second transmission assembly 330 is also mounted on the second housing 520. Figure 1 In some embodiments, the second shell 520 is sleeved outside the first shell 510 , and the second transmission assembly 330 is encapsulated inside the second shell 520 and located outside the first shell 510 .

[0108] The first housing 510 can be configured as an integrated structure or a split structure, which is not limited in this application. Figure 4 and Figure 5 In some embodiments, the first shell 510 includes an upper cover 511, a middle shell 512 and a bottom shell 513 connected in sequence, a second stop 514 is provided on the middle shell 512, the rotating transmission components 320 are all encapsulated in the first chamber 501 formed by the upper cover 511 and the middle shell 512, the actuator 200 passes through the middle shell 512, and is located in the cavity enclosed by the upper cover 511, the middle shell 512 and the bottom shell 513. In the case where the first drive assembly 400 also includes a first transmission assembly 430, the first transmission assembly 430 is encapsulated in the second chamber 502 enclosed by the middle shell 512 inside the bottom shell 513. A second stop 514 for rotationally limiting the output component 422a of the spiral lifting mechanism 420 is provided on the middle shell 512, as shown in FIG. Fig.10 shown.

[0109] The actuator 200 and the cleaning member 110 can be fixedly connected to transmit power, for example, by welding, threaded fastener connection, key connection, interference fit, etc. The actuator 200 and the cleaning member 110 can also be detachably connected as long as they can transmit power. The specific connection method is not limited in this application. Figure 2B and Figure 2CIn some embodiments, the actuator 200 is detachably connected to the cleaning member 110. The actuator 200 and the cleaning member 110 are detachable, and the two can rotate and rise and fall together after being connected. The actuator 200 and the cleaning member 110 can be detachably connected by a snap-fit ​​structure, a magnetic structure, a threaded fastener, and the specific connection method is not limited in this application.

[0110] See also Figure 5 , Fig. 11C and Fig.11D In some embodiments, the actuator 200 and the cleaning member 110 move relative to each other in the lifting direction and are relatively stationary in the rotation direction. That is, after the actuator 200 and the cleaning member 110 are connected, they can rotate together and lift relative to each other. An elastic member 130 is provided in the actuator 200 and / or the cleaning member 100, and the elastic member 130 is compressed when the relative distance between the actuator 200 and the cleaning member 110 decreases, that is, the elastic member 130 is compressed at least when the cleaning member 100 is in the second cleaning state. When the cleaning member 100 is in the lifting state and the first cleaning state, the elastic member 130 can be in a free state or a compressed state, and this application does not impose any restrictions.

[0111] When the cleaning member 100 is in the lifting state, the cleaning member 100 is separated from the ground A, and the actuator 200 is in transmission connection with the cleaning member 110, and can rotate and move together. When the cleaning member 100 is in the first cleaning state and the second cleaning state, the cleaning member 100 is in contact with the ground A. If the downward pressure of the cleaning member 100 on the ground is greater than the elastic force of the elastic member 130, the actuator 200 will move downward relative to the cleaning member 110, so that the relative distance between the two is reduced and the elastic member 130 is compressed. The reset force of the elastic member 130 acts on the cleaning member 110, so that the ground pressure of the cleaning member 110 increases. In addition, by providing the elastic member 130, the cleaning member 110 can adapt to the uneven ground during operation, and it is convenient for the cleaning member 110 to pass through obstacles with a low height (the height is less than the maximum compression amount of the elastic member 130) on the ground.

[0112] See also Fig. 8A and Figure 8B In some embodiments, the actuator 200 includes a sleeve portion 220 having a prismatic inner cavity 221, and the cleaning member 110 is provided with a second prism 111 matching the prismatic inner cavity 221, and the second prism 111 extends into the sleeve portion 220. The second prism 111 cooperates with the prismatic inner cavity 221 of the sleeve portion 220, so that the actuator 200 and the cleaning member 110 can rotate together.

[0113] See also Figure 5 and Fig.11D, shows the specific assembly structure of the actuator 200 and the cleaning member 110 in some embodiments, the second prism 111 can be slidably extended into the sleeve portion 220 along the lifting direction. A mounting cover 140, a first magnetic member 150 and a second magnetic member 160 are provided between the actuator 200 and the cleaning member 110, the second prism 111 is a hollow structure, the mounting cover 140 is provided in the cavity of the second prism 111, the first magnetic member 150 is located in the mounting cover 140, the second magnetic member 160 is provided in the sleeve portion 220 of the actuator 200, and the second magnetic member 160 is adsorbed with the first magnetic member 150, so that the actuator 200 is magnetically connected with the cleaning member 110, which facilitates the disassembly of the cleaning member 110. When the actuator 200 rises, the cleaning member 110 rises accordingly under the action of the magnetic attraction force, the downward pressure of the cleaning member 110 gradually decreases and finally leaves the ground A as the actuator 200 rises. In some embodiments with an elastic member 130, the elastic member 130 is located below the first magnetic member 150. When the actuator 200 descends relative to the cleaning member 110, the elastic member 130 is compressed by the mounting cover 140 and the first magnetic member, which is equivalent to maintaining a transmission connection between the actuator 200 and the cleaning member 110 when the actuator 200 descends relative to the cleaning member 110. This ensures that the actuator 200 can descend relative to the cleaning member 110 and that the actuator 200 and the cleaning member 110 can be stably connected without being loosened.

[0114] See also Fig. 11C , shows a cross-sectional view of the cleaning member 110 in some embodiments, a limiting groove 113 is provided on the inner wall of the second prism 111, and a limiting protrusion 141 is provided on the outer surface of the mounting cover 140. The limiting protrusion 141 is located in the limiting groove 113 to form a snap-fit ​​structure, which facilitates the installation of the first magnetic member 150 and the mounting cover 140.

[0115] See also Fig.11A , Fig. 11B and Fig. 11C In some embodiments, the cleaning member 110 is provided with a concave avoidance cavity 112, and the actuator 200 extends into the avoidance cavity 112. In some embodiments, the size of the first shell 510 is smaller than the size of the avoidance cavity 112, and the bottom contour of the first shell 510 can also be configured to match the contour of the avoidance cavity 112. At least when the cleaning member 100 is in the raised state, the bottom of the first shell 510 is located in the avoidance cavity 112. Figure 2A As shown, on the one hand, the height dimension of the cleaning module 1000 is reduced by providing the avoidance cavity 112, and on the other hand, the avoidance cavity 112 is provided so that the assembly structure of the actuator 200 and the cleaning member 110 is covered by the cleaning member 110 to prevent foreign matter from entering the assembly structure. In some embodiments, the depth of the avoidance cavity 112 is greater than the maximum descending stroke of the actuator 200, so that the bottom of the first housing 510 is always located in the avoidance cavity 112.

[0116] The cleaning member 110 can be used for sweeping, mopping, or sweeping and mopping at the same time. Fig.11A and Fig. 11C In some embodiments, the cleaning member 110 includes a frame 110 and a cleaning portion 120 for realizing a cleaning function, and the frame 110 is used to connect with the actuator 200. In some embodiments, the cleaning member 110 is a disc structure, and the corresponding frame 110 and the cleaning portion 120 are both circular. The center of the frame 110 is concave downward to form an avoidance cavity 112, and the bottom of the avoidance cavity 112 is convex upward to form a second prism 111.

[0117] See also Fig.12 and Fig.13 , shows the overall structure diagram and exploded diagram of the cleaning module 1000 in other embodiments. The cleaning module 1000 also includes a first shell 510, a second shell 520, a third shell 530 and a swing assembly 600 installed on the third shell 530. At least part of the first drive assembly 400 and the actuator 200 are installed on the first shell 510. The first drive assembly 400, the actuator 200, the cleaning member 110 and the first shell 510 together form a cleaning assembly 1100. The second shell 520 is sleeved outside the first shell 510, and the cleaning assembly 1100 is driven by the swing assembly 600 and swings in the second shell 520, as shown in FIG. Fig.15 shown.

[0118] The swing assembly 600 is used to drive the first housing 510 and the cleaning assembly 1100 formed by the various parts installed thereon to swing. Fig.13 and Fig.14 In some embodiments, the swing assembly 600 includes a third power element 610 and a third transmission assembly 620. The third power element 610 is installed inside or outside the third housing 530. The third transmission assembly 620 transmits the swing torque output by the third power element 610 to the first housing 510, so that the cleaning assembly 1100 swings around the swing axis b that is offset from the rotation axis a of the cleaning member 110, and the cleaning area of ​​the cleaning member 110 can be expanded without moving the cleaning device equipped with the cleaning module 1000. In some embodiments, the swing axis b is coaxial with the worm gear 332 of the second transmission assembly 330, so that the swing of the cleaning assembly 1100 does not affect the rotation of the actuator 200 and the cleaning member 110. Since the swing assembly 600 is installed on the third housing 530 and the first drive assembly 400 is installed on the first housing 510, the swing of the cleaning assembly 1100 does not affect the lifting and lowering of the actuator 200 and the cleaning member 110.

[0119] See also Fig.14In some embodiments, the third transmission assembly 620 includes a first cam 621 and a second cam 622. The first cam 621 is connected to the first housing 510 as an output end of the swing power. The connection between the first cam 621 and the first housing 510 is offset relative to the rotation axis a of the actuator 200 and the cleaning member 110. The central axis of the connection between the first cam 621 and the first housing 510 is used as the swing axis b. Figure 5 The second cam 622 is used to transmit the power of the third power element 610. The second cam 622 interacts with the first cam 621 under the drive of the third power element 610 to swing the first housing 510 between the first position A and the second position B. Among the first position A and the second position B, the first position A is the initial position of the cleaning assembly 1100 and is also the recovery position; the second position B is the swing-out position.

[0120] See also Fig.14 In some embodiments, the swing assembly 600 includes a return spring 630, one end of which is fixed to the third housing 530, and the other end of which is connected to the first cam 621. The first cam 621 has two swing arms 6211, wherein the swing arm 6211 close to the second cam 622 contacts the protruding end of the second cam 622 and is located behind the rotation path of the protruding end, and the swing arm 6211 away from the second cam 622 is connected to the return spring 630. The torque applied by the protruding end of the second cam 622 to the first cam 621 is opposite in direction to the torque applied by the return spring 630 to the first cam 621, and the return spring 630 applies a return force to the first cam 621.

[0121] See also Fig.15 When the third power element 610 drives the second cam 622 to rotate, the protruding end of the second cam 622 applies a torque to the swing arm 6211 of the first cam 621, and the torque is greater than the torque applied by the return spring 630 to the first cam 621. The first cam 621 rotates, thereby driving the entire cleaning assembly 1100 to swing from the first position A to the second position B. At this time, the return spring 630 is stretched. When the power of the third power element 610 decreases or disappears, the first cam 621 rotates in the opposite direction under the action of the return force applied by the return spring 630, and swings from the second position B to the first position A. At the first position A, the return spring 630 returns to a natural state.

[0122] See also Fig.15In some embodiments, the second housing 520 is sleeved on the first housing 510, and a space required for the first housing 510 to swing between the first position and the second position is reserved inside the second housing 520, and the first housing 510 swings in the second housing 520. Thus, the cleaning member 110 can realize three kinds of movements respectively: rotation along the rotation axis aa, lifting and lowering along the axial direction of the rotation axis aa, and swinging along the swing axis b. The rotation and lifting of the cleaning member 110 are driven by the actuator 200, and the swing of the cleaning member 110 is driven by the first housing 510.

[0123] See also Fig.16 In the second aspect of the present application, a cleaning device 2000 is provided, which may be a sweeping robot or an automatic sweeping machine. The cleaning device 2000 includes a device body 2100 and a cleaning module 1000 of any embodiment of the first aspect described above. A walking mechanism 2200 is provided in the device body 2100 to drive the entire cleaning device to walk. The cleaning module 1000 is installed as a whole in the device body 2100. The cleaning member 110 of the cleaning module 1000 is at least partially located outside the device body 2100 in the first cleaning state and the second cleaning state, and is in contact with the ground A for cleaning the ground A. The cleaning member 110 is located in the device body 2100 in the lifting state, so as to facilitate avoiding obstacles on the ground A. In some embodiments, the cleaning member 110 may also be provided at least partially outside the device body 2100 in the lifting state, and separated from the ground A. The present application does not improve the structure of the device body, so the relevant contents of the device body and the walking mechanism can refer to the relevant disclosure of the prior art, and will not be described here.

[0124] Since the cleaning device has the cleaning module 1000 of the first aspect, it has the advantages of adjustable cleaning pressure and good obstacle crossing effect. The working states of the cleaning member 100 in the lifting state, the first cleaning state, and the second cleaning state are respectively as follows: Fig.16 As shown in (a), (b), and (c). The following takes the cleaning device as an automatic mopping machine as an example. The cleaning member 110 of the automatic mopping machine is a circular mop, and the rotating shaft a of the mop passes through the center of the mop. The automatic mopping machine is also provided with a swing component 600. The working process of the automatic mopping machine is as follows:

[0125] a) Mopping: Figure 2B and Figure 2C As shown, the cleaning member 100 is in the first cleaning state or the second cleaning state, the mop is in contact with the ground A, the walking mechanism drives the entire cleaning device to walk, and the mop cleans the ground A. During the mopping process, the second power element 310 can also drive the actuator 200 and the mop to rotate through the rotating transmission member 320, and the mop rotates forward to clean the ground A, thereby improving the cleaning effect.

[0126] b) Local cleaning: The mop is in the first cleaning state or the second cleaning state, the cleaning device stops at the area to be cleaned, the second power element 310 drives the actuator 200 and the mop to rotate through the rotating transmission element 320, and the mop rotates to clean the area. If necessary, the third power element 610 can be turned on, and the third power element 610 drives the cleaning assembly 1100 to swing through the third transmission assembly 620 to expand the cleaning area.

[0127] c) Active lifting of the mop: When the cleaning device encounters an obstacle while walking, the mop is in a lifted state, the first power element 410 drives the actuator 200 to rise, and the actuator 200 drives the mop to rise, and the mop is separated from the ground A, so that the mop avoids the obstacle on the ground A. After the cleaning device finishes mopping the floor, the mop is always in a lifted state during the process of returning to the cleaning pile to clean the mop. Figure 2A As shown, the first power element 410 drives the actuator 200 to rise, and the actuator 200 drives the mop to rise so that the mop leaves the ground A to avoid soiling the cleaned ground A.

[0128] d) Mop cloth downward pressure adjustment: When the mop cloth is in the first cleaning state, if the floor A is dirty and difficult to clean, the first power element 410 can be used to drive the actuator 200 to descend, and the actuator 200 drives the mop cloth to descend, so that the mop cloth switches to the second cleaning state, such as Figure 2C As shown, the downward pressure of the mop on the ground A is increased, thereby improving the cleaning effect.

[0129] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0130] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise" and "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0131] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0132] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0133] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0134] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0135] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0136] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning module (1000), installed in a device body (2100) of a cleaning device (2000), characterized in that: The cleaning module (1000) comprises: Cleaning member (100); An actuator (200) is drivingly connected to the cleaning element (100); The first driving component (400) is used to drive the actuator (200) to rise and fall, so that the cleaning member (100) switches between a lifting state, a first cleaning state, and a second cleaning state; when the cleaning member (100) is in the lifting state, the cleaning member (100) is separated from the ground (A); when the cleaning member (100) is in the first cleaning state, the cleaning member (100) is at least partially exposed outside the device body (2100) and is in contact with the ground (A); when the cleaning member (100) is in the second cleaning state, the cleaning member (100) is in contact with the ground (A) and exerts a greater downward pressure on the ground (A) than in the first cleaning state.

2. The cleaning module (1000) according to claim 1, characterized in that: During the process in which the cleaning member (100) is driven to descend by the first driving assembly (400) and switches from a raised state to a first cleaning state and a second cleaning state, the height of the output end of the first driving assembly (400) relative to the ground (A) gradually decreases.

3. The cleaning module (1000) according to claim 2, characterized in that: The first driving component (400) comprises a first power element (410) and a spiral lifting mechanism (420), wherein the first power element (410) is used to output torque, and the input component (421a) of the spiral lifting mechanism (420) is used to transmit the torque output by the first power element (410), and the output component (422a) of the spiral lifting mechanism (420) moves together with the actuator (200) in the lifting direction; when the cleaning element (100) is driven to descend by the output component (422a) and switches from the lifting state to the first cleaning state and the second cleaning state, the height of the output component (422a) relative to the input component (421a) gradually decreases.

4. The cleaning module (1000) according to claim 3, characterized in that: The output component (422a) is an output screw sleeve (422) sleeved on the actuator (200); and the input component (421a) is an input screw sleeve (421) sleeved on the output screw sleeve (422).

5. The cleaning module (1000) according to claim 3, characterized in that: The cleaning module (1000) further comprises a shell (500), the spiral lifting mechanism (420) and the actuator (200) are both installed in the inner cavity of the shell (500); the output component (422a) is configured to move relative to the shell (500) in a lifting direction and to be relatively stationary relative to the shell (500) in a rotating direction.

6. The cleaning module (1000) according to claim 5, characterized in that: The output component (422a) is provided with a first anti-rotation portion (4221); the housing (500) is provided with a second anti-rotation portion (514), and the second anti-rotation portion (514) conflicts with the first anti-rotation portion (4221) in the rotation direction.

7. The cleaning module (1000) according to claim 3, characterized in that: The first driving assembly (400) further comprises a first transmission assembly (430) for transmitting the torque output by the first power element (410) to the input component (421a) of the spiral lifting mechanism (420).

8. The cleaning module (1000) according to claim 7, characterized in that: The first transmission component (430) comprises a plurality of transmission gears, and an output gear (431) for outputting torque in the first transmission component (430) is sleeved on an input component (421a) of the spiral lifting mechanism (420).

9. The cleaning module (1000) according to claim 7, characterized in that: The first power element (410) is arranged below the first transmission assembly (430) and is arranged side by side with the actuator (200); the output shaft of the first power element (410) is parallel to the rotation axis (a) of the actuator (200) and the cleaning element (100).

10. The cleaning module (1000) according to any one of claims 1 to 9, characterized in that: It also comprises a second driving component (300) for driving the cleaning component (100) to rotate, wherein the output end of the second driving component (300) is arranged to move relative to the actuator (200) in the lifting direction and to rotate together with the actuator (200) in the rotation direction; and the output end of the first driving component (400) is arranged to rotate relative to the actuator (200) in the rotation direction and to move together with the actuator (200) in the lifting direction.

11. The cleaning module (1000) according to claim 10, characterized in that: The second driving assembly (300) comprises a second power element (310) and a rotating transmission element (320) driven by the second power element, wherein the rotating transmission element (320) is configured to move relative to the actuator (200) in a lifting direction and to rotate together with the actuator (200) in a rotating direction.

12. The cleaning module (1000) according to claim 11, characterized in that: The actuator (200) or the rotating transmission member (320) is provided with a relatively convex structure, and the relatively convex structure limits the relative rotation of the rotating transmission member (320) and the actuator (200).

13. The cleaning module (1000) according to claim 12, characterized in that: The relatively outwardly convex structure is a structure that is convex and / or concave relative to the part body; there is more than one relatively outwardly convex structure; when the number of the relatively outwardly convex structures is more than two, the more than two relatively outwardly convex structures are spaced apart and distributed along the rotation direction.

14. The cleaning module (1000) according to claim 13, characterized in that: The actuator (200) is provided with a first prism (210), and the rotating transmission member (320) is provided with a first prism-shaped inner cavity (321). The rotating transmission member (320) can be slidably mounted on the first prism (210), and the edges of the first prism (210) constitute the relatively convex structure.

15. The cleaning module (1000) according to claim 14, characterized in that: The first prism (210) and the rest of the actuator (200) form a limiting shoulder (211); the rotating transmission member (320) is a gear provided with the prism-shaped inner cavity (221); the gear can be slidably mounted on the first prism (210) and limited by the limiting shoulder (211).

16. The cleaning module (1000) according to claim 11, characterized in that: The second driving assembly (300) further comprises a second transmission assembly (330) for transmitting the torque output by the second power element (310) to the rotating transmission member (320).

17. The cleaning module (1000) according to claim 16, characterized in that: The second transmission assembly (330) comprises a reversing transmission mechanism, and the output shaft of the second power element (310) is connected to the reversing transmission mechanism so that the output shaft of the second power element (310) is perpendicular to the rotation axis (a) of the actuator (200) and the cleaning element (100).

18. The cleaning module (1000) according to claim 10, characterized in that: The cleaning module (1000) further comprises a housing (500), and at least a portion of the first drive assembly (400), at least a portion of the second drive assembly (300), and the actuator (200) are all installed in an inner cavity of the housing (500).

19. The cleaning module (1000) according to claim 18, characterized in that: The inner cavity of the shell (500) is divided into a first chamber (501) and a second chamber (502); the actuator (200) passes through the bottom wall of the first chamber (501) and extends into the second chamber (502); the output end of the second drive component (300) is arranged in the first chamber (501); and the output end of the first drive component (400) is arranged in the second chamber (502).

20. The cleaning module (1000) according to claim 19, characterized in that: The housing (500) comprises an upper cover (511), a middle shell (512) and a bottom shell (513) which are connected in sequence; the upper cover (511) and the middle shell (512) together form the first chamber (501); the middle shell (512) and the bottom shell (513) together form the second chamber (502); and the output end of the first driving component (400) and the middle shell (512) are arranged at an upper limit in the rotation direction.

21. The cleaning module (1000) according to any one of claims 1 to 9, characterized in that: The cleaning module (1000) further comprises a first shell (510), a second shell (520), a third shell (530) and a swinging assembly (600) mounted on the third shell (530); at least a portion of the first driving assembly (400) and the actuator (200) are mounted on the first shell (510) to form a cleaning assembly (1100); the second shell (520) is sleeved outside the first shell (510); the cleaning assembly (1100) is driven by the swinging assembly (600) and swings in the second shell (520).

22. The cleaning module (1000) according to claim 21, characterized in that: The swing assembly (600) comprises: A first cam (621) is connected to the first housing (510), and a connection point between the first cam (621) and the first housing (510) is offset relative to a rotation axis (a) of the actuator (200) and the cleaning element (100); A third power element (610), mounted on the third housing (530); The second cam (622) is used to transmit the power of the third power element (610). The second cam (622) interacts with the first cam (621) under the drive of the third power element (610) to switch the first housing (510) between the first position and the second position.

23. The cleaning module (1000) according to any one of claims 1 to 9, characterized in that: The execution member (200) is detachably connected to the cleaning member (100).

24. The cleaning module (1000) according to claim 23, characterized in that: The actuator (200) is arranged to move relative to the cleaning member (100) in a lifting direction and to be relatively stationary relative to the cleaning member (100) in a rotating direction; an elastic member (130) is provided in the actuator (200) and / or the cleaning member (100), and the elastic member (130) is compressed when the relative distance between the actuator (200) and the cleaning member (100) decreases.

25. The cleaning module (1000) according to claim 24, characterized in that: The actuator (200) comprises a sleeve portion (220) having a prism-shaped inner cavity (221); the cleaning member (100) is provided with a second prism (111), and the second prism (111) can be lifted and lowered and extended into the sleeve portion (220).

26. The cleaning module (1000) according to claim 25, characterized in that: A mounting cover (140), a first magnetic member (150) and a second magnetic member (160) are provided between the actuator (200) and the cleaning member (100); the second prism is a hollow structure, the mounting cover (140) and the elastic member (130) are both provided in the cavity of the second prism, the first magnetic member (150) is installed in the mounting cover (140) and is located above the elastic member (130), and the second magnetic member (160) is provided in the sleeve portion (220) and is adsorbed with the first magnetic member (150).

27. The cleaning module (1000) according to claim 25, characterized in that: The cleaning member (100) is provided with an avoidance cavity (112), and the sleeve portion (220) extends into the avoidance cavity (112).

28. A cleaning device (2000), characterized in that: It comprises an equipment body (2100) and a cleaning module (1000) according to any one of claims 1 to 27, wherein the cleaning module (1000) is installed in the equipment body (2100).

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