Transmission device, cleaning module and cleaning equipment

Abstract

The utility model discloses a transmission device, a cleaning module and cleaning equipment. The transmission device is applied to the cleaning equipment, the cleaning equipment comprises a machine body and a side brush assembly, the transmission device comprises a swing arm, the swing arm is rotationally connected to the machine body, the side brush assembly is arranged on the swing arm, and the swing arm rotates relative to the machine body to drive the side brush assembly to be switched between a first operation position and a second operation position; the first driving assembly is connected with the side brush assembly and used for driving the side brush assembly to rotate with the central axis of the side brush assembly as a rotating shaft. The rotating shaft of the first driving assembly and the rotating shaft of the swing arm are coaxially arranged. Therefore, the side brush assembly can move to the operation position meeting the requirement of the corresponding cleaning range, the cleaning range of the side brush assembly is enlarged, the cleaning effect is improved, meanwhile, the rotating flexibility and stability of the swing arm are improved, and the transmission device is compact in structure and small in size.

Description

Technical Field

[0001] The utility model relates to the technical field of smart home, and particularly to a transmission device, a cleaning module and a cleaning device. Background Art

[0002] Currently, cleaning robots, such as floor sweepers, usually adopt a brushing method to first suck the ground debris into their own dust boxes, thereby completing the function of cleaning the ground. In order to clean the area outside the main brush, floor sweeping robots usually set side brush assemblies to increase the cleaning range. However, the current transmission devices of side brush assemblies are simple in design and single in function, and can only drive the side brushes to rotate self - sufficiently for cleaning, resulting in a relatively fixed position of the side brushes and a small cleaning range. Summary of the Utility Model

[0003] A series of simplified concepts are introduced in the summary of the utility model, which will be further described in detail in the detailed implementation section. This part of the utility model does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] An embodiment of the first aspect of the utility model provides a transmission device, which is applied to a cleaning device. The cleaning device includes a machine body and a side brush assembly. The transmission device includes: a swing arm, which is rotatably connected to the machine body, and the side brush assembly is arranged on the swing arm. The swing arm rotates relative to the machine body to drive the side brush assembly to switch between a first operation position and a second operation position; a first driving assembly, which is connected to the side brush assembly and is used to drive the side brush assembly to rotate with its own central axis as the rotation axis; wherein, the rotation axis of the first driving assembly is coaxially arranged with the rotation axis of the swing arm.

[0005] Further, the first driving assembly includes a first driving part and a first transmission part. The first driving part is arranged inside the swing arm and is fixedly arranged relative to the machine body. The rotation axis of the first driving part coincides with the rotation axis of the swing arm. The first transmission part is connected to the side brush assembly and at least a part of it is arranged inside the swing arm. The first driving part drives the side brush assembly to rotate through the first transmission part.

[0006] Further, the transmission device further includes: a fixed seat. A first avoidance opening is formed on the circumferential side of the swing arm. The fixed seat passes through the first avoidance opening. The fixed seat located outside the swing arm is used to connect the machine body, and the fixed seat located inside the swing arm is used to connect the first driving part.

[0007] Further, the swing arm includes a first half - shell and a second half - shell, and the first half - shell and the second half - shell are connected and enclose the first avoidance opening.

[0008] Further, the transmission device further includes: a second driving assembly and an elastic member. The first end of the elastic member is connected to the swing arm, the second end of the elastic member is relatively fixed to the machine body, and the second driving assembly is used to cooperate with the elastic member to rotate the swing arm.

[0009] Further, during the switching process of the side brush assembly between the first operating position and the second operating position, the first driving assembly abuts against the swing arm to rotate the swing arm.

[0010] Further, a first cam is connected to the first end of the swing arm, and a side brush assembly is connected to the second end of the swing arm. During the switching process of the side brush assembly between the first operating position and the second operating position, the second driving assembly abuts against the convex portion of the first cam to rotate the swing arm, and the first cam is coaxially arranged with the swing arm; wherein, the first end of the elastic member is connected to the first cam; and / or the first end of the elastic member is connected to the swing arm.

[0011] Further, a first connecting portion is arranged on the circumferential side of the first cam, and the first connecting portion is used to connect with the first end of the elastic member; a guiding groove is arranged on the circumferential side of the first cam along the rotation direction of the first cam, and part of the elastic member is accommodated in the guiding groove, and the guiding groove is used to limit the axial movement of the elastic member along the first cam.

[0012] Further, the second driving assembly is used to drive the first cam to rotate in a first direction to deform the elastic member to accumulate elastic potential energy, so that the side brush assembly switches from the second operating position to the first operating position.

[0013] Further, the elastic member releases elastic potential energy to drive the first cam to rotate in a second direction, so that the side brush assembly switches from the first operating position to the second operating position.

[0014] Further, the second driving assembly includes a second driving portion and a second cam, the second cam abuts against the first cam, and the second driving portion is used to drive the second cam to rotate to drive the first cam to rotate.

[0015] Further, when the side brush assembly is in the first operating position, the tangent point of the curve formed by the contact point of the first cam and the second cam and the rotation track of the second cam coincides with the tangent point of the first cam.

[0016] Further, the second cam includes a sector gear portion and an abutting portion, the first driving portion meshes with the sector gear portion, and the abutting portion abuts against the first cam.

[0017] Further, the second driving portion includes a swing driving member and a first gear, the swing driving member is connected to the first gear, the first gear meshes with the sector gear portion, and the swing driving member drives the abutting portion to push the first cam to rotate through the first gear and the sector gear portion to drive the swing arm to rotate synchronously.

[0018] Further, the transmission device further includes: a housing fixedly connected to the machine body, a swing driving member and a swing arm located outside the housing, a first gear, a second cam, a first cam, and an elastic member located inside the housing, the first gear passing through the housing and being power-connected to the swing driving member, and the second end of the elastic member being connected to the housing.

[0019] Further, a limiting portion is provided inside the housing for limiting the rotational position of the first cam; the limiting portion includes a first limiting portion and a second limiting portion distributed on both sides of the convex portion of the first cam along the rotational direction of the first cam.

[0020] Further, the transmission device further includes: a position detection device for detecting the rotational position of the swing arm, or the first cam, or the second cam, and the second driving assembly rotates or stops rotating according to the detection result of the position detection device.

[0021] Further, the position detection device includes a first position switch and a second position switch distributed on the circumferential side of the second cam, and a first acting portion and a second acting portion are provided at both ends of the second cam along the rotational direction. The first acting portion is adapted to trigger the first position switch to act to change the detection signal, and the second acting portion is adapted to trigger the second position switch to act to change the detection signal.

[0022] Further, the elastic member is a tension spring, the first end of the tension spring is connected to the first cam, and the second end of the tension spring is relatively fixed to the machine body; or the elastic member is a torsion spring, the torsion spring is provided at the rotating shaft of the first cam, the first end of the torsion spring is connected to the first cam, and the second end of the torsion spring is relatively fixed to the machine body; or the elastic member is an elastic sheet, the first end of the elastic sheet is connected to the first cam, and the second end of the elastic sheet is relatively fixed to the machine body.

[0023] Further, the transmission device further includes: a first anti-collision plate connected to the side of the swing arm and movable relative to the swing arm; a collision detection switch provided on the swing arm and located on the side of the first anti-collision plate facing the inside of the swing arm for detecting the rotational position of the first anti-collision plate.

[0024] Further, the collision detection switch is provided with a reset member, or the swing arm is provided with a reset member; the reset member is used for accumulating elastic potential energy during the process of the first anti-collision plate moving towards the collision detection switch, and the reset member is used for releasing the elastic potential energy to drive the first anti-collision plate to move away from the collision detection switch.

[0025] An embodiment of the second aspect of the present invention provides a cleaning module, including: a side brush assembly, and a transmission device according to any one of the first aspect.

[0026] An embodiment of the third aspect of the present utility model provides a cleaning device, comprising: a machine body; and a cleaning module according to the second aspect; wherein at least a part of the side brush assembly in the first operating position is located inside the machine body in the horizontal direction, at least a part of the side brush assembly in the second operating position is located outside the machine body in the horizontal direction, and the area of the side brush assembly in the second operating position outside the horizontal direction of the machine body is larger than the area of the side brush assembly in the first operating position outside the horizontal direction of the machine body.

[0027] Further, the cleaning device further comprises: a second anti-collision plate, which is connected to the side of the machine body and can move relative to the machine body, and a second avoidance opening is provided on the second anti-collision plate; during the switching process of the side brush assembly between the first operating position and the second operating position, at least a part of the swing arm connected with the first anti-collision plate passes through the second avoidance opening; or when the side brush assembly is in the first operating position, the first anti-collision plate is located at the second avoidance opening.

[0028] The transmission device, cleaning module and cleaning device provided by the present utility model. The transmission device comprises a swing arm and a first driving component. By rotating the swing arm relative to the machine body, the side brush assembly arranged on the swing arm can be driven to switch between the first operating position and the second operating position, so as to move the side brush assembly to the operating position that meets the corresponding cleaning range requirements, to meet the requirements of different cleaning ranges, expand the cleaning range of the side brush assembly, and is beneficial to improving the cleaning effect. By driving the side brush assembly to rotate around its own axis by the first driving component, the rotating side brush assembly can act on the surface to be cleaned to achieve the cleaning function and ensure good cleaning effect. By coaxially arranging the rotating shaft of the first driving component and the rotating shaft of the swing arm, compared with the case where the rotating shaft of the first driving component and the rotating shaft of the swing arm are arranged at intervals and the gravity of the first driving component is located on one side of the rotating shaft of the swing arm, which is not convenient for the swing arm to rotate, the gravity of the first driving component can be more evenly distributed around the swing arm, thereby improving the stability and flexibility during the rotation of the swing arm. At the same time, this arrangement can reasonably utilize space, make the layout of the first driving component and the swing arm compact, and can meet the design requirements of the transmission device with a compact structure and a small volume, and further meet the design requirements of the cleaning device with a compact structure and a small volume.

[0029] The above description is only an overview of the technical solution of the present utility model. In order to be able to understand the technical means of the present utility model more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present utility model more obvious and understandable, the following specifically illustrates the specific embodiments of the present utility model. Description of the Drawings

[0030] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating the preferred embodiments only and are not to be considered as limiting the present utility model. Moreover, throughout the drawings, the same reference numerals are used to denote the same components. Among them:

[0031] Figure 1 FIG. shows a schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a first operating position from one perspective;

[0032] Figure 2 FIG. shows a schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a first operating position from another perspective;

[0033] Figure 3 FIG. shows a partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a first operating position;

[0034] Figure 4 FIG. shows another partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a first operating position;

[0035] Figure 5 FIG. shows another partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a first operating position;

[0036] Figure 6 FIG. shows a partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a second operating position from one perspective;

[0037] Figure 7 FIG. shows another partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a second operating position;

[0038] Figure 8 FIG. shows another partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a second operating position;

[0039] Figure 9 FIG. shows yet another partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a second operating position;

[0040] Figure 10 Shows Figure 9 a cross-sectional view taken along the A-A direction of the illustrated embodiment;

[0041] Figure 11 FIG. Figure 9 shows a partial schematic structural view of the swing arm of the transmission device provided by an embodiment of the present utility model in a second operating position from another perspective;

[0042] Figure 12 The structural schematic diagram of the first driving assembly provided by the embodiment of the present utility model is shown.

[0043] Among them, Figures 1 to 12 The corresponding relationship between the reference signs and the component names in the figure is as follows:

[0044] 100 Transmission device, 110 Swing arm, 111 First avoidance opening, 112 First half shell, 113 Second half shell, 114 First cam, 1141 First connecting portion, 1142 Guide groove, 1143 Convex portion, 120 First driving assembly, 121 First driving portion, 122 First transmission portion, 1221 First-stage gear, 1222 Second-stage gear, 1223 Third-stage gear, 1224 Fourth-stage gear, 123 First output end, 130 Fixed seat, 131 Connecting seat, 140 Second driving assembly, 141 Second driving portion, 1411 Swing driving member, 1412 First gear, 142 Second cam, 1421 Sector gear portion, 1422 Contact portion, 1423 First acting portion, 1424 Second acting portion, 150 Elastic member, 160 Housing, 161 Third half shell, 162 Fourth half shell, 163 Second connecting portion, 164 First limiting portion, 165 Second limiting portion, 170 First anti-collision plate, 180 Collision detection switch, 181 Reset member, 190 Position detection device, 191 First position switch, 192 Second position switch. Specific embodiments

[0045] In the following description, a large number of specific details are given to provide a more thorough understanding of the technical solutions provided by the present utility model. However, it is obvious to those skilled in the art that the technical solutions provided by the present utility model can be implemented without one or more of these details.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0047] Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present utility model thorough and complete, and to fully convey the concept of these exemplary embodiments to those of ordinary skill in the art.

[0048] As Figures 1 to 12 shown, an embodiment of the first aspect of the present utility model provides a transmission device 100, an embodiment of the second aspect of the present utility model provides a cleaning module, and an embodiment of the third aspect of the present utility model provides a cleaning device. Among them, the transmission device 100 is applied to the cleaning module, the cleaning module is applied to the cleaning device, and the cleaning device can be a floor sweeping robot, a mopping and sweeping integrated machine, or other cleaning robots that meet the requirements.

[0049] Specifically, the cleaning device includes but is not limited to: a machine body, a cleaning system, a driving system, etc. The above-mentioned various systems cooperate with each other to enable the cleaning device to move autonomously to achieve the cleaning function. The functional elements that make up the above-mentioned systems in the cleaning device are integrally arranged in the machine body. It can be understood that the cleaning device can be a self-moving cleaning device, where the self-moving cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without the operation of the user.

[0050] Among them, the machine body includes a front part and a rear part, which may have an approximate circular shape or other shapes, including but not limited to an approximate D-shaped shape with a round rear and a rectangular or square shape at the front and rear.

[0051] Among them, the cleaning system includes a dry cleaning system, that is, the cleaning device can be a floor sweeping robot, or the cleaning system includes a wet cleaning system and a dry cleaning system, that is, the cleaning device can be a mopping and sweeping integrated machine.

[0052] Among them, the dry cleaning system may include a rolling brush, a dust box, and a suction fan. The rolling brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the suction port between the rolling brush and the dust box, and then is sucked into the dust box by the suction gas generated by the suction fan and passing through the dust box.

[0053] Furthermore, for the cleaning device provided by the embodiment of the present utility model, the cleaning system may further include a side brush assembly, and the side brush assembly is rotatably connected to the machine body and is used to move debris and other sundries outside the rolling brush area into the rolling brush area of the cleaning system.

[0054] At present, in the cleaning equipment in the related art, the transmission device of the side brush assembly is simply designed and has a single function. It can only drive the side brush assembly to rotate self - sufficiently for cleaning, resulting in a relatively fixed position of the side brush assembly and a small cleaning range. For example, the current side brush assembly is located below the machine body. Most of the side brush assemblies are located inside the machine body in the horizontal direction, and only a small part of the side brush assemblies are located outside the machine body in the horizontal direction. For example, usually only part of the bristles of the side brush assembly are located outside the machine body in the horizontal direction. Due to the limitation of the machine body, the current cleaning equipment cannot clean the surface to be cleaned at the corner, affecting the cleaning effect.

[0055] As Figure 1 , Figure 2 , Figure 4 and Figure 6 shown, in view of this, an embodiment of the first aspect of the present invention provides a transmission device 100, which is applied to a cleaning equipment. The cleaning equipment includes a machine body and a side brush assembly. The transmission device 100 includes: a swing arm 110, the swing arm 110 is rotatably connected to the machine body, the side brush assembly is arranged on the swing arm 110, and the swing arm 110 rotates relative to the machine body to drive the side brush assembly to switch between a first operation position and a second operation position; a first driving component 120, the first driving component 120 is connected to the side brush assembly and is used to drive the side brush assembly to rotate around its own central axis; wherein, the rotation axis of the first driving component 120 is coaxially arranged with the rotation axis of the swing arm 110.

[0056] The transmission device 100 provided by the embodiment of the utility model includes a swing arm 110 and a first drive assembly 120, which is rotatably connected to the machine body through the swing arm 110. The side brush assembly is arranged on the swing arm 110, so that the rotation of the swing arm 110 relative to the machine body can drive the side brush assembly to switch between a first operation position and a second operation position, so as to move the side brush assembly to an operation position that meets the corresponding cleaning range requirements, to meet the requirements of different cleaning ranges, expand the cleaning range of the side brush assembly, and is beneficial to improving the cleaning effect and the user's cleaning experience. At the same time, the first drive assembly 120 drives the side brush assembly to rotate around its own axis, so that the rotating side brush assembly can act on the surface to be cleaned to achieve the cleaning function and ensure a good cleaning effect. Moreover, in this embodiment, by arranging the axis of the first drive assembly 120 and the axis of the swing arm 110 coaxially, compared with the arrangement where the axis of the first drive assembly and the axis of the swing arm are arranged at intervals, and the gravity of the first drive assembly is located on one side of the swing arm axis and is not convenient for the swing arm to rotate, in the transmission device 100 of this embodiment, the gravity of the first drive assembly 120 can be more evenly distributed on the circumferential side of the swing arm 110, improving the uniformity of the force exerted by the first drive assembly 120 on the swing arm 110 on the circumferential side of the axis of the swing arm 110, thereby improving the stability and flexibility during the rotation of the swing arm 110, improving the accuracy of the side brush assembly switching to the first operation position and the second operation position, and ensuring a good cleaning effect. At the same time, this arrangement can reasonably utilize the space, making the layout of the first drive assembly 120 and the swing arm 110 compact, meeting the design requirements of the transmission device 100 with a compact structure and a small volume, and further meeting the design requirements of the cleaning device with a compact structure and a small volume.

[0057] Among them, the side brush assemblies at the first operation position and the second operation position are located at different positions of the machine body in the horizontal direction, that is to say, the orthographic projections of the side brush assemblies at the first operation position and the second operation position on the horizontal plane are at different positions in the orthographic projection area of the machine body on the horizontal plane. Specifically, at least part of the side brush assembly at the first operation position is located inside the machine body in the horizontal direction, at least part of the side brush assembly at the second operation position is located outside the machine body in the horizontal direction, and the area of the side brush assembly at the second operation position outside the horizontal direction of the machine body is larger than the area of the side brush assembly at the first operation position outside the horizontal direction of the machine body.

[0058] That is to say, the orthographic projection of the side brush assembly at the first operating position on the horizontal plane can be entirely located within the orthographic projection area of the machine body on the horizontal plane, or a part of the orthographic projection of the side brush assembly at the first operating position on the horizontal plane is located within the orthographic projection area of the machine body on the horizontal plane, and the other part is located outside the orthographic projection area of the machine body on the horizontal plane. The orthographic projection of the side brush assembly at the second operating position on the horizontal plane can be entirely located outside the orthographic projection area of the machine body on the horizontal plane, or a part of the orthographic projection of the side brush assembly at the second operating position on the horizontal plane is located within the orthographic projection area of the machine body on the horizontal plane, and the other part is located outside the orthographic projection area of the machine body on the horizontal plane. Moreover, the area of the orthographic projection of the side brush assembly at the second operating position on the horizontal plane that is located outside the orthographic projection area of the machine body on the horizontal plane is larger than the area of the orthographic projection of the side brush assembly at the first position on the horizontal plane that is located outside the orthographic projection area of the machine body on the horizontal plane. That is to say, the area of the side brush assembly at the second operating position outside the machine body is larger than the area of the side brush assembly at the first operating position outside the machine body, enabling the side brush assembly at the second operating position to contact more surfaces to be cleaned outside the machine body, thereby increasing the cleaning range of the side brush assembly and enabling the auxiliary cleaning operation of the corner area. Thus, according to the cleaning range requirements of the cleaning device, specifically according to the cleaning range requirements of the side brush assembly, the swing arm 110 can be used to drive the side brush assembly to switch between the first operating position and the second operating position, so as to move the side brush assembly to the operating position that meets the corresponding cleaning range requirements. That is, the side brush assembly can perform the auxiliary cleaning operation at the first operating position, and the side brush assembly can also perform the auxiliary cleaning operation at the second operating position to meet the requirements of different cleaning ranges, expanding the range of auxiliary cleaning, that is, expanding the cleaning range of the cleaning device, improving the cleaning effect, and enhancing the user's cleaning experience.

[0059] It should be noted that when the side brush assembly at the first operating position is entirely located within the machine body in the horizontal direction, the area of the side brush assembly at the first operating position outside the horizontal direction of the machine body is zero. At this time, the area of the side brush assembly at the second operating position outside the horizontal direction of the machine body is still larger than the area of the side brush assembly at the first operating position outside the horizontal direction of the machine body.

[0060] Among them, at least a part of the side brush assembly in the second operating position is located outside the machine body in the horizontal direction, and the area of the side brush assembly in the second operating position outside the horizontal direction of the machine body is larger than the area of the side brush assembly in the first operating position outside the horizontal direction of the machine body, so that the cleaning range of the side brush assembly in the second operating position can exceed the edge of the walking range of the machine body, and compared with the side brush assembly in the first operating position, the area exposed outside the machine body is larger, so as to comprehensively clean the corner positions that the machine body cannot fit, improve the cleaning range of the side brush assembly, and improve the cleaning effect of the cleaning device.

[0061] Specifically, when the side brush assembly is in the first operating position, in the horizontal direction, the side brush assembly can be entirely located inside the machine body, or most of the side brush assembly is located inside the machine body and a small part of the side brush assembly is located outside the machine body. At this time, the side brush assembly can be understood as being retracted into the machine body, and the side brush assembly can be used for conventional cleaning operations. When the side brush assembly is in the second operating position, in the horizontal direction, the side brush assembly can be entirely located outside the machine body, or most of the side brush assembly is located outside the machine body and a small part of the side brush assembly is located inside the machine body. At this time, the side brush assembly can be understood as being extended outside the machine body, and the side brush assembly can be used for corner cleaning operations.

[0062] Furthermore, according to the need of the cleaning device to perform corner cleaning, the side brush assembly can be selectively driven to switch between the first operating position and the second operating position. For example, the side brush assembly is moved to the first operating position for conventional cleaning operations, and the side brush assembly is moved to the second operating position for corner cleaning operations, so as to meet the different functional requirements of the cleaning device and improve the intelligence of the automatic cleaning device.

[0063] Such as Figure 5 、 Figure 7 、 Figure 8 、 Figure 11 As shown, in some possible embodiments provided by the present utility model, the first driving assembly 120 includes a first driving portion 121 and a first transmission portion 122. The first driving portion 121 is disposed inside the swing arm 110 and is fixedly disposed relative to the machine body. The rotation axis of the first driving portion 121 coincides with the rotation axis of the swing arm 110. The first transmission portion 122 is connected to the side brush assembly, and at least a part of the first transmission portion 122 is disposed inside the swing arm 110. The first driving portion 121 drives the side brush assembly to rotate through the first transmission portion 122.

[0064] In this embodiment, by fixedly arranging the first driving part 121 relative to the machine body, the rotation axis of the first driving part 121 coincides with the rotation axis of the swing arm 110, and the first transmission part 122 is connected to the first driving part 121 and is located inside the swing arm 110. Thus, the machine body bears the gravity of the first driving part 121 and the first transmission part 122. Compared with directly installing the first driving assembly on the swing arm to make the swing arm bear the gravity of the first driving part and the first transmission part, the force on the swing arm 110 can be reduced, thereby improving the flexibility and stability of the rotation of the swing arm 110. At the same time, since the first driving part 121 is fixedly arranged relative to the machine body, the first driving part 121 can be regarded as a fixed part relative to the machine body. Compared with the first driving part arranged on the swing arm that rotates relative to the machine body and the first driving part is a moving part relative to the machine body, the arrangement of the connecting line of the first driving part 121 can be facilitated, which is beneficial to improving the reliability of the connection between the first driving part 121 and the connecting line. At the same time, since the first driving part 121 and at least a part of the first transmission part 122 are arranged inside the swing arm 110, the swing arm 110 plays a good protective role for the first driving part 121 and at least part of the first transmission part 122, which is beneficial to extending the service life of the first driving part 121 and at least part of the first transmission part 122 and improving the reliability of the transmission device 100. At the same time, with this arrangement, the space inside the swing arm 110 is fully utilized, making the layout of the swing arm 110, the first driving part 121, and the first transmission part 122 compact and the volume small, meeting the design requirements.

[0065] Specifically, the first driving part 121 can be a motor. The first driving part 121 is fixedly arranged relative to the machine body, which can be that the first driving part 121 is directly connected to the machine body, or the first driving part 121 is indirectly connected to the machine body through other components to achieve relative fixed arrangement. Among them, the connecting line of the first driving part 121 can be understood as an electrical connecting line, etc. The first transmission part 122 can be at least one of gear transmission, belt transmission, and chain transmission.

[0066] It can be understood that at least part of the first transmission part 122 is located inside the swing arm 110. It can be that a part of the first transmission part 122 is located inside the swing arm 110 and the other part of the first transmission part 122 is located outside the swing arm 110. As Figure 2 shown, for example, the first transmission part 122 further includes a first output end 123, and the first output end 123 passes through the swing arm 110 and is located outside the swing arm 110 to be connected to the side brush assembly. Or, the first transmission part 122 can be entirely located inside the swing arm 110, and the swing arm 110 is provided with a through hole corresponding to the first output end 123 of the first transmission part 122, and the side brush assembly is connected to the first output end 123 inside the swing arm 110 through the through hole.

[0067] Specifically, as Figure 12As shown, taking the first driving part 121 as a motor and the first transmission part 122 as a gear transmission as an example for illustration, the first transmission part 122 includes a first-stage gear 1221, a second-stage gear 1222, a third-stage gear 1223, and a fourth-stage gear 1224. The first-stage gear 1221 is connected to the output shaft of the motor. The second-stage gear 1222 meshes with the first-stage gear 1221 and the third-stage gear 1223. The fourth-stage gear 1224 meshes with the third-stage gear 1223 and is provided with a first output end 123. Therefore, when the motor rotates, the side brush assembly connected to the first output end 123 is driven to rotate around its own central axis by the first-stage gear 1221, the second-stage gear 1222, the third-stage gear 1223, and the fourth-stage gear 1224.

[0068] As Figure 3 , Figure 5 , Figure 7 , Figure 11 As shown, in some possible implementation embodiments provided by the present invention, the transmission device 100 further includes: a fixed seat 130. A first avoidance opening 111 is formed on the peripheral side of the swing arm 110. The fixed seat 130 passes through the first avoidance opening 111. The fixed seat 130 located outside the swing arm 110 is used to connect to the machine body, and the fixed seat 130 located inside the swing arm 110 is used to connect to the first driving part 121.

[0069] In this embodiment, by providing the first avoidance opening 111 on the peripheral side of the swing arm 110, one end of the fixed seat 130 is used to connect to the machine body, and the other end of the fixed seat 130 passes through the first avoidance opening 111 to extend into the swing arm 110. The first driving part 121 is installed and connected to the fixed seat 130 inside the swing arm 110. Thus, the relative fixed setting of the first driving part 121 and the machine body is realized.

[0070] Figure 1 , Figure 2 , Figure 7 , Figure 11 As shown, in some possible implementation embodiments provided by the present invention, the swing arm 110 includes a first half shell 112 and a second half shell 113. The first half shell 112 and the second half shell 113 are connected and enclose the first avoidance opening 111. Thus, it is convenient for the installation and disassembly of the first driving part 121, the first transmission part 122, and the fixed seat 130 located inside the swing arm 110, which is beneficial to improving the assembly efficiency and the maintenance efficiency.

[0071] Among them, the first half shell 112 and the second half shell 113 can be detachably connected by at least one of a bolt structure, a snap connection structure, a plug-in connection structure, a mortise and tenon structure, and a magnetic attraction structure. Further, the first half shell 112 is located at the bottom of the second half shell 113. It can be understood that the first half shell 112 and the second half shell 113 enclose a connected first installation space and a second installation space. The first driving part 121 is located in the first installation space. A first avoidance opening 111 is formed between the first half shell 112 and the second half shell 113 of the first installation space. The first transmission part 122 is located in the second installation space. The first half shell 112 of the second installation space can be provided with a through hole to be connected to the side brush assembly.

[0072] Further, the transmission device 100 may further include a connecting seat 131. The connecting seat 131 is located below the swing arm 110, that is, the connecting seat 131 is located below the first half shell 112. The connecting seat 131 is connected to the fixed seat 130 and / or the first driving part 121. A rotating part is provided between the connecting seat 131 and the first half shell 112 to ensure that the first half shell 112 can rotate relative to the fixed seat 130, and further enable the swing arm 110 to rotate relative to the first driving part 121. Specifically, the rotating part can be a rotating bearing or the like.

[0073] Such as Figure 4 、 Figure 9 、 Figure 10 and Figure 11 As shown in

[0074] In some possible embodiments provided by the present utility model, the transmission device 100 further includes: a second driving assembly 140 and an elastic member 150. The first end of the elastic member 150 is connected to the swing arm 110, and the second end of the elastic member 150 is relatively fixed to the machine body. The second driving assembly 140 is used to cooperate with the elastic member 150 to make the swing arm 110 rotate.

[0075] It should be noted that the first end of the elastic member 150 being connected to the swing arm 110 includes the first end of the elastic member 150 being directly connected to the swing arm 110 and being indirectly connected through other components. Both the direct connection and the indirect connection of the first end of the elastic member 150 to the swing arm 110 are within the protection scope of the present disclosure.

[0076] Specifically, the second driving component 140 drives the side brush component to move to the first operating position through the swing arm 110. At this time, the acting force exerted by the second driving component 140 on the swing arm 110 is opposite to the acting force exerted by the elastic component 150 on the swing arm 110. Then, the swing arm 110 is fixed by the two opposite acting forces, preventing the swing arm 110 from swinging, and further preventing the side brush component from moving along with the swing arm 110 during the cleaning process.

[0077] It can be understood that the elastic component 150 drives the side brush component to move to the second operating position through the swing arm 110. At this time, the elastic component 150 can drive the swing arm 110 to move to the extreme position and fix the swing arm 110 by relying on its own elastic force.

[0078] Wherein, when the side brush component is in the first operating position or the second operating position, the elastic component 150 can be in a deformed state and maintain the acting force exerted on the swing arm 110.

[0079] Such as Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 And Figure 7 As shown in

[0080] In some possible embodiments provided by the present utility model, during the switching process of the side brush component between the first operating position and the second operating position, the first driving component 120 abuts against the swing arm 110 to enable the swing arm 110 to rotate. Thus, it can ensure that the first driving component 120 drives the swing arm 110 to rotate stably, and further ensure that the side brush component can stably switch between the first operating position and the second operating position.

[0081] Among them, the first driving component 120 can directly abut against the swing arm 110, and then directly drive the swing arm 110 to rotate by the rotation of the first driving component 120.

[0082] Such as Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 11 As shown in

[0083] The convex portion 1143 of the first cam 114 can be understood as the portion of the first cam 114 that protrudes radially outward. In this embodiment, the first end of the swing arm 110 and the first cam 114 are relatively fixedly arranged, and the second drive assembly 140 is abutted against the convex portion 1143 of the first cam 114, so that the second drive assembly 140 and the swing arm 110 are abutted against each other. Therefore, the second drive assembly 140 rotates, and the swing arm 110 can be driven to rotate through the first cam 114, thereby driving the side brush assembly connected to the second end of the swing arm 110 to switch between the first operating position and the second operating position, so as to ensure the reliability and stability of the rotation of the swing arm 110.

[0084] Furthermore, the first cam 114 and the swing arm 110 are coaxially arranged, such as the first cam 114 is connected to the first end of the swing arm 110, so that the swing arm 110 can rotate synchronously with the first cam 114, thereby improving the rotation accuracy of the swing arm 110. In addition, this arrangement makes the first cam 114 and the swing arm 110 compact in layout and small in size, which can meet the design requirements of the transmission device 100 with a compact structure and small in size.

[0085] The first end of the elastic member 150 may be connected to the first cam 114; or, the first end of the elastic member 150 may be connected to the swing arm 110; or, the first end of the elastic member 150 may be connected to both the first cam 114 and the swing arm 110. The second end of the elastic member 150 may be directly or indirectly fixedly connected to the machine body, that is, the second end of the elastic member 150 and the machine body are relatively stationary.

[0086] In some possible embodiments provided by the present invention, the elastic member 150 can be a tension spring, the first end of which is connected to the first connecting portion 1141 of the first cam 114, and the second end of which is relatively fixed to the machine body, thereby being able to stably provide elastic force so that the side brush assembly can switch from the first operating position to the second operating position.

[0087] Alternatively, the elastic member 150 is a torsion spring, which is arranged at the rotating shaft of the first cam 114. The torsion spring can be arranged coaxially with the rotating shaft of the first cam 114, that is, the torsion spring can be sleeved on the outer peripheral side of the rotating shaft of the first cam 114, and one end of the torsion spring is connected to the first cam 114, and the second end of the torsion spring is relatively fixed to the machine body, which can also stably provide elastic force, so that the side brush assembly can switch from the first operating position to the second operating position.

[0088] Alternatively, the elastic member 150 is an elastic sheet. The first end of the elastic sheet is connected to the first cam 114, and the second end of the elastic sheet is relatively fixed to the machine body. Thus, the elastic member 150 can stably drive the side brush assembly to switch from the first operating position to the second operating position through the elastic force generated after deformation.

[0089] It can be understood that the elastic member 150 can also be an elastic component other than a tension spring, a torsion spring, and an elastic sheet.

[0090] Such as Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, in some possible embodiments provided by the present utility model, a first connecting portion 1141 is provided on the circumferential side of the first cam 114. The first connecting portion 1141 is used to connect to the first end of the elastic member 150. That is to say, the first end of the elastic member 150 is connected to the first cam 114.

[0091] Furthermore, as Figure 8 shown, a guiding groove 1142 is provided on the circumferential side of the first cam 114 along the rotation direction of the first cam 114. A part of the elastic member 150 is received in the guiding groove 1142. The guiding groove 1142 is used to limit the axial movement of the elastic member 150 along the first cam 114. The provision of the guiding groove 1142 can improve the reliability and stability of the connection between the first end of the elastic member 150 and the first connecting portion 1141, and can limit the direction of the elastic deformation of the elastic member 150 to improve the utilization rate of the elastic potential energy of the elastic member 150, so that the first cam 114 can rotate reliably under the cooperation of the second driving assembly 140 and the elastic member 150 to ensure that the side brush assembly can accurately switch between the first operating position and the second operating position.

[0092] Such as Figure 4 and Figure 6 shown, in some possible embodiments provided by the present utility model, the second driving assembly 140 is used to drive the first cam 114 to rotate in a first direction, so that the elastic member 150 deforms to accumulate elastic potential energy, so that the side brush assembly switches from the second operating position to the first operating position. The elastic member 150 releases the elastic potential energy to drive the first cam 114 to rotate in a second direction, so that the side brush assembly switches from the first operating position to the second operating position.

[0093] Wherein, the first direction and the second direction are two opposite directions. For example, the first direction is the direction shown by Y in Figure 4 and Figure 6 , and the second direction is the direction shown by X in Figure 4 and Figure 6 .

[0094] Among them, as Figure 6 shown, when the side brush assembly is in the second operating position, the elastic member 150 is in a stretched state. At this time, the first driving assembly 120 can rotate in one direction to drive the first cam 114 to rotate in the first direction. The first direction is as Figure 6 shown by the arrow Y in Figure 6 , that is, rotate in the clockwise direction shown, so that the swing arm 110 rotates synchronously in the first direction, and the side brush assembly is switched from the second operating position to the first operating position. When the side brush assembly is in the first operating position, the elastic member 150 can also be in a stretched state, and then the swing arm 110 is locked by the elastic force.

[0095] Specifically, during the process of the side brush assembly switching from the second operating position to the first operating position, the second driving assembly 140 drives the elastic member 150 to deform through the first cam 114 to accumulate elastic potential energy.

[0096] As Figure 4 shown, when the side brush assembly is in the first operating position, the first driving assembly 120 rotates in another direction. At this time, the release of the elastic potential energy of the elastic member 150 will push the first cam 114 to rotate in the second direction. The second direction is as Figure 4 shown by the X direction in Figure 4 , that is, the first cam 114 rotates in the counterclockwise direction shown, so that the swing arm 110 rotates synchronously in the second direction, and the side brush assembly is switched from the first operating position to the second operating position.

[0097] As Figure 8 , Figure 9 , Figure 11 shown, in some possible implementation embodiments provided by the present invention, the second driving assembly 140 includes a second driving part 141 and a second cam 142. The second cam 142 abuts against the first cam 114, and the second driving part 141 is used to drive the second cam 142 to rotate to drive the first cam 114 to rotate. Thus, the transmission connection between the second driving assembly 140 and the first cam 114 is realized.

[0098] Among them, the second driving part 141 is used to output power, and then drive the second cam 142 to rotate, so as to drive the first cam 114 that abuts against the second cam 142 to rotate, so as to realize the rotation of the swing arm 110.

[0099] Specifically, the second driving part 141 includes a second output end. The second cam 142 can be directly arranged on the second output end of the second driving part 141, so that the second driving part 141 directly drives the second cam 142 to rotate. Or, the second output end of the second driving part 141 can also be in transmission connection with the second cam 142, and can also drive the second cam 142 to rotate.

[0100] As Figure 4 , Figure 6 , Figure 9 shown, in the above embodiment, the second cam 142 includes a sector gear portion 1421 and an abutting portion 1422. The first driving portion 121 meshes with the sector gear portion 1421, and the abutting portion 1422 abuts against the first cam 114.

[0101] Among them, the abutting portion 1422 of the second cam 142 can be understood as a portion that extends radially outward of the second cam 142. The abutting portion 1422 of the second cam 142 abuts against the convex portion 1143 of the first cam 114 to achieve power transmission.

[0102] In this embodiment, the sector gear portion 1421 and the abutting portion 1422 can be spaced apart and distributed on the circumferential side of the rotating shaft of the second cam 142, so that when the second cam 142 rotates, it can drive the sector gear portion 1421 and the abutting portion 1422 to rotate simultaneously. Thus, when the first driving portion 121 works, it can drive the second cam 142 to rotate through the meshing sector gear portion 1421, so that the abutting portion 1422 rotates synchronously, and drives the swing arm 110 to rotate through the first cam 114.

[0103] As Figure 8 , Figure 9 , Figure 11 shown, in some possible embodiments provided by the present utility model, the second driving portion 141 includes a swing driving member 1411 and a first gear 1412. The swing driving member 1411 is connected to the first gear 1412, and the first gear 1412 meshes with the sector gear portion 1421. Thus, when the swing driving member 1411 works, through the meshing of the first gear 1412 and the sector gear portion 1421, it can drive the second cam 142 to rotate, so that the abutting portion 1422 on the second cam 142 pushes the first cam 114 to rotate, and drives the side brush assembly to switch between the first operation position and the second operation position through the synchronous rotation of the swing arm 110.

[0104] Among them, the swing driving member 1411 is used to output power. The swing driving member 1411 can be a motor. The first gear 1412 is coaxially arranged with the second output end of the swing driving member 1411 and meshes with the sector gear portion 1421. Furthermore, the swing driving member 1411 drives the first gear 1412, the second cam 142 and the first cam 114 to rotate, and further drives the swing arm 110 to rotate synchronously.

[0105] Among them, as Figure 6As shown in the figure, when the side brush assembly moves from the second operating position to the first operating position, that is, when the side brush assembly moves in the direction of retracting outside the machine body, the swing driving member 1411 rotates, drives the second cam 142 to rotate through the first gear 1412 and the sector tooth portion 1421, and the abutting portion 1422 pushes the convex portion 1143 of the first cam 114 to rotate the first cam 114 in the Y direction. Since the first cam 114 and the swing arm 110 are coaxially arranged, the swing arm 110 can rotate synchronously with the first cam 114, and then drives the side brush assembly installed in the swing arm 110 to move from the second operating position to the first operating position.

[0106] Among them, as Figure 4 shown in the figure, when the side brush assembly moves from the first operating position to the second operating position, that is, when the side brush assembly moves in the direction of extending outside the machine body, the rotation direction of the abutting portion 1422 is opposite to the rotation direction of the abutting portion 1422 during the movement of the side brush assembly in the direction of retracting into the machine body. That is, in the movement direction, the abutting portion 1422 is located in front of the first cam 114. Therefore, the abutting portion 1422 has no pushing force on the first cam 114, and the abutting portion 1422 provides space for the elastic member 150 to release elastic potential energy. In this way, under the action of the elastic member 150, the first cam 114 rotates in the opposite direction compared with the first cam 114 during the movement of the side brush assembly in the direction of retracting into the machine body, that is, the first cam 114 rotates in the direction shown by X. Since the first cam 114 and the swing arm 110 are coaxially arranged, the swing arm 110 can rotate synchronously with the first cam 114, and then drives the side brush assembly installed in the swing arm 110 to move from the first operating position to the second operating position.

[0107] As Figure 4 shown in the figure, in some possible implementation embodiments provided by the present invention, when the side brush assembly is in the first operating position, the tangent point of the curve formed by the contact point of the first cam 114 and the second cam 142 and the rotation trajectory of the second cam 142 coincides with the tangent point of the first cam 114.

[0108] Among them, the rotation trajectory of the second cam 142 can be understood as an arc with the rotation axis of the second cam 142 as the center and the radius of the second cam 142 as the radius. According to the principle that the direction of the supporting force on an object on a circular arc track points to the center of the circle, the acting force on the second cam 142 at the acting point on the rotation trajectory of the second cam 142 passes through the rotation axis of the second cam 142. Therefore, when the side brush assembly is in the first operating position, the curve formed by the contact point between the first cam 114 and the second cam 142 and the rotation trajectory of the second cam 142 coincides with the tangent point of the first cam 114, so that the acting force of the first cam 114 on the second cam 142 passes through the rotation axis of the second cam 142. Therefore, in the posture of the side brush assembly in the first operating position, a self-locking limit is formed on the first cam 114, that is, the first cam 114 will not rotate relative to the second cam 142 under the action of an external force and user pulling. Therefore, it is ensured that the swing arm 110 can be reliably and stably maintained at the current position, that is, it is ensured that the side brush assembly can be reliably and stably maintained in the first operating position, avoiding problems such as the side brush assembly extending out of the machine body and affecting the aesthetics of the device appearance, increasing the volume occupied by the device, and being inconvenient for storage.

[0109] As Figure 1 , Figure 2 shown, in some possible implementation embodiments provided by the present utility model, the transmission device 100 further includes: a housing 160, the housing 160 is fixedly connected to the machine body, the swing driving member 1411 and the swing arm 110 are located outside the housing 160, the first gear 1412, the second cam 142, the first cam 114 and the elastic member 150 are located inside the housing 160, the first gear 1412 passes through the housing 160 and is power-connected to the swing driving member 1411, and the second end of the elastic member 150 is connected to the housing 160.

[0110] In this embodiment, by fixedly connecting the housing 160 to the machine body, the entire transmission device 100 can be connected to the machine body, which is convenient for operation. Among them, the setting of the housing 160 plays a good protective role for the first gear 1412, the second cam 142, the first cam 114, and the elastic member 150 located inside the housing 160, which is beneficial to extending the service life of the first gear 1412, the second gear, the first cam 114, and the elastic member 150.

[0111] Specifically, as Figure 4 shown, a second connecting portion 163 is provided inside the housing 160, and the second end of the elastic member 150 is connected to the second connecting portion 163 to realize the relative fixed connection between the second end of the elastic member 150 and the machine body.

[0112] Among them, the housing 160 can be detachably connected to the machine body through at least one of a bolt structure, a snap connection structure, a plug-in connection structure, a mortise and tenon structure, and a magnetic attraction structure, so as to facilitate disassembly and assembly and improve the maintenance efficiency.

[0113] Among them, as Figure 1 , Figure 2 , Figure 11 shown, the housing 160 includes a third half shell 161 and a fourth half shell 162. The third half shell 161 and the third half shell 161 are detachably connected and can be enclosed to form a receiving cavity for receiving the first gear 1412, the second cam 142, the first cam 114, and the elastic member 150. Specifically, the fourth half shell 162 is located below the third half shell 161, and the second connecting portion 163 can be provided on the fourth half shell 162. In other examples, the second connecting portion 163 can also be provided on the third half shell 161. Among them, as Figure 2 and Figure 11 shown, the bottom of the fourth half shell 162 extends downward to near the first avoidance opening 111 of the swing arm 110, so that the fixing seat 130 for installing the first driving portion 121 can be connected to the fourth half shell 162 through the first avoidance opening 111 to achieve a relatively fixed connection with the machine body. It can be understood that in some examples, the aforementioned connecting seat 131 can also be connected to the fourth half shell 162.

[0114] In some possible embodiments provided by the present utility model, a limiting portion is provided in the housing 160. The limiting portion is used to limit the rotation position of the first cam 114. Thus, the first cam 114 can be reliably and accurately limited at a proper position, so that the side brush assembly is maintained at the first operating position or the second operating position.

[0115] As Figure 4 and Figure 6 shown, further, the limiting portion includes a first limiting portion 164 and a second limiting portion 165 distributed on both sides of the convex portion 1143 of the first cam 114 along the rotation direction of the first cam 114. When the convex portion 1143 abuts against the first limiting portion 164, the first limiting portion 164 limits the rotation of the first cam 114, so that the first side brush assembly can be reliably and accurately maintained at the first operating position. When the convex portion 1143 abuts against the second limiting portion 165, the second limiting portion 165 limits the rotation of the first cam 114, so that the first side brush assembly can be reliably and accurately maintained at the second operating position. The setting of the first limiting portion 164 and the second limiting portion 165 can improve the accuracy of the side brush assembly switching to the first operating position and the second operating position.

[0116] Specifically, the first limiting portion 164 and the second limiting portion 165 may be elastic members 150. The elastic members 150 have a good buffering effect to reduce the damage of the first limiting portion 164 and the second limiting portion 165 to the convex portion 1143 of the first cam 114, which is beneficial to extending the service life of the first cam 114 and improving the reliability of the transmission device 100. Specifically, the first limiting portion 164 and the second limiting portion 165 may be made of rubber, plastic, etc.

[0117] As Figure 4 and Figure 6 shown, in some possible embodiments provided by the present utility model, the transmission device 100 further includes: a position detection device 190. The position detection device 190 is used to detect the rotational position of the swing arm 110, or the first cam 114, or the second cam 142, and the second driving assembly 140 rotates or stops rotating according to the detection result of the position detection device 190.

[0118] Among them, the setting of the position detection device 190 can detect the rotational position of the swing arm 110, or the first cam 114, or the second cam 142, and further can know the rotational position of the swing arm 110. Thus, when the swing arm 110 rotates to a suitable position, such as when the swing arm 110 drives the side brush assembly to move to the first operating position or the second operating position, the second driving assembly 140 stops rotating according to the detection result of the position detection device 190 at this time, and can keep the side brush assembly at the first operating position or the second operating position to achieve the accurate switching of the first operating position or the second operating position. It can be understood that when the swing arm 110 drives the side brush assembly not to move to the first operating position or the second operating position, the second driving assembly 140 can continue to rotate according to the detection result of the position detection device 190 at this time to drive the side brush assembly to continue to move in the direction close to the target operating position, such as the first operating position or the second operating position.

[0119] Among them, the position detection device 190 may include a photoelectric switch, a mechanical switch, or other detection mechanisms that meet the requirements, etc.

[0120] As Figure 4 、 Figure 6 、 Figure 9 shown, in some possible embodiments provided by the present utility model, the position detection device 190 includes a first position switch 191 and a second position switch 192 distributed on the circumferential side of the second cam 142. The two ends of the second cam 142 along the rotation direction are provided with a first acting portion 1423 and a second acting portion 1424. The first acting portion 1423 is adapted to trigger the first position switch 191 to act to change the detection signal, and the second acting portion 1424 is adapted to trigger the second position switch 192 to act to change the detection signal.

[0121] In this embodiment, the position detection switch is used to detect the rotation position of the second cam 142. Since the second cam 142 is linked with the first cam 114 and the first cam 114 is coaxially arranged with the swing arm 110, the rotation position of the swing arm 110 can be known through the rotation position of the second cam 142, and then the position of the side brush assembly located on the swing arm 110 can be detected. Specifically, the first position switch 191 and the second position switch 192 are arranged at intervals on the circumferential side of the second cam 142 to respectively detect whether the side brush assembly reaches the first operation position and the second operation position by using the two position switches. Thus, the accuracy of detecting whether the side brush assembly reaches the target operation position can be improved.

[0122] Wherein, the first acting portion 1423 and the second acting portion 1424 are arranged at both ends of the second cam 142 along the rotation direction, so that the rotation of the second cam 142 can drive the first acting portion 1423 and the second acting portion 1424 to rotate synchronously. Since the first acting portion 1423 and the second acting portion 1424 are arranged at intervals along the rotation direction of the second cam 142, when the second cam 142 rotates to a suitable position, the first acting portion 1423 acts on the first position switch 191 to cause the first position switch 191 to change the detection signal. For example, if the first position switch 191 is the first photoelectric switch, the first acting portion 1423 is located between the light emitting portion and the light receiving portion of the first photoelectric switch to prevent the light receiving portion from receiving the light signal emitted by the light emitting portion, so that the first photoelectric switch changes the detection signal, indicating that the second cam 142 rotates to a suitable position and the side brush assembly is in the first operation position. At this time, the swing driving member 1411 of the second driving assembly 140 can stop rotating according to the detection signal of the first position switch 191 to maintain the side brush assembly in the first operation position.

[0123] When the second cam 142 rotates to a suitable position, the second acting portion 1424 acts on the second position switch 192 to cause the second position switch 192 to change the detection signal. For example, if the second position switch 192 is the second photoelectric switch, the second acting portion 1424 is located between the light emitting portion and the light receiving portion of the second photoelectric switch to prevent the light receiving portion from receiving the light signal emitted by the light emitting portion, so that the second photoelectric switch changes the detection signal, indicating that the second cam 142 rotates to a suitable position and the side brush assembly is in the second operation position. At this time, the swing driving member 1411 of the second driving assembly 140 can stop rotating according to the detection signal of the second position switch 192 to maintain the side brush assembly in the second operation position.

[0124] Specifically, as Figure 9 shown, the first acting portion 1423 and the second acting portion 1424 can be the retaining arms arranged on both sides of the second cam 142.

[0125] AsFigure 1 , Figure 2 , Figure 3 , Figure 8 , Figure 10 As shown in Figure 10 , in some possible embodiments provided by the present utility model, the transmission device 100 further includes: a first anti-collision plate 170, the first anti-collision plate 170 is connected to the side of the swing arm 110 and is movable relative to the swing arm 110; a collision detection switch 180, the collision detection switch 180 is disposed on the swing arm 110, on the side of the first anti-collision plate 170 facing the inside of the swing arm 110, and is used to detect the rotational position of the first anti-collision plate 170.

[0126] Since the side brush assembly in the second position is located outside the horizontal direction of the machine body, there is a possibility that the swing arm 110 collides with an obstacle. At the same time, there is a possibility that the swing arm 110 collides with an obstacle during the process of the side brush assembly switching from the first operation position to the second operation position. Therefore, in this embodiment, by providing the first anti-collision plate 170 on the side of the swing arm 110, the obstacle will collide with the first anti-collision plate 170 instead of directly colliding with the swing arm 110, which plays a good protective role for the swing arm 110, is beneficial to extending the service life of the swing arm 110, and further improves the reliability of the transmission device 100. By the first anti-collision plate 170 being movable relative to the swing arm 110, the first anti-collision plate 170 plays a good buffering role for the collision of the obstacle, can reduce the damage of the obstacle to the first anti-collision plate 170, is beneficial to extending the service life of the first anti-collision plate 170, and improves the overall reliability of the transmission device 100.

[0127] It can be understood that the first anti-collision plate 170 can be floatingly arranged relative to the swing arm 110, so that the first anti-collision plate 170 can be movable relative to the swing arm 110 within a first range. For example, a chute is provided on the swing arm 110, and the first anti-collision plate 170 is disposed in the chute and can move in a certain range in a direction close to or away from the swing arm 110.

[0128] By providing the collision detection switch 180 on the swing arm 110, the collision detection switch 180 is on the side of the first anti-collision plate 170 facing the inside of the swing arm 110. In this way, when the first anti-collision plate 170 collides with an obstacle, the first anti-collision plate 170 will move towards the inside of the swing arm 110 to trigger the collision detection switch 180 to act and send a collision message. The control system of the cleaning device can execute corresponding operations according to the control program based on the collision message sent by the collision detection switch 180, such as an avoidance operation, a pushing operation, etc.

[0129] Specifically, the collision detection switch 180 can be a photoelectric switch, a mechanical switch, etc.

[0130] Such as Figure 9As shown, in some possible embodiments provided by the present utility model, the collision detection switch 180 is provided with a reset member 181, or the swing arm 110 is provided with a reset member 181; the reset member 181 is used to accumulate elastic potential energy during the process of the first anti-collision plate 170 moving towards the collision detection switch 180, and the reset member 181 is used to release the elastic potential energy to drive the first anti-collision plate 170 to move away from the collision detection switch. Thus, when the first anti-collision plate 170 is separated from the obstacle, the reset member 181 can reset the first anti-collision plate 170 to its initial position to play a good protective role.

[0131] Among them, the collision detection switch 180 can be provided with a reset member 181. For example, the collision detection switch 180 can be a mechanical switch, and the reset member 181 is a spring piece of the mechanical switch. When the first anti-collision plate 170 collides with an obstacle, it moves towards the inside of the swing arm 110 and pushes the spring piece to deform to trigger the mechanical switch to act, thereby realizing the detection of the obstacle. When the first anti-collision plate 170 is separated from the obstacle, the spring piece restores its deformation and pushes the first anti-collision plate 170 back to its initial position.

[0132] Among them, the reset member 181 can also be provided on the swing arm 110. For example, the first end of the reset member 181 is connected to the swing arm 110, the second end of the reset member 181 abuts against the first anti-collision plate 170, and the collision detection switch 180 is located between the two ends of the reset member 181. When the first anti-collision plate 170 collides with an obstacle, it moves towards the inside of the swing arm 110 to deform the reset member 181, and triggers the collision detection switch 180 to act after moving to a suitable position, thereby realizing the detection of the obstacle. When the first anti-collision plate 170 is separated from the obstacle, the reset member 181 restores its deformation and pushes the first anti-collision plate 170 back to its initial position. Specifically, the reset member 181 can be a spring.

[0133] In some possible embodiments provided by the present utility model, the cleaning device further includes: a second anti-collision plate, which is connected to the side of the machine body and can move relative to the machine body. A second avoidance opening is provided on the second anti-collision plate; during the switching process between the first operation position and the second operation position of the side brush assembly, at least a part of the swing arm 110 connected to the second anti-collision plate passes through the second avoidance opening; or when the side brush assembly is in the first operation position, the first anti-collision plate 170 is located at the second avoidance opening.

[0134] Among them, the second anti-collision plate can be understood as the front anti-collision plate of the cleaning device. Using the second anti-collision plate to protect the side of the machine body against collision is beneficial to extending the service life of the machine body and improving the overall reliability of the cleaning device.

[0135] Among them, by opening a second avoidance opening on the second anti-collision plate, during the switching process of the side brush assembly between the first operating position and the second operating position, a part of the swing arm 110 passes through the second avoidance opening. That is to say, the swing arm 110 enables the side brush assembly to switch between the first operating position and the second operating position by passing through the second avoidance opening of the second anti-collision plate. This arrangement makes the layout of the transmission device 100 and the machine body relatively compact, and can meet the design requirements of the cleaning device with a compact structure and a small volume.

[0136] Further, in an example, during the switching of the side brush assembly between the first operating position and the second operating position, the part of the swing arm 110 connected to the first anti-collision plate 170 passes through the second avoidance opening, so that the first anti-collision plate 170 on the swing arm 110 makes up for the defect that there is no anti-collision protection at the second avoidance opening of the second anti-collision plate. Furthermore, the anti-collision protection function of the cleaning device is relatively comprehensive, which is beneficial to improving the overall reliability of the cleaning device. In this case, when the side brush assembly is in the first operating position, the first anti-collision plate 170 can be located inside the machine body. At this time, the second anti-collision plate is used to provide anti-collision protection for the entire cleaning device. When the side brush assembly is in the second operating position, the first anti-collision plate 170 can be located outside the machine body, and the first anti-collision plate 170 and the second anti-collision plate are used together to provide anti-collision protection for the cleaning device.

[0137] In another example, when the side brush assembly is in the first operating position, the first anti-collision plate 170 can be located at the second avoidance opening. Thus, the first anti-collision plate 170 on the swing arm 110 makes up for the defect that there is no anti-collision protection at the second avoidance opening of the second anti-collision plate. Furthermore, the anti-collision protection function of the cleaning device is relatively comprehensive, which is beneficial to improving the overall reliability of the cleaning device. In this case, when the side brush assembly is in the first operating position, the first anti-collision plate 170 and the second anti-collision plate can be arranged flush. At this time, the first anti-collision plate 170 and the second anti-collision plate are used together to provide anti-collision protection for the entire cleaning device. When the side brush assembly is in the second operating position, the first anti-collision plate 170 can be located outside the machine body, and the first anti-collision plate 170 and the second anti-collision plate are used together to provide anti-collision protection for the cleaning device.

[0138] An embodiment of the present invention further provides a cleaning module. The cleaning module is applied to a cleaning device and includes: a side brush assembly, and the transmission device 100 according to any one of the first aspects, wherein the side brush assembly is arranged on the swing arm 110. Since the cleaning module includes the transmission device 100 of any one of the foregoing embodiments, it has all the effects of the foregoing transmission device 100.

[0139] In this embodiment, the side brush assembly is arranged on the swing arm 110 of the transmission device 100, and the transmission device 100 and the side brush assembly are modularly designed. Thus, according to the design requirements of the cleaning device, the cleaning module can be selectively installed on the machine body. For example, when the design of the cleaning device has a need to use the side brush assembly to clean the corners to further increase the cleaning range, the cleaning module provided by the embodiment of the present utility model can be installed on the machine body; when the design of the cleaning device has a need to use the side brush assembly for conventional cleaning operations, the traditional side brush assembly and the transmission device 100 can be installed on the machine body. The operation is simple, the installation is convenient, the practicability is strong, and the application range is wide.

[0140] It can be understood that modularly designing the transmission device 100 and the side brush assembly enables the debugging and detection of the transmission device 100 before installing the cleaning module on the machine body. For example, using an external power supply and the control program of the cleaning device to debug and detect the rotation of the swing arm 110 of the transmission device 100, the switching of the operating position of the side brush assembly, the rotation of the side brush assembly, etc. If the detection is unqualified, direct adjustment can be made. This setting simplifies the operation after removing the cleaning module from the machine body compared to performing a complete machine debugging to debug and detect the rotation of the swing arm 110, the switching of the operating position of the side brush assembly, the rotation of the side brush assembly, etc. after installing the cleaning module on the machine body and then removing the cleaning module from the machine body for adjustment if the detection is unqualified. The operation is simple and convenient. It can be understood that after the debugging and detection are qualified, the cleaning module can be installed on the machine body, which can simplify the debugging and detection operation and thus improve the efficiency of the complete machine debugging.

[0141] Furthermore, the debugging and detection can also be carried out before the cleaning module is installed on the machine body, and after passing the test, the cleaning module is installed on the machine body and then the complete machine debugging is carried out again. Since the cleaning module has been debugged and detected before being installed on the machine body, compared with directly installing the cleaning module on the machine body for complete machine debugging without performing debugging tests before installation, it can greatly reduce the failure rate, reduce the probability of disassembling the cleaning module and the machine body, and improve the efficiency of the complete machine debugging.

[0142] The present utility model has been described through the above embodiments. However, it should be understood that the above embodiments are only for the purpose of exemplification and illustration, and are not intended to limit the present utility model to the described embodiment scope. In addition, those skilled in the art can understand that the present utility model is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present utility model, and these variations and modifications all fall within the scope of protection required by the present utility model. The scope of protection of the present utility model is defined by the appended claims and their equivalent scope.

Claims

1. A transmission device (100), characterized in that, Applied to a cleaning device, the cleaning device includes a machine body and a side brush assembly, and the transmission device (100) includes: A swing arm (110), the swing arm (110) is rotatably connected to the machine body, the side brush assembly is arranged on the swing arm (110), and the swing arm (110) rotates relative to the machine body to drive the side brush assembly to switch between a first operation position and a second operation position; A first driving component (120), the first driving component (120) is connected to the side brush assembly and is used to drive the side brush assembly to rotate with its own central axis as the rotation axis; Wherein, the rotation axis of the first driving component (120) is coaxially arranged with the rotation axis of the swing arm (110).

2. The transmission device (100) according to claim 1, characterized in that The first driving component (120) includes a first driving part (121) and a first transmission part (122). The first driving part (121) is arranged inside the swing arm (110) and is fixedly arranged relative to the machine body. The rotation axis of the first driving part (121) coincides with the rotation axis of the swing arm (110). The first transmission part (122) is connected to the side brush assembly and at least a part of it is arranged inside the swing arm (110). The first driving part (121) drives the side brush assembly to rotate through the first transmission part (122).

3. The transmission device (100) according to claim 2, characterized in that, Further includes: A fixed seat (130), a first avoidance opening (111) is formed on the circumferential side of the swing arm (110), the fixed seat (130) passes through the first avoidance opening (111), the fixed seat (130) located outside the swing arm (110) is used to connect the machine body, and the fixed seat (130) located inside the swing arm (110) is used to connect the first driving part (121).

4. The transmission device (100) according to claim 3, characterized in that The swing arm (110) includes a first half shell (112) and a second half shell (113), and the first half shell (112) and the second half shell (113) are connected and enclose the first avoidance opening (111).

5. The transmission device (100) according to claim 2, characterized in that, Further includes: A second driving component (140) and an elastic component (150), a first end of the elastic component (150) is connected to the swing arm (110), a second end of the elastic component (150) is relatively fixed to the machine body, and the second driving component (140) is used to cooperate with the elastic component (150) to make the swing arm (110) rotate.

6. The transmission device (100) according to claim 5, characterized in that During the switching process of the side brush assembly between the first operation position and the second operation position, the first driving component (120) abuts against the swing arm (110) to make the swing arm (110) rotate.

7. The transmission device (100) according to claim 5, characterized in that A first cam (114) is connected to the first end of the swing arm (110). The second end of the swing arm (110) is connected to the side brush assembly. During the switching process of the side brush assembly between the first operating position and the second operating position, the second driving assembly (140) abuts against the convex portion (1143) of the first cam (114) to rotate the swing arm (110). The first cam (114) is coaxially arranged with the swing arm (110). Wherein, the first end of the elastic member (150) is connected to the first cam (114); and / or The first end of the elastic member (150) is connected to the swing arm (110).

8. The transmission device (100) according to claim 7, characterized in that A first connecting portion (1141) is arranged on the circumferential side of the first cam (114). The first connecting portion (1141) is used for connecting with the first end of the elastic member (150). A guiding groove (1142) is arranged on the circumferential side of the first cam (114) along the rotation direction of the first cam (114). A part of the elastic member (150) is accommodated in the guiding groove (1142). The guiding groove (1142) is used for limiting the axial movement of the elastic member (150) along the first cam (114).

9. The transmission device (100) according to claim 7, characterized in that The second driving assembly (140) is used for driving the first cam (114) to rotate in a first direction, so that the elastic member (150) deforms to accumulate elastic potential energy, so that the side brush assembly switches from the second operating position to the first operating position.

10. The transmission device (100) according to claim 7, characterized in that The elastic member (150) releases elastic potential energy to drive the first cam (114) to rotate in a second direction, so that the side brush assembly switches from the first operating position to the second operating position.

11. The transmission device (100) according to claim 7, characterized in that The second driving assembly (140) includes a second driving portion (141) and a second cam (142). The second cam (142) abuts against the first cam (114). The second driving portion (141) is used for driving the second cam (142) to rotate to drive the first cam (114) to rotate.

12. The transmission device (100) according to claim 11, characterized in that When the side brush assembly is in the first operating position, the contact point of the first cam (114) and the second cam (142) coincides with the tangent point of the curve formed by the rotation track of the second cam (142) and the first cam (114).

13. The transmission device (100) according to claim 11, characterized in that The second cam (142) includes a sector gear portion (1421) and an abutting portion (1422). The first driving portion (121) meshes with the sector gear portion (1421), and the abutting portion (1422) abuts against the first cam (114).

14. The transmission device (100) according to claim 13, wherein the second driving portion (141) includes a swing driving member (1411) and a first gear (1412). The swing driving member (1411) is connected to the first gear (1412). The first gear (1412) meshes with the sector gear portion (1421). The swing driving member (1411) drives the abutting portion (1422) to push the first cam (114) to rotate through the first gear (1412) and the sector gear portion (1421), so as to drive the swing arm (110) to rotate synchronously.

15. The transmission device (100) according to claim 14, characterized in that, Further comprising: a housing (160), the housing (160) is fixedly connected to the machine body. The swing driving member (1411) and the swing arm (110) are located outside the housing (160). The first gear (1412), the second cam (142), the first cam (114) and the elastic member (150) are located inside the housing (160). The first gear (1412) passes through the housing (160) and is power-connected to the swing driving member (1411). The second end of the elastic member (150) is connected to the housing (160).

16. The transmission device (100) according to claim 15, wherein a limiting portion is provided inside the housing (160), and the limiting portion is used for limiting the rotation position of the first cam (114); the limiting portion includes a first limiting portion (164) and a second limiting portion (165) distributed on both sides of the convex portion (1143) of the first cam (114) along the rotation direction of the first cam (114).

17. The transmission device (100) according to claim 11, characterized in that, Further comprising: a position detection device (190), the position detection device (190) is used for detecting the rotation position of the swing arm (110), or the first cam (114), or the second cam (142). The second driving assembly (140) rotates or stops rotating according to the detection result of the position detection device (190).

18. The transmission device (100) according to claim 17, wherein the position detection device (190) includes a first position switch (191) and a second position switch (192) distributed on the circumferential side of the second cam (142). The two ends of the second cam (142) along the rotation direction are provided with a first acting portion (1423) and a second acting portion (1424). The first acting portion (1423) is adapted to trigger the first position switch (191) to act to change the detection signal, and the second acting portion (1424) is adapted to trigger the second position switch (192) to act to change the detection signal.

19. The transmission device (100) according to claim 7, wherein: The elastic member (150) is a tension spring, the first end of the tension spring is connected to the first cam (114), and the second end of the tension spring is relatively fixed to the machine body; or The elastic member (150) is a torsion spring, the torsion spring is arranged at the rotating shaft of the first cam (114), the first end of the torsion spring is connected to the first cam (114), and the second end of the torsion spring is relatively fixed to the machine body; or The elastic member (150) is an elastic sheet, the first end of the elastic sheet is connected to the first cam (114), and the second end of the elastic sheet is relatively fixed to the machine body.

20. The transmission device (100) according to claim 4, characterized in that, It further includes: A first anti-collision plate (170), the first anti-collision plate (170) is connected to the side of the swing arm (110) and can move relative to the swing arm (110); A collision detection switch (180), the collision detection switch (180) is arranged on the swing arm (110), on the side of the first anti-collision plate (170) facing the inside of the swing arm (110), and is used to detect the rotation position of the first anti-collision plate (170).

21. The transmission device (100) according to claim 20, wherein: The collision detection switch (180) is provided with a reset member (181), or the swing arm (110) is provided with a reset member (181); The reset member (181) is used to accumulate elastic potential energy during the process of the first anti-collision plate (170) moving towards the collision detection switch (180), and the reset member (181) is used to release the elastic potential energy to drive the first anti-collision plate (170) to move away from the collision detection switch (180).

22. A cleaning module, characterized in that, It includes: A side brush assembly, and the transmission device (100) according to any one of claims 1 to 21.

23. A cleaning device, characterized in that, It includes: A machine body; And the cleaning module according to claim 22; wherein, at least part of the side brush assembly in the first operation position is located inside the machine body in the horizontal direction, at least part of the side brush assembly in the second operation position is located outside the machine body in the horizontal direction, and the area of the side brush assembly outside the horizontal direction of the machine body in the second operation position is larger than the area of the side brush assembly outside the horizontal direction of the machine body in the first operation position.

24. The cleaning device according to claim 23, characterized in that, It further includes: A second anti-collision plate, the second anti-collision plate is connected to the side of the machine body and can move relative to the machine body, and a second avoidance opening is provided on the second anti-collision plate; During the switching process of the side brush assembly between the first operation position and the second operation position, at least the part of the swing arm (110) connected to the first anti-collision plate (170) passes through the second avoidance opening; Or, When the side brush assembly is in the first operation position, the first anti-collision plate (170) is located at the second avoidance opening.

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