Side brush module and cleaning equipment

Abstract

The utility model discloses a side brush module and cleaning equipment, the side brush module comprises a main body and a cleaning mechanism, the cleaning mechanism comprises a cleaning assembly and a driving assembly, the cleaning assembly comprises a swing arm and a side brush, the side brush is rotatably mounted on the swing arm, the swing arm is mounted on the main body and can rotate to a preset position relative to the main body, and the driving assembly is mounted on the main body. The preset positions comprise a first position, a second position and a third position, the first position and the third position are the position where the swing arm rotates to enable at least part of the side brush to be located outside the edge contour of the main body, the second position is the position where the swing arm rotates to enable the side brush to be close to the main body, and the third position is located between the first position and the second position; the driving assembly is connected with the swing arm and used for driving the swing arm to rotate to the preset position. The problems that the edge brush cannot cover the corner area and is easily blocked by the protruding position of the corner area or an obstacle in the cleaning process are solved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning devices, and in particular, to a side brush module and a cleaning device. Background Technique

[0002] Cleaning devices such as floor sweeping robots, mopping machines or floor washing machines are a type of intelligent household appliances, which can automatically complete the floor cleaning work in a room by virtue of a certain artificial intelligence. However, when the cleaning device sweeps along the corners such as the wall corners, the edges of the walls, and obstacles, there will be a certain gap between the side brush of the cleaning device and the corners, and this gap becomes a cleaning blind area of the cleaning device, and the garbage in these cleaning blind areas is difficult to be completely swept out.

[0003] When the side brush of the existing cleaning device performs cleaning work on the corner area, it not only cannot cover the corner area, but also the side brush is easily blocked by the protruding positions or obstacles in the corner area during the cleaning process, resulting in the cleaning device being blocked during the cleaning process and missing the cleaning of some positions in the corner area, so that the cleaning coverage rate of the cleaning device is low and the cleaning effect is not ideal, and the user needs to clean the cleaning blind area of the corner area by himself, and the user experience is poor. Utility Model Content

[0004] The main purpose of the present application is to provide a side brush module and a cleaning device to solve the problem that the side brush in the background technology not only cannot cover the corner area, but also is easily blocked by the protruding positions or obstacles in the corner area during the cleaning process.

[0005] According to one aspect of the present application, a side brush module is provided, including:

[0006] A main body;

[0007] A cleaning mechanism, the cleaning mechanism includes a cleaning component and a driving component, the cleaning component includes a swing arm and a side brush, the side brush is rotatably installed on the swing arm, the swing arm is installed on the main body and can rotate relative to the main body to a predetermined position, the predetermined position includes a first position, a second position and a third position, both the first position and the third position are positions where the swing arm rotates to make the side brush at least partially located outside the edge contour of the main body, the second position is a position where the swing arm rotates to make the side brush close to the main body, and the third position is located between the first position and the second position;

[0008] The driving component is connected to the swing arm, and the driving component is used to drive the swing arm to rotate to the predetermined position.

[0009] Further, the driving component includes:

[0010] The first driving component, which is mounted on the main body;

[0011] The transmission component, which is connected between the first driving component and the swing arm. The first driving component drives the transmission component to drive the swing arm to rotate to the predetermined position.

[0012] Further, the first driving component includes:

[0013] The first motor, which includes a first output shaft. The first output shaft is connected to the transmission component, and the first output shaft drives the transmission component to drive the swing arm to rotate to the predetermined position;

[0014] The position detector, which is mounted on the main body and is used to detect the position of the swing arm;

[0015] The controller, which is electrically connected to the first motor and the position detector respectively. The controller controls the first motor to stop rotating when the position detector detects that the swing arm is at the predetermined position.

[0016] Further, the transmission component includes:

[0017] The crank, which is connected to the first output shaft and can rotate along the first direction or the second direction under the drive of the first output shaft;

[0018] The connecting piece, which is connected between the crank and the swing arm. The first output shaft drives the crank to drive the swing arm to rotate to the predetermined position along the first direction or the second direction.

[0019] Further, the position detector includes:

[0020] The angle sensor, which is mounted on at least one side of the first motor and the crank. The angle sensor is used to detect the rotation angle of at least one of the first motor, the first output shaft and the crank.

[0021] Further, the cleaning mechanism further includes a mounting bracket, and the mounting bracket includes:

[0022] The base, which is mounted at the bottom of the main body;

[0023] A fixed seat, wherein the fixed seat is installed on the base and a first installation groove is formed between the fixed seat and the base, the end of the swing arm away from the side brush is rotatably installed in the first installation groove, the first motor is installed in the base and located on one side of the fixed seat, and the first output shaft at least partially extends to a side of the base close to the fixed seat and is connected to the transmission component.

[0024] Furthermore, the cleaning mechanism further comprises:

[0025] A limiting component is installed on the base, and is used to limit the rotation angle of the swing arm between the first position and the second position.

[0026] Furthermore, the limiting component includes:

[0027] A first limit member, the first limit member is installed on the base and located on one side of the crank, the crank rotates along a first direction until it abuts against the first limit member to rotate the swing arm to the first position, the crank rotates along a second direction until it abuts against the first limit member to rotate the swing arm to the second position, and the position detector is installed on the first limit member to detect the position of the crank.

[0028] Further, the crank has a first rotation angle that rotates along the first direction or the second direction, and the first limit member includes:

[0029] A mounting block, wherein the mounting block is mounted on the base, and the first output shaft passes through the mounting block and is connected to the crank;

[0030] An arc-shaped boss, the arc-shaped boss is located on a side of the mounting block away from the base and surrounds a side of the first output shaft away from the fixing seat, and the position detector is mounted on the arc-shaped boss;

[0031] Among them, along the axial direction of the first output shaft, the height of the side of the crank away from the mounting block is not higher than the height of the arc-shaped boss, and along the radial direction of the first output shaft, the length of the crank is greater than the inner diameter of the arc-shaped boss, wherein 360° minus the central angle of the arc-shaped boss is equal to the first rotation angle.

[0032] According to another aspect of the present application, a cleaning device is also provided, and the cleaning device includes the side brush module.

[0033] In this application, the cleaning component of the side brush module includes a swing arm and a side brush. The side brush is installed on the swing arm, and the swing arm is installed on the main body and can rotate relative to the main body to a predetermined position. The predetermined positions include a first position, a second position, and a third position. Since both the first position and the third position are positions where the swing arm rotates to make the side brush at least partially located outside the edge contour of the main body, when the side brush needs to clean the corner blind area (such as the corner between a wall and furniture), the swing arm can be driven by the driving component to rotate to the first position or the third position, so as to expand at least part of the side brush outside the main body. When the side brush is expanded outside the main body for cleaning work, the side brush can cover and clean the corner blind area, thereby improving the cleaning coverage rate of the side brush on the surface to be cleaned, reducing or even eliminating the sanitary dead corners in the corner area, and achieving an ideal cleaning effect. Among them, when the swing arm rotates to the first position, the cleaning coverage rate of the side brush on the corner blind area is higher. Secondly, when there are protrusions (such as the wall edge or furniture edge is an arc structure or has local protrusions) or obstacles in the corner area that hinder the side brush, the driving component will drive the swing arm to adaptively rotate to the third position between the first position and the second position, so that the side brush module can continue to move forward and drive the side brush to continue cleaning the protrusion or the edge of the obstacle in the corner, avoiding the side brush from missing the cleaning of some positions in the corner area because the side brush module avoids the protrusion, making the cleaning coverage rate of the side brush module higher and improving the flexibility of the side brush. When cleaning in a relatively wide area, the swing arm can be driven by the driving component to rotate from the first position or the third position to the second position. That is to say, the driving component can drive the side brush to flexibly switch between the first position, the second position, and the third position according to the environment of the surface to be cleaned, so as to improve the cleaning coverage rate of the side brush on the surface to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0035] Figure 1 is a schematic structural diagram of a side brush module provided by an embodiment of the present application;

[0036] Figure 2 is a schematic structural diagram when the swing arm of the cleaning mechanism drives the cleaning part to be in the second position;

[0037] Figure 3 is an assembly schematic diagram of the second motor;

[0038] Figure 4 is a schematic structural diagram when the swing arm of the cleaning mechanism drives the cleaning part to be in the first position;

[0039] Figure 5 is an exploded schematic diagram of the cleaning mechanism;

[0040] Figure 6 It is a schematic structural diagram of the mounting bracket;

[0041] Figure 7 is Figure 2 a schematic structural diagram from another perspective;

[0042] Figure 8 is an assembly schematic diagram of the swing arm and the transmission system;

[0043] Figure 9 is a schematic structural diagram of the transmission system.

[0044] Among them, the above-mentioned drawings include the following reference numerals:

[0045] 10. Main body; 20. Cleaning component; 21. Swing arm; 211. First cover; 2111. Groove; 212. Second cover; 213. Second connecting shaft; 214. Connecting block; 22. Side brush; 30. First driving component; 31. First motor; 310. First output shaft; 40. Transmission component; 41. Crank; 42. Connecting piece; 50. Mounting bracket; 51. Base; 510. Second installation groove; 101. First bushing; 511. Through hole; 52. Fixed seat; 520. First installation groove; 521. Arc connecting part; 522. Sector part; 523. Second bushing; 60. Limiting component; 61. First limiting piece; 611. Installation block; 612. Arc convex platform; 62. Limit switch; 70. Second driving component; 71. Second motor; 710. Second output shaft; 711. First connecting shaft; 72. Transmission system; 721. Third output shaft; 722. Gear transmission part; 221. Fifth gear; 222. Third transmission shaft; 223. Sixth gear; 224. Seventh gear; 723. Crossed-axis transmission part; 231. First transmission shaft; 232. First gear; 233. Second gear; 234. Second transmission shaft; 235. Third gear; 236. Fourth gear; 80. Stopping component; 81. Stopping protrusion; 82. Stopping groove. Detailed implementation manners

[0046] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine with the embodiments to detail this application.

[0047] It should be noted that the terms used here are only for describing the specific implementation manners and are not intended to limit the exemplary implementation manners according to this application. As used here, 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 "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0048] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0049] Regarding the problem that the side brush 22 of the prior art not only cannot cover the corner area, but also is easily blocked by the protruding positions or obstacles in the corner area during the cleaning process. The first embodiment of the present utility model provides a side brush module. Please refer to Figure 1 which includes a main body 10 and a cleaning mechanism.

[0050] Please refer to Figures 2 to 9 wherein the cleaning mechanism includes a cleaning component 20 and a driving component. The cleaning component 20 includes a swing arm 21 and a side brush 22. The side brush 22 is rotatably mounted on the swing arm 21 so that the side brush 22 can sweep the garbage on the surface to be cleaned. The swing arm 21 is mounted on the main body 10 and can rotate relative to the main body 10 to a predetermined position. The predetermined positions include a first position, a second position, and a third position. Both the first position and the third position are positions where the swing arm 21 rotates to make the side brush 22 at least partially located outside the edge contour of the main body 10, and the second position is a position where the swing arm 21 rotates to make the side brush 22 close to the main body 10, and the third position is between the first position and the second position.

[0051] That is to say, when the swing arm 21 in this embodiment rotates to the first position or the third position, the side brush 22 can be at least partially located outside the edge contour of the main body 10, so that the side brush 22 can clean the corner area in the environment to be cleaned, improving the cleaning coverage rate. Of course, when the area of the corner area is large and the swing arm 21 rotates to the first position, the side brush 22 can be entirely located outside the edge contour of the main body 10, so that the side brush 22 can fully clean the corner area between the main body 10 and the wall corner, obstacles (such as furniture, decorations, etc.), improving the cleaning coverage rate and cleaning effect.

[0052] When the swing arm 21 rotates to the second position, the side brush 22 may also be at least partially outside the edge contour of the main body 10. Specifically, when the swing arm 21 is in the second position, the part of the side brush 22 outside the edge contour of the main body 10 has a first volume. And when the swing arm 21 is in the first position or the third position, the part of the side brush 22 outside the edge contour of the main body 10 has a second volume, and the first volume is smaller than the second volume, so that after the side brush 22 completes the edge cleaning of the corner area, it can be recycled to a position close to the main body 10. When the swing arm 21 rotates to the second position, the side brush 22 may also be entirely inside the edge contour of the main body 10. When the swing arm 21 is in the second position, whether the side brush 22 is completely recycled inside the edge contour of the main body 10 can be determined according to specific circumstances, and this embodiment does not make a unique limitation here.

[0053] In this embodiment, the drive assembly is connected to the swing arm 21. The drive assembly can be installed inside or outside the main body 10, or part of it can be inside the main body 10 and part of it can be outside the main body 10. The specific installation position of the drive assembly can be determined according to the actual situation, and this embodiment does not make a unique limitation here. The drive assembly is used to drive the swing arm 21 to rotate to a predetermined position, that is, to drive the swing arm 21 to rotate to one of the first position, the second position, and the third position. Thus, when the swing arm 21 is in the first position and the side brush 22 efficiently cleans the corner blind area, if the side brush 22 encounters a convex part in the corner area (such as an arc convex part of furniture or a wall, an inclined wall surface, a rectangular convex part, and other obstacles), in order to prevent the side brush 22 from being blocked and missing the cleaning area between the convex part and the main body 10, so that the side brush 22 can continue to clean the corner area between the convex part and the main body 10, the drive assembly can be used to drive the swing arm 21 to rotate along with the change of the outer edge of the convex part, so as to rotate the side brush 22 to the third position to continuously clean the corner area and avoid generating a cleaning omission area. After passing by the convex part, since the gap between the main body 10 and the corner area (such as the wall edge) becomes larger, the drive assembly can be used to drive the swing arm 21 to rotate in the direction closer to the first position to another third position or directly rotate to the first position, so that the side brush 22 can clean the corner blind area with a high coverage rate. When there is no corner area, the drive assembly can be used to rotate the swing arm 21 to the second position to make the side brush 22 perform normal cleaning work.

[0054] As can be seen, in this embodiment, the cleaning component 20 of the side brush module includes a swing arm 21 and a side brush 22. The side brush 22 is mounted on the swing arm 21, and the swing arm 21 is mounted on the main body 10 and can rotate relative to the main body 10 to a predetermined position. The predetermined positions include a first position, a second position, and a third position. Since both the first position and the third position are positions where the swing arm 21 rotates to make the side brush 22 at least partially located outside the edge contour of the main body 10, when the side brush 22 needs to clean the corner blind area (such as the corner between a wall and furniture), the swing arm 21 can be driven by the driving component to rotate to the first position or the third position, so as to expand at least part of the side brush 22 outside the main body 10. When the side brush 22 is expanded outside the main body 10 for cleaning work, the side brush 22 can cover and clean the corner blind area, thereby improving the cleaning coverage rate of the side brush 22 on the surface to be cleaned, reducing or even eliminating the sanitary dead corners in the corner area, and achieving an ideal cleaning effect. Among them, when the swing arm 21 rotates to the first position, the side brush 22 has a higher cleaning coverage rate for the corner blind area. Secondly, when there are protrusions (such as the wall edge or the furniture edge is an arc structure or has local protrusions) or obstacles in the corner area that obstruct the side brush 22, the driving component will drive the swing arm 21 to adaptively rotate to the third position between the first position and the second position, so that the side brush module can continue to move forward to drive the side brush 22 to continue cleaning the protrusion or the edge of the obstacle in the corner, avoiding the side brush 22 missing the cleaning of some positions in the corner area because the side brush module avoids the protrusion, making the cleaning coverage rate of the side brush module higher and improving the use flexibility of the side brush 22. When cleaning in a relatively wide area, the swing arm 21 can be driven by the driving component to rotate from the first position or the third position to the second position. That is to say, the driving component can drive the side brush 22 to flexibly switch between the first position, the second position, and the third position according to the environment of the surface to be cleaned, so as to improve the cleaning coverage rate of the side brush 22 on the surface to be cleaned.

[0055] The driving component in this embodiment includes a first driving part 30 and a transmission part 40. The first driving part 30 is mounted on the main body 10. The transmission part 40 is connected between the first driving part 30 and the swing arm 21. The first driving part 30 drives the transmission part 40 to drive the swing arm 21 to rotate to a predetermined position. In this embodiment, the transmission part 40 is driven by the first driving part 30 to drive the swing arm 21 to rotate, so that the first driving part 30 can efficiently adapt to the requirements of the swing arm 21 rotating to different predetermined positions, and improve the flexibility of the cleaning mechanism structure design. When the rotation angle range of the swing arm 21 is different, only the structure of the transmission part 40 needs to be adjusted. Moreover, the assembly of the transmission part 40, the first driving part 30 and the swing arm 21 is efficient and convenient, which can improve the yield and shipping efficiency of the cleaning mechanism finished product, and reduce the manufacturing cost and manufacturing time of the side brush module.

[0056] Among them, the first driving component 30 includes a first motor 31, a position detector, and a controller. The first motor 31 includes a first output shaft 310. The first output shaft 310 is connected to the transmission component 40. The first output shaft 310 drives the transmission component 40 to drive the swing arm 21 to rotate to a predetermined position. The position detector is installed on the main body and is used to detect the position of the swing arm 21. The controller is electrically connected to the first motor 31 and the position detector respectively. When the position detector detects that the swing arm 21 is in the predetermined position, the controller controls the first motor 31 to stop rotating, so that the side brush 22 can perform cleaning work at the predetermined position. When the swing arm 21 needs to be turned to the predetermined position according to the shape of the corner area, in this embodiment, the position detector can convey the signal that the detected swing arm 21 has reached the predetermined position to the controller. When the controller receives the signal from the position detector, it controls the first motor 31 to stop rotating, and further makes the first output shaft 310 drive the transmission component 40 to stop operating, so that the swing arm 21 accurately stops at the predetermined position, thereby improving the operation flexibility and cleaning coverage rate of the side brush 22 when cleaning along the edge of the corner area.

[0057] When the side brush module travels to a relatively wide corner area, the controller controls the first motor 31 to rotate again, so that the first output shaft 310 can drive the transmission component 40 to make the swing arm 21 rotate to the first position for cleaning work. After the product type of the position detector is selected according to the requirements, it can be installed in the main body 10 and electrically connected to the controller, and the assembly difficulty is low. Moreover, by controlling the stop or start of the first motor 31 by the controller, the swing arm 21 can flexibly reach the predetermined position, which not only has low assembly difficulty, but also has accurate and timely control.

[0058] As Figures 2 to 4 shown, the transmission component 40 in this embodiment may include a crank 41 and a connecting member 42. The crank 41 is connected to the first output shaft 310 and can rotate in a first direction (the first direction is the direction indicated by the arrow A in Figure 4 , that is, the counterclockwise direction in which the crank 41 rotates around the axis of the first output shaft 310) or a second direction (the second direction is the direction indicated by the arrow B in Figure 4 , that is, the counterclockwise direction in which the crank 41 rotates around the axis of the first output shaft 310). The connecting member 42 is connected between the crank 41 and the swing arm 21. Specifically, the connecting member 42 is connected to the end of the crank 41 that is radially away from the first output shaft 310 along the first output shaft 310, and the end of the connecting member 42 away from the crank 41 is connected to the swing arm 21. The first output shaft 310 drives the crank 41 to drive the swing arm 21 to rotate to the predetermined position in the first direction or the second direction.

[0059] During the process of driving the crank 41 to rotate through the first output shaft 310 of the first motor 31 in this embodiment, by changing the rotation direction of the first output shaft 310, the rotation direction of the crank 41 can be changed, so that the connecting member 42 can drive the swing arm 21 to rotate to a predetermined position. The crank 41 can be fixedly connected to the first output shaft 310 through a fastening member (such as a screw), and the assembly difficulty is low. The connecting member 42 is directly connected between the crank 41 and the swing arm 21, so that the connecting member 42 can directly apply the thrust or pulling force generated during the rotation of the crank 41 to the swing arm 21. While realizing the rotation of the swing arm 21 to expand and retract the side brush 22, the complexity of the structure of the cleaning mechanism is reduced, the assembly process of the cleaning mechanism can be greatly simplified, and the production efficiency and reliability of the cleaning mechanism can be improved. Moreover, directly connecting the connecting member 42 to the swing arm 21 and the crank 41 reduces the number of connection points between the swing arm 21 and the crank 41. While reducing the material cost and labor cost, the error rate of assembling the cleaning mechanism is greatly reduced, and the overall service life of the cleaning mechanism can be improved. And only by ensuring the connection strength between the connecting member 42, the swing arm 21 and the crank 41, the reliability of the expansion and retraction functions of the cleaning mechanism can be ensured, and the cleaning mechanism is also more convenient to maintain.

[0060] Of course, the crank 41 in this embodiment can also be replaced by a cam. When it is a cam, when the cam pushes the connecting member 42 to move a long distance, since the force borne by the connecting member 42 is large, the material strength requirement for the connecting member 42 will be higher, and the requirements for the motor performance and the strength of related fittings will also be higher.

[0061] In addition to the above-mentioned method of driving the crank 41 or the cam to rotate through the first motor 31 to make the connecting member 42 push the swing arm 21 to rotate in this embodiment, the movement mode of the transmission member 40 driving the swing arm 21 to rotate can also be designed into a linear reciprocating movement mode, so that during the process of the transmission member 40 making a linear reciprocating movement, the swing arm 21 is pushed or pulled to make a rotational movement. At this time, when the first driving member in this embodiment is the first motor 31, the transmission member 40 can include a rack, and the rack is movably installed in the main body 10 and connected to the end of the connecting member 42 away from the swing arm 21. To achieve linear motion, a gear can be provided on the first output shaft 310 of the first motor 31, and the gear meshes with the rack. During the process of the first motor 31 driving the gear to rotate, when the gear drives the rack to move linearly along its own length direction, the rack drives the connecting member 42 to make the swing arm 21 rotate to a predetermined position.

[0062] In an embodiment of the present invention, the connecting member 42 may specifically include a connecting rod, and opposite ends of the connecting rod are respectively rotatably connected to the crank 41 and the swing arm 21. During the rotation of the crank 41, the connecting rod is pushed to rotate the swing arm 21 to the first position or pulled to rotate the swing arm 21 to the second position. Since the swing arm 21 and / or the side brush 22 may encounter obstacles during operation. In this regard, to further improve the working reliability of the cleaning mechanism, in this embodiment, the connecting member 42 is preferably an elastic connecting member. One end of the elastic connecting member is connected to the crank 41 and the other end is connected to the swing arm 21. The elastic connecting member applies an elastic force to the swing arm 21 when the cleaning component is subjected to an external force (such as when the swing arm 21 and / or the side brush 22 is subjected to an external force). When the external force applied to the cleaning component is removed, the swing arm 21 has a tendency to rotate to a predetermined position under the action of the elastic force. That is to say, the elastic connecting member can play a buffering role in the rotation of the swing arm 21.

[0063] Specifically, when the swing arm 21 expands outward and the side brush 22 is located at the first position or the third position and encounters an obstacle during the process of edge cleaning, the obstacle will apply an external force towards the main body 10 to the expanding swing arm 21 and / or the side brush 22. Since the elastic connecting member is elastic, the swing arm 21 can overcome the elastic force of the elastic connecting member and contract towards the inside of the main body 10 in the direction close to the second position under the action of the external force until it reaches the second position or another third position close to the second position. When the external force is large enough, the swing arm 21 finally reaches the second position. When the external force is relatively small, the swing arm 21 can stay at any third position between the second position and the first position, and at this time the elastic connecting member is compressed and contracted. When the swing arm 21 leaves the obstacle (i.e., the external force is removed), the swing arm 21 drives the side brush 22 to rotate to the expanded first position under the action of the elastic tension of the elastic connecting member, so that the side brush 22 can continue to clean along the edge. Or, when the first driving member drives the swing arm 21 to rotate to the first position and encounters an obstacle, the swing arm 21 swings in the direction close to the second position under the action of the external force of the obstacle, but the crank 41 can still continue to rotate, and the elastic connecting member is compressed and contracted under the action of the obstacle force applied to the swing arm 21. When the obstacle is removed, the swing arm 21 rotates to the expected first position under the action of the elastic force of the elastic connecting member. In addition, during the process of the swing arm 21 driving the side brush 22 to rotate in the direction close to the second position, if the swing arm 21 and / or the side brush 22 are blocked and cannot continue to rotate in the direction close to the second position, at this time the crank 41 can also continue to rotate in the clockwise direction, and the elastic connecting member is stretched. When the obstacle applied to the swing arm 21 and / or the side brush 22 is removed, the swing arm 21 can drive the side brush 22 to retract to the third position or the second position close to the second position under the action of the retraction force of the elastic connecting member. The elastic connecting member in this embodiment may specifically include a torsion spring or a spring. For example, Figure 1When referring to the torsion spring shown in the figure, one end of the torsion spring is connected to the swing arm 21 and the other end is connected to the crank 41. At this time, only by providing corresponding connection holes on the crank 41 and the swing arm 21, the torsion spring can be connected between the crank 41 and the swing arm 21, and the assembly is efficient and convenient.

[0064] Therefore, the elastic connector in this embodiment can buffer the collision between the swing arm 21 and the obstacle, protect the swing arm 21, and make the swing arm 21 maintain a tendency to return to the predetermined position to complete the outward expansion or retraction of the side brush 22.

[0065] The position detector in this embodiment includes an angle sensor. The angle sensor is installed on at least one side of the first motor 31 and the crank 41. The angle sensor is used to detect the rotation angle of at least one of the first motor 31, the first output shaft 310, and the crank 41. That is to say, since the rotation angle of the crank 41 is equal to the rotation angle of the swing arm 21, and the rotation angle of the crank 41 depends on the rotation angle of the first output shaft 310 of the first motor 31. In this regard, to ensure that the swing arm 21 can dock at the predetermined position, this embodiment can detect the rotation angle of at least one of the crank 41 and the first output shaft 310 through the angle sensor, so as to determine whether the swing arm 21 has reached the predetermined position. When the swing arm 21 reaches the predetermined position, a position signal is transmitted to the controller so that the controller can timely control the first motor 31 to stop rotating. When the angle sensor determines the position of the swing arm 21 by detecting the rotation angle of the first motor 31 or the first output shaft 310, the angle sensor can be specifically installed at the rear end of the first motor 31 away from the first output shaft 310, or can be installed near the first output shaft 310. When the angle sensor determines the position of the swing arm 21 by detecting the rotation angle of the crank 41, the angle sensor can be specifically installed on the first limiting member 61.

[0066] The angle sensor in this embodiment may specifically include at least one of an encoder, a potentiometer, a Hall effect sensor, a magnetoresistive sensor, a gyroscope, etc. An encoder is a commonly used position sensor that can convert mechanical position information into an electrical signal for the controller to read and process the position information. In this embodiment, the encoder can be installed near the first motor 31 to detect the rotation angle of the first output shaft 310 of the first motor 31, or installed near the crank 41 to detect the rotation angle of the crank 41, and convert the detected position information into an electrical signal and transmit it to the controller. When the controller receives the corresponding position signal, it can control the first motor 31 to stop rotating, so that the swing arm 21 stops at a predetermined position. A potentiometer is one of the most common angle sensors, which measures the angle by changing the sliding resistance and is divided into linear and rotary types, and the rotary potentiometer is used for angle measurement. A Hall effect sensor can be used to detect the magnetic field strength, and then measure the rotation angle through a magnet at a fixed position (at this time, a magnetic part can be set on the object to be measured, such as the first motor 31 or the crank 41, to cooperate with the Hall effect sensor to realize the measurement of the rotation angle). A gyroscope is usually used to measure or maintain the direction, and can also be used to measure the rotational angular velocity and obtain the angle through integration.

[0067] Please refer to Figure 2 and Figures 5 to 6 , to improve the assembly efficiency and convenience between the cleaning mechanism and the main body 10, the cleaning mechanism in this embodiment further includes a mounting bracket 50, and the mounting bracket 50 includes a base 51 and a fixing seat 52. The base 51 is installed at the bottom of the main body 10, and the fixing seat 52 is installed on the base 51 and a first installation groove 520 is formed by surrounding between the fixing seat 52 and the base 51. One end of the swing arm 21 away from the side brush 22 is rotatably installed in the first installation groove 520, so that the swing arm 21 can rotate to a predetermined position. The first motor 31 is installed in the base 51 and is located on one side of the fixing seat 52, and at least a part of the first output shaft 310 extends to the side of the base 51 close to the fixing seat 52 and is connected to the transmission member 40. When installing the cleaning mechanism on the main body 10, in this embodiment, the first motor 31, the swing arm 21 connected with the side brush 22 and the crank 41 can be first installed on the mounting bracket 50, and then the mounting bracket 50 is installed on the main body 10 and the base 51 is fixedly connected with the main body 10. This improves the assembly efficiency and convenience between the cleaning mechanism and the main body 10, is conducive to the modular production of the side brush module, simplifies the assembly process of the side brush module, and can reduce the labor cost while improving the production efficiency.

[0068] Such as Figure 2As shown in the figure, the cleaning mechanism provided in this embodiment further includes a limiting component 60. The limiting component 60 is installed on the base 51 and is used to limit the rotation angle of the swing arm 21 between the first position and the second position, so as to prevent the swing arm 21 from rotating excessively, which increases the driving difficulty of the first driving component 30 or even exceeds the first position, causing interference or damage to other parts or devices of the side brush module, and improving the reliability and service life of the side brush module. It can also prevent the swing arm 21 from not being able to clean the corner blind area well due to too small a rotation angle.

[0069] The limiting component 60 includes a first limiting member 61. The first limiting member 61 is installed on the base 51 and is located on one side of the crank 41. The crank 41 rotates in the first direction until it abuts against the first limiting member 61 to make the swing arm 21 rotate to the first position, and the crank 41 rotates in the second direction until it abuts against the first limiting member 61 to make the swing arm 21 rotate to the second position. The position detector is installed on the first limiting member 61 to detect the position of the crank 41. Thus, in this embodiment, the rotation angle of the crank 41 when rotating in the first direction or the second direction is limited by the first limiting member 61, so that when the crank 41 rotates until it abuts against the first limiting member 61, the swing arm 21 can drive the side brush 22 to accurately stop at the first position or the second position, avoiding the swing arm 21 exceeding the limited rotation range. It can be seen that the first limiting member 61 only needs to cooperate with the crank 41. When the crank 41 drives the swing arm 21 to rotate to the first position or the second position, the crank 41 abuts against the first limiting member 61 to stop the rotation of the crank 41, and the rotation positioning of the swing arm 21 can be realized.

[0070] Among them, the crank 41 has a first rotation angle rotating in the first direction or the second direction. The first limiting member 61 includes a mounting block 611 and an arc-shaped convex platform 612. The mounting block 611 is installed on the base 51, and an avoidance hole is provided on the mounting block 611, so that the first output shaft 310 passes through the mounting block 611 along the avoidance hole and is connected to the crank 41. The arc-shaped convex platform 612 is located on the side of the mounting block 611 away from the base 51 and surrounds the side of the first output shaft 310 away from the fixed seat 52. The position detector is installed on the arc-shaped convex platform 612, making the installation of the position detector more convenient. And because the arc-shaped convex platform 612 is relatively close to the crank 41, the detection accuracy of the position detector can be improved. Among them, along the axial direction of the first output shaft 310, the height of the side of the crank 41 away from the mounting block 611 is not higher than the height of the arc-shaped convex platform 612. Along the radial direction of the first output shaft 310, the length of the crank 41 is greater than the inner diameter of the arc-shaped convex platform 612, so that when the crank 41 drives the swing arm 21 to rotate to a predetermined position, the crank 41 can abut against the arc-shaped convex platform 612.

[0071] Among them, 360° minus the central angle of the arc-shaped convex platform 612 is equal to the first rotation angle. So that when the crank 41 drives the swing arm 21 to rotate to the first position or the second position, the crank 41 can abut against the arc-shaped convex platform 612. The central angle of the arc-shaped convex platform 612 refers to the angle formed by the outer diameter or inner diameter of the arc-shaped convex platform 612 along its circumferential opposite sides with the center of the circle where the arc-shaped outer contour of the arc-shaped convex platform 612 is located as the origin. In this embodiment, the first limiting member 61 composed of the mounting block 611 and the arc-shaped convex platform 612 has a simple structure and is easy to process. During assembly, the mounting block 611 is fixedly connected to the base 51 and the arc-shaped convex platform 612 is surrounded around the outside of the first output shaft 310 away from the fixed seat 52, and the assembly is efficient. Although the arc-shaped convex platform 612 can also be replaced by two spaced convex columns that can abut against the crank 41, relatively speaking, the arc-shaped convex platform 612 has better structural strength, the abutting effect on the crank 41 is more stable and reliable, it can adapt to the high-intensity cleaning cycle of the side brush module, reduce the maintenance frequency of the cleaning mechanism, and improve the service life of the cleaning mechanism.

[0072] When the position detector is an encoder, in this embodiment, the encoder can be specifically installed on the arc-shaped convex platform 612 of the first limiting member 61, and the assembly is efficient and convenient. For example, when the encoder detects that the swing arm 21 rotates to the third position, the controller controls the first motor 31 to stop rotating. When the first motor 31 stops rotating, the crank 41 stops rotating. At this time, the swing arm 21 stops at the third position and continues to perform edge cleaning on the corner area without interfering with the current traveling direction of the side brush module, so that the side brush 22 can perform edge cleaning on the raised parts, obstacles, etc. in the corner area, improving the cleaning coverage rate of the side brush module.

[0073] In addition, in order to enable the side brush module to more accurately know whether the swing arm 21 has returned to the second position, the limiting member 60 in this embodiment further includes a limit switch 62 (as Figure 2 shown). The limit switch 62 is installed on the base 51 and is located between the crank 41 and the fixed seat 52, and the limit switch 62 is misaligned with the connecting member 42 to avoid interference with the movement of the connecting member 42 by the limit switch 62. The limit switch 62 abuts against the swing arm 21 to limit the swing arm 21 to the second position. The limit switch 62 is a device for detecting the position of an object and realizing stroke control or limit protection. For example, the limit switch 62 can include a travel switch, a proximity switch, etc. In this embodiment, a travel switch that can detect whether the swing arm 21 rotates in place when it contacts the swing arm 21 can be preferably used. When the travel switch detects the rotation in place of the swing arm 21 through physical contact, the detection result is more accurate and reliable. That is to say, in this embodiment, when the swing arm 21 rotates to the second position, by making the limit switch 62 abut against the swing arm 21, it can be detected whether the swing arm 21 rotates in place, so as to ensure that the side brush 22 can accurately return to the second position for cleaning or temporary docking, and avoid the risk of damage caused by the side brush 22 being exposed outside the side brush module for a long time during non-necessary times.

[0074] The limit switch 62 in this embodiment can be specifically electrically connected to the controller of the side brush module. When the controller detects that the limit switch 62 is actuated, the first motor 31 is controlled to stop, and the swing arm 21 is rotated to the right position. When the connecting member 42 includes an elastic connecting member, when the crank 41 abuts against the first limit member 61 but the limit switch 62 does not actuate, it means that the elastic connecting member has not yet pulled the swing arm 21 back to the second position. For example, during the process of the swing arm 21 rotating to the second position, if the swing arm 21 and / or the side brush 22 are blocked by an obstacle and cannot continue to rotate in the second direction. At this time, since the crank 41 can continue to rotate until it abuts against the first limit member 61, the elastic connecting member will be stretched due to the force. Until the obstruction to the swing arm 21 and / or the side brush 22 is removed (the removal operation can be the overall turning movement of the side brush module or the manual removal of the obstacle), the swing arm 21 is pulled back to the second position and abuts against the limit switch 62 under the action of the retracting elastic force of the elastic connecting member.

[0075] The swing arm 21 is provided with a receiving cavity, and a second mounting groove 510 is provided on a side of the base 51 away from the fixing base 52, and the second mounting groove 510 is connected to the first mounting groove 520. Figure 5 As shown, the cleaning mechanism also includes a second driving component 70, and the second driving component 70 includes a second motor 71 and a transmission system 72. The second motor 71 is rotatably mounted in the second mounting groove 510, and the second motor 71 includes a second output shaft 710. Along the axial direction of the first output shaft 310, the side of the swing arm 21 close to the second motor 71 is connected to the second motor 71, and the side of the swing arm 21 away from the second motor 71 is rotatably connected to the groove wall of the first mounting groove 520, and the second output shaft 710 is at least partially inserted into the accommodating cavity. The transmission system 72 is installed in the accommodating cavity and is transmission-connected between the second output shaft 710 and the side brush 22. The second motor 71 drives the transmission system 72 to drive the side brush 22 to rotate, so that the side brush 22 can rotate and clean the surface to be cleaned.

[0076] Thus, in this embodiment, the second motor 71 and the transmission system 72 can be used to drive the side brush 22 to rotate, and the second motor 71 can be rotatably installed in the second mounting groove 510 and connected to the swing arm 21. Since the side of the swing arm 21 away from the second motor 71 is rotatably connected to the groove wall of the first mounting groove 520, the swing arm 21 is rotatably installed in the first mounting groove 520. After the second motor 71 and the swing arm 21 are rotatably installed in the mounting frame 50, the overall structure of the cleaning mechanism is compact and reliable, and it can ensure that the swing arm 21 can rotate under the push or pull of the crank 41, and after the swing arm 21 rotates to a predetermined position, the side brush 22 can be driven to rotate by the second motor 71, thereby improving the cleaning effect of the side brush 22.

[0077] Specifically, Figure 6As shown, a through hole 511 is provided on the base 51, and the through hole 511 is connected between the first mounting groove 520 and the second mounting groove 510. The second motor 71 is at least partially inserted into the through hole 511 to be fixedly connected to the side of the swing arm 21 located at the bottom of the first mounting groove 520. Along the axial direction of the second output shaft 710, a first connecting shaft 711 is provided on the side of the second motor 71 away from the swing arm 21. A first sleeve 101 is installed at the bottom of the second mounting groove 510 away from the swing arm 21. The first connecting shaft 711 is inserted into the first sleeve 101 and is clearance-matched with the first sleeve 101, so that during the rotation of the swing arm 21, the first connecting shaft 711 can stably rotate relative to the first sleeve 101, and the second motor 71 can stably rotate with the swing arm 21. The second motor 71 is loosely matched with the first sleeve 101 through the first connecting shaft 711, which is not only convenient for assembly, but also after the second output shaft 710 of the second motor 71 is connected to the transmission system 72 in the swing arm 21, the second motor 71 will not interfere with the rotation of the swing arm 21, and the overall structure is stable and reliable with high compactness. Of course, the first sleeve 101 in this embodiment can also be replaced by a bearing, the inner circumference of the bearing is fixedly connected to the first connecting shaft 711, and the outer circumference of the bearing is fixedly connected to the bottom of the second mounting groove 510, which can also realize the rotational installation of the second motor 71.

[0078] The swing arm 21 has a second rotation angle from the first position to the second position. Wherein, the fixed seat 52 includes an arc-shaped connecting portion 521 and a fan-shaped portion 522. The arc-shaped connecting portion 521 is connected to the base 51. Along the axial direction of the second output shaft 710, the fan-shaped portion 522 is located on the side of the arc-shaped connecting portion 521 away from the base 51, and the fan-shaped portion 522 and the arc-shaped connecting portion 521 are surrounded by the base 51 to form a first mounting groove 520. Along the axial direction of the second output shaft 710, the side of the swing arm 21 away from the second motor 71 is rotatably connected to the fan-shaped portion 522. Wherein, the central angle of the fan-shaped portion 522 is not less than the central angle of the arc-shaped connecting portion 521, and the central angle of the fan-shaped portion 522 is not greater than 180° minus the second rotation angle. The second rotation angle can be set in the range of 40° to 60°. The rotation size of the second rotation angle can actually be adaptively adjusted according to the assembly position of the cleaning mechanism in the main body 10. In this embodiment, the central angle of the sector portion 522 is not less than the central angle of the arc-shaped connecting portion 521 and is not greater than 180° minus the second rotation angle, so as to ensure that the fixing seat 52 does not interfere with the swing of the swing arm 21 between the first position and the second position. Specifically, the central angle of the sector portion 522 may include one of 140°, 130°, 120°, 100°, 90°, 80°, etc.

[0079] Among them, a second bushing 523 is installed on the side of the sector portion 522 of the fixed seat 52 close to the swing arm 21. A second connecting shaft 213 is provided on the side of the swing arm 21 close to the sector portion 522. The second connecting shaft 213 is in clearance fit with the second bushing 523 and can rotate relative to the second bushing 523 around its own axis. Thus, while the second motor 71 connected to the swing arm 21 can rotate, through the clearance fit between the second connecting shaft 213 and the second bushing 523, the swing arm 21 can be rotatably installed in the first installation groove 520, and the assembly is efficient and convenient. Among them, the second bushing 523 can also be replaced by a bearing. The outer peripheral surface of the bearing is fixedly connected to the sector portion 522, and the inner peripheral surface is fixedly connected to the second connecting shaft 213 to realize the rotational installation of the swing arm 21. This installation method will be more stable and reliable.

[0080] As Figure 7 and Figure 8 shown, the swing arm 21 in this embodiment includes a first cover body 211 and a second cover body 212 that are detachably connected. A groove 2111 is provided on the first cover body 211, and the second cover body 212 covers the groove 2111 to form an accommodation cavity with the first cover body 211. Before installing the transmission system 72, the transmission system 72 can be installed in the groove 2111 first and then the second cover body 212 can be buckled. The second cover body 212 is connected to the second motor 71, and the second connecting shaft 213 is provided on the first cover body 211 to be in clearance fit with the second bushing 523 on the sector portion 522. The swing arm 21 is assembled together by the first cover body 211 and the second cover body 212, making the structure of the swing arm 21 simple and light, and easy to be pulled and rotated by the connecting member 42. And, since the first cover body 211 is detachably connected to the second cover body 212, it is convenient for the assembly and maintenance of the transmission system 72. In addition, along the first direction or the second direction, a connecting block 214 is further provided on the side of the swing arm 21 close to the crank 41. The connecting block 214 is located between the fixed seat 52 and the side brush 22. One end of the elastic connecting member is fixedly connected to the crank 41 and the other end is fixedly connected to the connecting block 214, which is convenient for assembly and can ensure that the elastic connecting member can pull the swing arm 21 to rotate.

[0081] As Figure 5As shown, the cleaning component 20 in this embodiment further includes a stop member 80, and the stop member 80 is disposed between the swing arm 21 and the fixed seat 52. The stop member 80 is used to stop the swing arm 21 at the first position or the second position. That is to say, in this embodiment, while the rotation position of the swing arm 21 is limited by the limiting member 60, the swing arm 21 is further limited by the stop member 80. Especially when the swing arm 21 is connected to the elastic connecting member, after the swing arm 21 rotates to the first position or the second position, it will not cause a large impact on the fixed seat 52 by stretching or compressing the elastic connecting member due to inertia. While improving the rotation accuracy of the swing arm 21, the stress condition of the fixed seat 52 is improved, and the stability of the connection between the fixed seat 52 and the base 51 is improved.

[0082] Specifically, the stop member 80 may include a stop protrusion 81 and a stop groove 82. There are at least two stop protrusions 81. Along the rotation direction of the swing arm 21, at least one stop protrusion 81 is disposed on the side of the swing arm 21 close to the push-pull member, and at least one stop protrusion 81 is disposed on the side of the swing arm 21 away from the push-pull member. There are at least two stop grooves 82, and the stop grooves 82 are adapted to the stop protrusions 81 and are disposed in one-to-one correspondence with the stop protrusions 81. Along the rotation direction of the swing arm 21, at least one stop groove 82 is disposed on the side of the arc-shaped connecting portion 521 close to the push-pull member, and at least one stop groove 82 is disposed on the side of the arc-shaped connecting portion 521 away from the push-pull member. When the swing arm 21 rotates to the first position and the second position, the swing arm 21 can be stopped at the first position or the second position by inserting the stop protrusion 81 into the stop groove 82, and will not deviate from the current position due to the elastic force of the elastic connecting member, improving the accuracy of the docking position of the swing arm 21.

[0083] Secondly, in this embodiment, the rotation of the swing arm 21 is limited by the stop protrusion 81 and the stop groove 82. In addition to improving the accuracy of the docking position of the swing arm 21, the following advantages are also achieved:

[0084] 1). Wear reduction: If the swing arm 21 directly collides with the fixed seat 52 as a whole when rotating to the corresponding position, hard contact will occur between the swing arm 21 and the fixed seat 52, increasing wear after long-term use and reducing the structural strength of the swing arm 21 and the fixed seat 52. However, the cooperation of the stop protrusion 81 and the stop groove 82 can avoid this hard contact, thereby extending the service life of the cleaning component 20.

[0085] 2). Noise reduction: When the swing arm 21 hits the fixed seat 52, a relatively large impact sound will be generated. However, the cooperation of the stop protrusion 81 and the stop groove 82 can greatly reduce the generation of noise and improve the user experience.

[0086] 3). Improve precision: The cooperation between the stop projection 81 and the stop groove 82 can more precisely control the position of the swing arm 21, ensuring that each swing can stop at a predetermined position and avoiding mechanical damage caused by excessive rotation of the swing arm 21, such as the connecting member 42 being pulled or compressed excessively and breaking.

[0087] 4). Smooth stop: The cooperation between the stop projection 81 and the stop groove 82 allows the swing arm 21 to smoothly enter the docking position instead of suddenly stopping, which can improve the stability and reliability of the overall structure of the cleaning assembly 20. Moreover, when it is necessary to change the rotation range of the swing arm 21, it can be achieved by adjusting the position of the stop projection 81 on the swing arm 21 and / or the radian of the arc-shaped connecting portion 521 of the fixed seat 52. It can also prevent equipment out-of-control caused by unexpected situations.

[0088] It can be seen that the stop component 80 with the cooperation of the stop projection 81 and the stop groove 82 between the swing arm 21 and the fixed seat 52 in this embodiment can not only improve the working performance of the cleaning assembly 20, but also extend its service life and reduce maintenance costs.

[0089] As Figure 8 and Figure 9 shown, in this embodiment, the transmission system 72 installed in the swing arm 21 includes a third output shaft 721 and an angular transmission component. The third output shaft 721 is rotatably installed at one end of the swing arm 21 radially away from the second motor 71 along the second output shaft 710 and is connected to the side brush 22, and a predetermined angle is formed between the third output shaft 721 and the second output shaft 710. Thus, after the side brush 22 is installed on the third output shaft 721, it will have a certain inclination angle with respect to the surface to be cleaned. When the side brush 22 is the side brush 22, the inclination angle can ensure that the side brush 22 can timely sweep the garbage on the surface to be cleaned into the dust box of the main body 10. When the side brush 22 is a mop, the inclination angle can increase the cleaning force of the mop on the surface to be cleaned, so as to more easily clean the stubborn stains on the surface to be cleaned. The angular transmission component is transmission-connected between the second output shaft 710 and the third output shaft 721, and the angular transmission component is used to transmit the rotational kinetic energy of the second output shaft 710 to the third output shaft 721, so that the third output shaft 721 can drive the side brush 22 to rotate and work.

[0090] As Figure 9As shown, the angle transmission component includes a gear transmission part 722 and an intersecting-axis transmission part 723. The gear transmission part 722 is in transmission connection with the second output shaft 710. The intersecting-axis transmission part 723 includes a first transmission shaft 231, a first gear 232, a second gear 233, a second transmission shaft 234, a third gear 235, and a fourth gear 236. The first transmission shaft 231 is installed on the side of the gear transmission part 722 away from the second output shaft 710. The first gear 232 and the second gear 233 are sleeved on the first transmission shaft 231 and can rotate around the axis of the first transmission shaft 231. The first gear 232 is in transmission connection with the gear transmission part 722. The second transmission shaft 234 is installed between the first transmission shaft 231 and the third output shaft 721. The third gear 235 is sleeved on the second transmission shaft 234 and can rotate around the axis of the second transmission shaft 234, and the third gear 235 meshes with the second gear 233. The fourth gear 236 is sleeved on the third output shaft 721 and meshes with the third gear 235. Wherein, a predetermined angle is formed between the first transmission shaft 231 and the second transmission shaft 234. At least one of the second gear 233 and the third gear 235 includes a helical gear, and the gear type of the fourth gear 236 is the same as that of the third gear 235.

[0091] In this embodiment, the second gear 233 is a helical gear and the third gear 235 is a spur gear. The helix angle of the helical gear is equal to the predetermined angle between the third output shaft 721 and the second output shaft 710. In this embodiment, the third gear 235 and the fourth gear 236 can also be helical gears, the second gear 233 is a spur gear, and the helix angle of the third gear 235 (the helix angle βi of the helical gear is determined by its lead L and the pitch diameter di of the cylinder. The lead is the same, but the pitch diameters are different, or in other words, for gears with different pitch diameters, their helix angles are also different. The relational expression is: tgβi = πdi / L) is the predetermined angle to transfer the rotational kinetic energy of the second output shaft 710 to the third output shaft 721. In this embodiment, the second gear 233, the third gear 235, and the fourth gear 236 can also be all set as helical gears, and the sum of the helix angle of the third gear 235 and the helix angle of the second gear 233 is the predetermined angle to transfer the rotational kinetic energy of the second output shaft 710 to the third output shaft 721. Thus, regardless of the foregoing combination relationship between the third gear 235 and the second gear 233, in this embodiment, the rotational kinetic energy of the second output shaft 710 of the second motor 71 can be stably transferred to the third output shaft 721 through the intersecting-axis transmission part 723.

[0092] Specifically, the gear transmission part 722 includes a fifth gear 221, a third transmission shaft 222, a sixth gear 223, and a seventh gear 224. The fifth gear 221 is sleeved on the second output shaft 710 and can rotate with the second output shaft 710. The third transmission shaft 222 is installed between the fifth gear 221 and the first transmission shaft 231. Both the sixth gear 223 and the seventh gear 224 are sleeved on the third transmission shaft 222 and can rotate around the axis of the third transmission shaft 222. Moreover, the sixth gear 223 meshes with the fifth gear 221, and the seventh gear 224 meshes with the first gear 232. Among them, to make the kinetic energy transmission of the gear transmission part 722 more stable, both the fifth gear 221 and the sixth gear 223 in this embodiment are set as helical gears, and both the seventh gear 224 and the first gear 232 are set as spur gears.

[0093] In this embodiment, the kinetic energy of the second output shaft 710 is sequentially transmitted to the crossed-axis transmission part 723 through the fifth gear 221 and the sixth gear 223 which are helical gears, which is more stable than spur gears during the transmission process. Because the teeth of helical gears are inclined, which means that when a pair of helical gears (i.e., the fifth gear 221 and the sixth gear 223) start to mesh, not all teeth contact simultaneously. Instead, one end of the tooth starts to contact first and then gradually expands to the entire tooth surface. This progressive contact method reduces impact and noise. Secondly, due to the progressive contact characteristics of helical gears, multiple teeth are engaged simultaneously at any time. This helps to disperse the load, reduce the pressure borne by a single tooth, thereby reducing vibration and noise and making the transmission more stable. In addition, helical gears usually have a higher contact ratio, that is, while one tooth on a gear meshes with a tooth on another gear, other teeth on this gear are also meshing with other teeth on another gear. A high contact ratio means smoother and quieter operation.

[0094] In the embodiment of the present invention, a dust box for collecting garbage can be provided in the middle of the main body 10. When the side brush 22 is the side brush 22, from Figure 1 the perspective, the side brushes 22 on the two lateral sides of the main body 10 can rotate in one direction respectively. Specifically, it can be made that Figure 1 the side brush 22 on the left side of the main body 10 in Figure 1 always rotates counterclockwise, and the side brush 22 on the right side of the main body 10 in

[0095] For example, in the present embodiment, the gear transmission part 722 of the transmission system 72 can be configured so that when the second output shaft 710 rotates forward or reversely, the side brush 22 can be driven to rotate along a set direction (the set direction is counterclockwise or clockwise) through the transmission system 72. At this time, the gear transmission part 722 in the present embodiment may also include an eighth gear, a ninth gear, a tenth gear, and an eleventh gear, the eighth gear meshing with the fifth gear 221, the ninth gear coaxially arranged with the eighth gear, and the tenth gear meshing with the eighth gear. The eleventh gear is coaxially arranged with the tenth gear. The input end of the staggered shaft transmission part 723 meshes with the ninth gear or the eleventh gear respectively, and the output end is connected to the side brush 22. The eighth gear and the tenth gear are configured so that the eighth gear rotates along the first clockwise direction, the eighth gear moves axially and is connected to the ninth gear key, and drives the ninth gear to rotate along the first clockwise direction. The eighth gear rotates along the second clockwise direction, the eighth gear meshes with the tenth gear to drive the tenth gear to rotate along the first clockwise direction, the tenth gear moves axially and is key-connected with the eleventh gear to drive the eleventh gear to rotate along the first clockwise direction.

[0096] In the above scheme, both the eighth gear and the tenth gear are movable, and are set to rotate in the clockwise direction. The eighth gear can move axially to connect with the ninth gear and drive synchronous rotation, and the tenth gear can move axially to connect with the eleventh gear and rotate synchronously. Specifically, when the eighth gear rotates clockwise, the ninth gear rotates clockwise, and drives the side brush 22 to rotate counterclockwise through the staggered shaft transmission part 723. At this time, the eighth gear and the tenth gear can still be in a meshing state, but the tenth gear rotates counterclockwise, and no axial position is generated, and the eleventh gear cannot be driven to rotate, that is, the eleventh gear does not transmit with the staggered shaft transmission part 723. When the eighth gear rotates counterclockwise, the tenth gear rotates clockwise through meshing with the tenth gear, and the axial movement drives the eleventh gear to rotate clockwise, and then is connected with the staggered shaft transmission part 723, driving the side brush 22 to rotate counterclockwise. At this time, although the ninth gear is meshed with the staggered shaft transmission part 723, the ninth gear has no rotational driving force, so it cannot affect the staggered shaft transmission part 723. In general, no matter in which direction the fifth gear 221 rotates driven by the second output shaft 710 , the side brush 22 can be driven to rotate in the same direction through the gear transmission part 722 .

[0097] The second embodiment of the present utility model further provides a cleaning device, which includes a side brush module. For the specific structure of the side brush module, please refer to the content provided in the first embodiment of the present utility model, and details thereof will not be elaborated herein. In some embodiments, the cleaning device further includes a middle sweeping assembly, a dust box, a clean water tank, a sewage tank, and a traveling assembly, etc. The middle sweeping assembly, the dust box, the clean water tank, the sewage tank, and the traveling assembly are all installed on the main body 10 of the side brush module. The traveling assembly is used to drive the cleaning device to travel along a predetermined movement trajectory, so that the middle sweeping assembly, the side brush 22, etc. can clean the surface to be cleaned along the way. The clean water tank can supply clean water to cleaning parts such as the mop of the cleaning device, and the sewage tank is used to collect the sewage on the mop. The dust box is used to collect the garbage swept by the middle sweeping assembly, the side brush 22, etc.

[0098] When the side brush 22 in this embodiment needs to clean the corner blind area (such as the corner between the wall and the furniture), the swing arm 21 can be driven by the driving component to rotate to the first position or the third position, so as to expand at least part of the side brush 22 outside the main body 10. When the side brush 22 is extended outside the main body 10 for cleaning work, the side brush 22 can cover and clean the corner blind area, thereby increasing the cleaning coverage rate of the side brush 22 on the surface to be cleaned, reducing or even eliminating the sanitation dead corners in the corner area, and achieving an ideal cleaning effect. Among them, when the swing arm 21 rotates to the first position, the cleaning coverage rate of the side brush 22 for the corner blind area is higher. Secondly, when there are protrusions (such as the wall or furniture edge is an arc structure or has local protrusions) or obstacles in the corner area that hinder the side brush 22, the driving component will drive the swing arm 21 to adaptively rotate to the third position between the first position and the second position, so that the side brush module can continue to move forward to drive the side brush 22 to continue cleaning the protrusion or the edge of the obstacle at the corner, avoiding the side brush 22 missing the cleaning of some positions in the corner area because the side brush module avoids the protrusion, making the cleaning coverage rate of the side brush module higher and improving the flexibility of use of the side brush 22. When cleaning in a relatively wide area, the swing arm 21 can be driven by the driving component to rotate from the first position or the third position to the second position. That is to say, the cleaning device can flexibly switch the side brush 22 among the first position, the second position, and the third position according to the environment where the surface to be cleaned is located through the driving component, so as to increase the cleaning coverage rate of the side brush 22 on the surface to be cleaned, and the user experience is good.

[0099] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is inverted, the device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations for the spatial relative descriptions used here are made accordingly.

[0100] In addition, it should be noted that the use of terms such as "first" and "second" to define components is only for the convenience of differentiating the corresponding components. Without additional declaration, the above terms have no special meaning, and thus should not be construed as limiting the scope of protection of this application.

[0101] The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of protection of this application.

Claims

1. An edge brush module, characterized in that, Comprising: A main body (10); A cleaning mechanism, the cleaning mechanism comprising a cleaning component (20) and a driving component, the cleaning component (20) comprising a swing arm (21) and a side brush (22), the side brush (22) being rotatably mounted on the swing arm (21), the swing arm (21) being mounted on the main body (10) and being rotatable relative to the main body (10) to a predetermined position, the predetermined position including a first position, a second position and a third position, both the first position and the third position being positions where the swing arm (21) rotates to make the side brush (22) at least partially located outside the edge contour of the main body (10), the second position being a position where the swing arm (21) rotates to make the side brush (22) close to the main body (10), and the third position being located between the first position and the second position; The driving component is connected to the swing arm (21), and the driving component is used to drive the swing arm (21) to rotate to the predetermined position.

2. The side brush module according to claim 1, characterized in that The driving component includes: A first driving member (30), the first driving member (30) being mounted on the main body (10); A transmission member (40), the transmission member (40) being connected between the first driving member (30) and the swing arm (21), and the first driving member (30) driving the transmission member (40) to drive the swing arm (21) to rotate to the predetermined position.

3. The side brush module according to claim 2, characterized in that, The first driving member (30) includes: A first motor (31), the first motor (31) including a first output shaft (310), the first output shaft (310) being connected to the transmission member (40), and the first output shaft (310) driving the transmission member (40) to drive the swing arm (21) to rotate to the predetermined position; A position detector, the position detector being mounted on the main body, and the position detector being used to detect the position of the swing arm (21); A controller, the controller being electrically connected to the first motor (31) and the position detector respectively, and the controller controlling the first motor (31) to stop rotating when the position detector detects that the swing arm (21) is at the predetermined position.

4. The side brush module according to claim 3, wherein, The transmission member (40) includes: A crank (41), the crank (41) being connected to the first output shaft (310) and being rotatable in a first direction or a second direction under the drive of the first output shaft (310); A connecting member (42), the connecting member (42) being connected between the crank (41) and the swing arm (21), and the first output shaft (310) driving the crank (41) to drive the swing arm (21) to rotate in a first direction or a second direction to the predetermined position.

5. The side brush module according to claim 4, wherein, The position detector includes: An angle sensor, the angle sensor being mounted on at least one side of both the first motor (31) and the crank (41), and the angle sensor being used to detect the rotation angle of at least one of the first motor (31), the first output shaft (310) and the crank (41).

6. The side brush module according to any one of claims 4 to 5, characterized in that, The cleaning mechanism further includes a mounting bracket (50), and the mounting bracket (50) includes: a base (51), and the base (51) is mounted on the bottom of the main body (10); a fixed seat (52), the fixed seat (52) is mounted on the base (51) and a first mounting groove (520) is formed by surrounding between the fixed seat (52) and the base (51). One end of the swing arm (21) away from the side brush (22) is rotatably mounted in the first mounting groove (520). The first motor (31) is mounted in the base (51) and is located on one side of the fixed seat (52). At least a part of the first output shaft (310) extends to the side of the base (51) close to the fixed seat (52) and is connected to the transmission component (40).

7. The side brush module according to claim 6, wherein, The cleaning mechanism further includes: a limiting component (60), the limiting component (60) is mounted on the base (51), and the limiting component (60) is used to limit the rotation angle of the swing arm (21) rotating between the first position and the second position.

8. The side brush module according to claim 7, characterized in that, The limiting component (60) includes: a first limiting member (61), the first limiting member (61) is mounted on the base (51) and is located on one side of the crank (41). The crank (41) rotates along a first direction to abut against the first limiting member (61) so that the swing arm (21) rotates to the first position. The crank (41) rotates along a second direction to abut against the first limiting member (61) so that the swing arm (21) rotates to the second position. The position detector is mounted on the first limiting member (61) to detect the position of the crank (41).

9. The side brush module according to claim 8, wherein The crank (41) has a first rotation angle rotating along the first direction or the second direction, and the first limiting member (61) includes: a mounting block (611), the mounting block (611) is mounted on the base (51), and the first output shaft (310) passes through the mounting block (611) and is connected to the crank (41); an arc-shaped convex platform (612), the arc-shaped convex platform (612) is located on the side of the mounting block (611) away from the base (51) and surrounds the side of the first output shaft (310) away from the fixed seat (52). The position detector is mounted on the arc-shaped convex platform (612); wherein, along the axial direction of the first output shaft (310), the height of the side of the crank (41) away from the mounting block (611) is not higher than the height of the arc-shaped convex platform (612). Along the radial direction of the first output shaft (310), the length of the crank (41) is greater than the inner diameter of the arc-shaped convex platform (612). Wherein, 360° minus the central angle of the arc-shaped convex platform (612) is equal to the first rotation angle.

10. A cleaning device, characterized in that, The cleaning device includes the side brush module according to any one of claims 1 to 9.

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