Driving structure and cleaning equipment

Abstract

The utility model provides a driving structure and cleaning equipment, the driving structure comprises a supporting seat, a swing motor, a swing arm and a rotation motor, and the swing motor is arranged on the supporting seat; one end of the swing arm is swingably arranged on the supporting seat through a first rotating shaft, and the other end is connected with the cleaning assembly; the cleaning assembly has an initial position and an edge position; the top of the first rotating shaft is rotatably arranged on the supporting seat, and the bottom of the first rotating shaft is connected with the upper part of the swing arm; the swing motor is used for driving the swing arm to swing on the supporting seat by taking the first rotating shaft as a swing shaft, so that the cleaning assembly is switched between an initial position and an edge position; the rotation motor is arranged on the swing arm and used for driving the cleaning assembly to rotate. In the height direction of the supporting base, at least part of the rotation motor is distributed under the first rotating shaft. And the rotation motor is at least partially distributed under the first rotating shaft, the layout structure is compact, and the occupied space in the cleaning equipment can be reduced.

Description

Technical Field

[0001] The present application relates to the field of household cleaning technology, and in particular to a driving structure and a cleaning device. Background Art

[0002] With the development of science and technology and the improvement of living standards, household cleaning equipment has become increasingly popular, reducing the burden of housework for humans. For example, robot vacuums, robot scrubbers, and sweeping and mopping robots have become increasingly popular.

[0003] In order to achieve edge cleaning in a household cleaning robot, a cleaning component of the cleaning module can swing between an initial position and an edge position relative to the robot body under the drive of a driving structure, so that when the cleaning component is in the edge position, part of the edge of the cleaning component extends beyond the edge of the body to clean the edge of the obstacle.

[0004] The existing driving structure includes a support base, a swing motor, a swing arm and a self-rotating motor; one end of the swing arm is swingably arranged on the swing arm through a first rotating shaft, and the swing motor drives the first rotating shaft to rotate to drive the swing arm to swing; in the height direction of the support base, the first rotating shaft passes through the swing arm; the self-rotating motor that drives the cleaning component to rotate needs to avoid the distribution space of the first rotating shaft on the swing arm, that is, in the height direction and horizontal direction of the support base, they are completely staggered, and even the first rotating shaft passes through the entire swing arm, so that the first rotating shaft and the self-rotating motor each occupy a certain space, resulting in the driving structure occupying a large space in the body of the household cleaning robot and the structure is not compact.

[0005] Therefore, it is urgent to provide a cleaning device to solve at least one of the above-mentioned technical problems. Summary of the Invention

[0006] In view of the above problems, the embodiments of the present application provide a driving structure and a cleaning device, which can reduce the space occupied by the cleaning device body and have a compact structure.

[0007] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] The embodiment of the present application provides a cleaning device, including: the first aspect of the present application provides a driving structure, including

[0009] Support seat;

[0010] A swing motor is provided on the support base;

[0011] a swing arm, one end of which is swingably disposed on the support base via a first rotating shaft, and the other end of which is used to connect to a cleaning assembly; the cleaning assembly has an initial position and an edge position;

[0012] The top of the first rotating shaft is rotatably disposed on the support base, and the bottom of the first rotating shaft is connected to the upper portion of the swing arm; the swing motor is used to drive the swing arm to swing on the support base with the first rotating shaft as the swing axis, so that the cleaning component switches between the initial position and the edge position;

[0013] A rotation motor, provided on the swing arm, for driving the cleaning component to rotate;

[0014] In the height direction of the support base, at least a portion of the rotation motor is distributed directly below the first rotating shaft.

[0015] The top of the first rotating shaft is rotatably mounted on the support base, while its bottom is connected to the upper portion of the swing arm. This eliminates the need for the first rotating shaft to penetrate the swing arm, and allows for a portion of space below the first rotating shaft. This space is used to house the self-rotating motor, eliminating the need for the motor to completely avoid the space provided by the first rotating shaft on the swing arm. The motor is at least partially located directly below the first rotating shaft. This compact layout reduces space requirements within the cleaning device.

[0016] Optionally, the self-rotating motor is arranged in the swing arm cavity of the swing arm, and the vertical projections of the first rotating shaft and the self-rotating motor on the ground have an overlapping area.

[0017] Optionally, in the height direction of the support seat, the bottom of the first rotating shaft is connected to the swing arm cavity, and an installation space is enclosed between the bottom of the first rotating shaft and the swing arm cavity, and the self-rotating motor is arranged in the installation space.

[0018] The axis of the output shaft of the self-rotating motor is parallel to or coincides with the axis of the first rotating shaft.

[0019] Optionally, the first rotating shaft includes a shaft body, and a disk body protruding horizontally on the bottom of the shaft body, and the disk body is connected to the upper part of the swing arm; the top of the shaft body is rotatably connected to the support seat; the swing motor is used to drive the swing arm to drive the disk body to rotate, so that the disk body drives the shaft body to rotate.

[0020] Optionally, the driving structure further includes an output gear and at least one first elastic member; the output gear is rotatably sleeved on the outside of the first rotating shaft; one end of the first elastic member is connected to the swing arm, and the other end is connected to the output gear;

[0021] One of the output gear and the swing arm is provided with a second limiting groove extending along the swing direction of the swing arm, and the other is provided with a limiting convex tooth; the limiting convex tooth extends into the second limiting groove; along the swing direction of the swing arm, the second limiting groove has a first end wall and a second end wall;

[0022] When the cleaning assembly is not subjected to the squeezing force or collision force of an obstacle, under the action of the first elastic member, the limiting protruding tooth maintains contact with the first end wall, and a gap is reserved between the limiting protruding tooth and the second end wall;

[0023] The swing motor drives the output gear to rotate forward, forcing the effect of the first elastic member to increase, the limiting convex tooth maintains abutment with the first end wall, and the swing arm is driven to swing outward through the first elastic member; the swing motor drives the output gear to rotate reversely, the effect of the first elastic member is reduced, and the second end wall is moved through the limiting convex tooth, driving the swing arm to actively retract and swing inward.

[0024] Optionally, the support base includes a base and an upper cover shell provided on the base; the bottom of the base has a horizontal outward extension seat; one end of the upper cover shell is fixed to the top of the base, and the other end is suspended above the extension seat, and an open cavity is formed between the upper cover shell and the extension seat;

[0025] A first accommodating cavity is formed between the base and the upper cover;

[0026] The driving structure further includes a first transmission assembly for transmission-connecting the swing motor to the output gear, wherein the first transmission assembly is located in the first accommodating cavity;

[0027] One end of the swing arm is installed in the open cavity, and the other end extends out of the open cavity.

[0028] A second embodiment of the present application provides a cleaning device, comprising

[0029] body;

[0030] a cleaning assembly having an initial position and an edgewise position relative to the body;

[0031] The first driving structure is the driving structure described in any embodiment of the first aspect; the first driving structure is used to drive the cleaning component to switch between the initial position and the edge position. The third embodiment of the present application provides a cleaning device, which includes

[0032] body;

[0033] A main cleaning module is provided on the machine body; the main cleaning module comprises a first lifting structure and at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to rise and fall;

[0034] The auxiliary cleaning module is arranged on the main cleaning component, and the auxiliary cleaning module includes an auxiliary cleaning component and the driving structure according to any embodiment of the first aspect, which is used to drive the auxiliary cleaning component to switch between the initial position and the edge position;

[0035] Driven by the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component.

[0036] The cleaning device provided in the embodiment of the present application has the same beneficial effects as the driving structure provided in the above embodiment, which will not be repeated here.

[0037] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the cleaning modules, cleaning equipment, and cleaning systems provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] Figure 1 A schematic top view of the auxiliary cleaning module in the initial position of the cleaning device provided in some embodiments of the present application;

[0040] Figure 2 Schematic top views of the auxiliary cleaning module in the cleaning apparatus provided in some embodiments of the present application in the initial position A, the edge position C, and the third position B, respectively; wherein the arrows indicate the direction of position change, from the initial position A, the edge position C, to the third position B, in sequence;

[0041] Figure 3 Schematic bottom view of the auxiliary cleaning module in the cleaning device provided in some embodiments of the present application in the initial position A, the edge position C, and the third position B, respectively; wherein the arrows indicate the direction of change of position from the initial position A, the edge position C to the third position B in sequence;

[0042] Figure 4 Schematic top views of the auxiliary cleaning module in the cleaning device provided in some embodiments of the present application when the auxiliary cleaning module is in the initial position A, the edge position C, and the third position B on the main cleaning module;

[0043] Figure 5 Schematic bottom view of the auxiliary cleaning module in the cleaning device provided in some embodiments of the present application when it is in the initial position A, the edge position C, and the third position B on the main cleaning module;

[0044] Figure 6 Schematic diagrams of the auxiliary cleaning module in the cleaning device provided in some embodiments of the present application when it is in the initial position A, the edge position C, and the third position B on the main cleaning module;

[0045] Figure 7 A schematic top view of the cleaning device provided in some embodiments of the present application, with the auxiliary cleaning module in the edge position C and the third position B, respectively;

[0046] Figure 8 A bottom-view schematic diagram of the cleaning device provided in some embodiments of the present application, with the auxiliary cleaning module in the initial position A, the edge position C, and the third position B, respectively;

[0047] Figure 9 A schematic diagram of the internal structure of the cleaning device provided in some embodiments of the present application when the auxiliary cleaning modules are in the initial position A;

[0048] Figure 10 This is a schematic structural diagram of the auxiliary cleaning module in some embodiments of the present application;

[0049] Figure 11 for Figure 10 One of the internal structure diagrams of the auxiliary cleaning module; wherein the auxiliary module includes a driving structure;

[0050] Figure 12 for Figure 10 Schematic diagram of the internal structure of the auxiliary cleaning module (part 2); wherein the auxiliary module includes a drive structure;

[0051] Figure 13 A schematic diagram of a partial structure of an auxiliary cleaning module in a cleaning device provided in some embodiments of the present application, wherein the limiting protruding teeth are in contact with the first end wall and a gap is reserved between the limiting protruding teeth and the second end wall;

[0052] Figure 14 A schematic diagram of a partial structure of an auxiliary cleaning module in the cleaning device provided in some embodiments of the present application, wherein the limiting protruding teeth are in contact with the second end wall and a gap is reserved between the limiting protruding teeth and the first end wall;

[0053] Figure 15 A cross-sectional view of an auxiliary cleaning module provided in some embodiments of the present application;

[0054] Figure 16 for Figure 6 Large image of the prescription in A;

[0055] Figure 17 A cross-sectional view of the assembled structure of the output gear, the first rotating shaft, the first elastic member, etc. in the auxiliary cleaning module provided in some embodiments of the present application;

[0056] Figure 18This is one of the partial structural exploded views of the auxiliary cleaning module provided in some embodiments of the present application;

[0057] Figure 19 A partial structural cross-sectional view of an auxiliary cleaning module provided in some embodiments of the present application;

[0058] Figure 20 An exploded view of a portion of the auxiliary cleaning assembly provided in some embodiments of the present application;

[0059] Figure 21 A schematic structural diagram of an auxiliary cleaning disk is provided for some embodiments of the present application;

[0060] Figure 22 The second exploded view of a portion of the auxiliary cleaning module provided in some embodiments of the present application;

[0061] Figure 23 A schematic diagram of the upper swing arm structure provided in some embodiments of the present application;

[0062] Figure 24 Different from Figure 13 Schematic diagram of the upper swing arm structure from another perspective;

[0063] Figure 25 An exploded view of a portion of the drive structure provided in some embodiments of the present application;

[0064] Figure 26 A schematic diagram of the first rotating shaft structure provided in some embodiments of the present application;

[0065] Figure 27 A schematic diagram of the output gear structure provided in some embodiments of the present application;

[0066] Figure 28 Schematic diagram of the distance between the auxiliary cleaning component and the center of the cleaning device when the auxiliary cleaning component is in the initial position, the edge position, and the third position, respectively, in some embodiments of the present application;

[0067] Figure 29 This is another dynamic schematic diagram of the cleaning angle area of the cleaning device in some embodiments of the present application.

[0068] Description of reference numerals:

[0069] 10. Cleaning equipment; 20. Control harness; 100. Body; 101. Chassis; 102. Upper shell; 103. Dust suction port;

[0070] 201, roller brush; 202, dust box;

[0071] 300, main cleaning module; 310, main cleaning assembly; 311, main cleaning member; 312, mounting base;

[0072] 400, side brush;

[0073] 500, auxiliary cleaning module; 510, auxiliary cleaning assembly; 511, auxiliary cleaning member; 512, auxiliary cleaning disc; 5125, first clearance hole;

[0074] 5161, installation protrusion;

[0075] 520, first driving structure; 521, swing motor; 522, first elastic member;

[0076] 580, support seat; 5801, opening cavity; 5802, connecting groove;

[0077] 584, output gear; 5843, second limiting groove; 5844, first end wall; 5845, second end wall; 5846, positioning protrusion; 5847, through hole on output gear; 585, upper cover; 586, extension seat; 587, base; 588, first groove; 589, extension portion;

[0078] 524, swing arm; 5240, notch; 5241, upper swing arm; 5201, arm body; 5202, annular sleeve; 5203, swing arm cavity; 5204, mounting inner wall; 5242, lower swing arm; 5245, second cavity; 5246, first cavity; 5247, limiting protruding teeth; 5248, connecting column;

[0079] 610, First Waterway;

[0080] 680, first rotating shaft; 681, disk body; 6811, outer edge; 682, shaft body; 683, second groove; 684, second bearing; 685, first gap; 686, second gap;

[0081] 700, driving wheel; 720, first transmission assembly; 730, first bearing; 740, limiting protrusion; 741, first limiting groove; 742, annular step; 743, fourth clearance hole;

[0082] 841, rotating motor; 8411, gear assembly; 842, second transmission assembly; 851, fixed sleeve; 8512, second accommodating chamber; 852, floating sleeve; 854, floating chamber; 8526, card interface; 853, fourth elastic member;

[0083] 960, position detection parts;

[0084] A. Initial position; C. Edge position; B. Third position. DETAILED DESCRIPTION

[0085] The cleaning device of the present application can be a self-propelled cleaning robot or a handheld floor scrubber. The cleaning robot can be a dual-purpose cleaning robot for both wet and dry use. For example, the cleaning robot can be a mopping robot or a sweeping and mopping robot. The following description will take a sweeping and mopping robot as an example.

[0086] In some embodiments, as Figure 1 As shown, the cleaning device 10 includes a body 100 and a cleaning module arranged at the bottom of the body 100, the cleaning module includes at least one cleaning component and a driving structure, the cleaning component has an initial position and an edge position relative to the body; the driving structure is used to drive the cleaning component to switch between the initial position and the edge position.

[0087] The cleaning component can be one, for example, a cleaning tray, a flat mop. Or, the cleaning component can also be two (for example, two cleaning trays).

[0088] At least one cleaning assembly can swing relative to the main body 100 to switch between an initial position A and an edge position C. In the edge position C, at least a portion of the cleaning assembly extends beyond the edge of the main body 100 to perform edge cleaning on obstacles, walls, and other edges. To achieve edge cleaning, at least a portion of the cleaning assembly typically extends beyond the maximum width of the main body, extending beyond the main body, for edge cleaning. Of course, if the main body moves by twisting, then to achieve edge cleaning, at least a portion of the cleaning assembly can extend beyond the edge of the main body, rather than extending beyond the maximum width of the main body. In the initial position A, the cleaning assembly can be located within the maximum projection of the edge of the main body 100, or at least a portion of the cleaning assembly can be located outside the edge of the main body 100.

[0089] If the cleaning device only includes a main cleaning module, and the main cleaning module includes at least one main cleaning component, then the aforementioned swingable cleaning module is the main cleaning module, and the cleaning component is at least one main cleaning component.

[0090] In some embodiments, as Figures 1 to 8 As shown, if the cleaning device 10 includes both a main cleaning module 300 and an auxiliary cleaning module 500 provided on the body 100, wherein the main cleaning module 300 includes at least one main cleaning component 310 (e.g., a cleaning tray, a flat mop) or two main cleaning components 310 (e.g., two cleaning trays), and the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, then the aforementioned swingable cleaning module is the auxiliary cleaning module, and the cleaning component is the auxiliary cleaning component.

[0091] The main cleaning assembly 310 does not swing relative to the main body 100. Therefore, there is no need to provide a swinging structure within the main body 100 to drive the main cleaning assembly 310 to swing. Therefore, the driving structure of the main cleaning assembly 310 only needs to include a first lifting structure for driving the main cleaning assembly 310 to move upward and downward, and a second driving structure for driving the mopping motion. For example, the mopping motion can be the rotation of the main cleaning disc or the reciprocating vibration or twisting of the flat mop.

[0092] The auxiliary cleaning assembly 510 can swing relative to the main body 100 to switch between at least an initial position A and an edge position C. In the edge position C, at least a portion of the auxiliary cleaning assembly 510 extends beyond the edge of the main body 100 to perform edge cleaning on obstacles, walls, and other edges. When the auxiliary cleaning assembly 510 is in the initial position A, the auxiliary cleaning assembly 510 can be located within the maximum projection of the edge of the main body 100, or at least a portion of the auxiliary cleaning assembly 510 can be located outside the edge of the main body 100.

[0093] The area of the auxiliary cleaning assembly 510 is smaller than that of the main cleaning assembly 310. For example, the area of the auxiliary cleaning assembly 510 is smaller than three-quarters of the area of the main cleaning assembly 310, or smaller than one-half of the area of the main cleaning assembly 310; or smaller than one-third, one-quarter, one-fifth of the area of the main cleaning assembly 310, etc. The size relationship between the two areas can be selected according to needs, thereby driving the swing, lifting and mopping motions of the auxiliary cleaning assembly 510, requiring a small swing space, and being applicable to all models currently on the market, such as round cleaning disc mopping and flat mopping.

[0094] For example, the auxiliary cleaning assembly 510 includes an auxiliary cleaning disc 512 and an auxiliary cleaning member 511. Figure 9 As shown, the main cleaning component 310 includes a mounting seat 312 and a main cleaning member 311. The above-mentioned area size relationship. In one embodiment, the area of the auxiliary cleaning disc 512 and the mounting seat 312 can be compared, for example, the area of the auxiliary cleaning disc 512 is smaller than the area of the mounting seat 312; another embodiment can be compared with the area of the auxiliary cleaning member 511 and the main cleaning member 311, for example, the area of the auxiliary cleaning member 511 is smaller than the area of the main cleaning member 311. That is, when the main cleaning member 311 and the auxiliary cleaning member 511 are both rags, the main cleaning member 311 forms a large rag for cleaning, and the auxiliary cleaning member 511 forms a small rag for cleaning. In the non-edge mode, the large rag is mainly used for cleaning; when in the edge position C, the small rag is used for cleaning. The main cleaning member 311 and the auxiliary cleaning member 511 cooperate to achieve the function of cleaning the floor.

[0095] By retracting and swinging the auxiliary cleaning component 510 inward and outward, it is possible to switch between the edge position C and the initial position A, and perform edge cleaning at the edge position C; at the same time, there is no need for the main cleaning component 310 to swing as a whole, so that the structure of the entire cleaning module is simple and compact, and the space occupied is small, which facilitates the miniaturization of the robot.

[0096] In addition to the aforementioned main cleaning module 300 and auxiliary cleaning module 500, the cleaning robot also includes a dry cleaning module, wherein the robot moves along the forward direction of the fuselage 100 (such as along the Figure 1 、 Figure 4 、 Figure 5 and Figure 7 ), the dry cleaning module is located in front of the main cleaning module 300; the dry cleaning module is used to clean the floor; the main cleaning module 300 is used to wet mop the cleaned floor, that is, the wet cleaning module, thereby forming a sweep-first-then-mop mode to clean the floor.

[0097] In some embodiments, please refer to Figures 7 to 9 As shown, the dry cleaning module includes at least a roller brush 201, a dust box 202, and a main fan 203. The roller brush 201 can rotate in a roller brush chamber 205 on the bottom of the chassis 101, allowing the cleaning robot to clean garbage on the ground in the direction of travel. The roller brush 201 can be one or two roller brushes 201. The dust box 202 and the main fan 203 are respectively arranged in the inner cavity of the body 100. The main fan 203 is configured to provide negative pressure wind force to the dust box 202. The chassis of the body 100 is provided with a dust suction port 103, one end of the dust suction port is connected to the roller brush chamber, and the other end is connected to the inner cavity of the dust box. In this way, the roller brush 201 is used to collect garbage on the ground into the dust suction port 103. The negative pressure suction can collect garbage and dust particles through the dust suction port 103 into the dust box 202, thereby achieving the purpose of cleaning the ground. The main fan 203 includes but is not limited to a negative pressure fan, and can also be replaced by other negative pressure generating devices, such as a vacuum pump.

[0098] In some embodiments, please refer to Figure 8 As shown, the cleaning robot also includes a side brush 400. Along the forward direction of the body 100, the side brush 400 is arranged in front of the dry cleaning module, and the side brush 400 can rotate to gather the garbage on the ground to the inside of the cleaning robot. In this way, the dry cleaning module can collect the garbage gathered to the inside of the cleaning robot into the dust box 202 in the body 100 by suction or other means.

[0099] For example, the side brush 400 can be located in front of the dry cleaning module and near the edge of the body 100. For example, the side brush 400 can be located at the edge of a position including but not limited to the left front or right front of the dry cleaning module. When the side brush 400 rotates, at least a portion of the side brush 400 is located outside the outline of the body 100. In this way, the side brush 400 can gather garbage outside the outline of the body 100 to the inside of the cleaning robot, thereby increasing the cleaning range. The side brush 400 can be a rubber strip or a bristle brush, etc., as long as it can clean the floor, and there is no limitation here.

[0100] The fuselage 100 is generally formed in a circular, D-shaped, rectangular, or other shape. The outline of the fuselage 100 refers to the circular outline, D-shaped outline, or rectangular outline of the fuselage 100. For example, Figure 7 and Figure 8 In the figure, the outline of the fuselage 100 is a circular structure; illustratively, the range of the outline of the fuselage 100 can be determined according to the projection of the fuselage 100 on the horizontal plane.

[0101] The fuselage 100 generally includes at least a chassis 101 ( Figure 9 ), and the upper shell 102 connected to the chassis 101 ( Figure 7 The interior of the body 100 is enclosed between the bottom plate 101 and the upper shell 102, forming a storage chamber. This storage chamber contains at least a dust box cavity. The top of the upper shell is provided with an opening, through which the dust box is easily removed and placed. Furthermore, a decorative cover is provided on the top of the upper shell to cover the opening. The body also includes a bottom decorative cover located below the bottom plate and surrounding the outer periphery of the roller brush cavity. The bottom decorative cover is located in front of the main cleaning module.

[0102] The robot also includes a walking system for driving the body 100 to move and realize the self-moving walking function on the surface to be cleaned. The walking system includes at least a driver and a driving wheel 700, and the driver drives the driving wheel 700 to move. There can generally be two driving wheels 700, and the two driving wheels 700 are symmetrically arranged on the bottom of the body 100. In addition, the walking system can be swingably arranged on the body 100 so that the cleaning device 10 has the function of overcoming obstacles during the walking process. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of an object such as the ground, a table, glass, or a wall. For ease of description, the surface to be cleaned below is described using the ground as an example.

[0103] The perception system includes a light distribution device (LDS) located above the body 100, a bumper and visual sensor located at the front of the body 100, edge sensors located on the front sidewalls of the body 100, and ultrasonic sensors and downward-looking sensors located at the bottom of the body 100. The LDS, bumper, and edge sensors all measure distance to determine the distance between the edge of the body 100 and obstacles. The control system uses this distance to control the cleaning device 10 to perform corresponding actions, such as obstacle avoidance and edge cleaning. The ultrasonic sensor is used to identify carpet signals. Based on these signals, the control system controls the main cleaning component 310 and auxiliary cleaning component 510 of the cleaning device 10 to lift, or to control the cleaning device 10 to return to the base station for charging, dust collection, cleaning of the main cleaning component 311, and removal and installation of the main cleaning component 310. The visual sensor is used to image the environment in which the cleaning device 10 is located to obtain obstacle information. Based on this information, the control system controls the cleaning device 10 to perform actions, such as obstacle avoidance, obstacle traversal, and edge cleaning.

[0104] In one embodiment, along the forward direction of the body 100, the body 100 has a front portion, a rear portion, and a connecting portion or a middle portion connecting the front and rear portions of the body 100, with the dust box 202, the roller brush 201, or the drive wheel 700 as the boundary. The dust box 202, the roller brush 201, or the drive wheel 700 is disposed in the connecting portion or the middle portion.

[0105] For example, taking the roller brush 201 or the dust box 202 as an example, the portion of the body 100 located in front of the roller brush 201 or the dust box 202 is referred to as the front portion of the body 100, and the portion located behind the roller brush 201 or the dust box 202 is referred to as the rear portion of the body 100. Typically, the roller brush 201 is located in the area between the two driving wheels 700.

[0106] In one embodiment, the main cleaning module 300 and the auxiliary cleaning module 500 are both located at the rear of the main body 100, and the side brush 400 is located at the front of the main body 100. In the forward direction of the main body 100, the side brush 400 and the auxiliary cleaning module 500 are both located on the same side of the main body 100. For example, they are both located on the right side of the main body 100 to form a right edge, or they are both located on the left side of the main body 100 to form a left edge.

[0107] Along the forward direction of the fuselage 100 , the main cleaning assembly 310 and the auxiliary cleaning assembly 510 are located behind the roller brush 201 , which facilitates the cleaning robot's cleaning operation of first dry sweeping and then wet mopping, and also facilitates the layout of the internal space of the fuselage 100 .

[0108] The cleaning device 10 also includes a second drive structure 340, which is provided on the body 100 and is used to drive the main cleaning component 310 to move to mop the floor; and also includes a first lifting structure 330, which is used to drive the cleaning component to perform lifting and lowering movements so that the main cleaning component 310 is in a mopping position or a raised position.

[0109] The cleaning device 10 also includes at least a water replenishment mechanism for replenishing water to the main cleaning member 311 of the main cleaning assembly 310, thereby moistening the main cleaning member 311, so that the rag is moistened or dampened when mopping the floor, thereby achieving wet cleaning and improving the cleaning effect. The water replenishment mechanism includes at least a water tank 600, which transports water in the water tank 600 to a delivery mechanism on the main cleaning member 311.

[0110] Optimally, the auxiliary cleaning member 511 of the auxiliary cleaning assembly 510 can also be replenished with water, so that the auxiliary cleaning member 511 is in a wet state and performs wet cleaning of the floor. Alternatively, water can be replenished so that the auxiliary cleaning member 511 is in a dry state and cleans the floor, but the cleaning effect is weaker than wet mopping.

[0111] In some scenarios, the main cleaning assembly 310 needs to be raised. For example, when the main cleaning assembly 310 is placed on a carpet, the main cleaning assembly 310 needs to be in a raised position to avoid wetting the carpet. Alternatively, when the main cleaning assembly 310 needs to be raised to avoid being stuck on an obstacle or returning to the base station, the main cleaning assembly 310 needs to be in a raised position to prevent it from being detached from the main cleaning assembly 100. Therefore, the cleaning device 10 also includes a first lifting structure 330, which is disposed within the main cleaning assembly 100 and is used to drive the main cleaning assembly 310 to be raised to switch between the mopping position and the raised position.

[0112] There are many ways to configure the main cleaning assembly 310. For example, in some embodiments, the main cleaning assembly 310 includes a mounting base 312 and a main cleaning member 311 disposed at the bottom of the mounting base 312.

[0113] For example, please refer to Figure 4 As shown, the mounting base 312 can be a main cleaning disc. At this time, illustratively, the main cleaning member 311 is a main rag installed on the bottom of the cleaning disc, and the second driving mechanism drives the main cleaning disc to rotate, so as to cause the main rag to rotate in order to clean the floor. Under the action of the driving force, the main cleaning disc can drive the main cleaning member 311 to rotate relative to the body 100, so that the main cleaning member 311 performs the cleaning operation; or, the main cleaning disc can also be fixed relative to the body 100, so that when the cleaning robot moves along the direction of travel, the main cleaning member 311 moves relative to the ground to clean the ground; wherein, the main cleaning disc can be one, two or more, for example, in Figure 7In the embodiment, there are two main cleaning discs, each of which is provided with a main cleaning member 311. The two main cleaning discs drive the main cleaning member 311 to rotate to clean the floor.

[0114] In another exemplary embodiment, the mounting base 312 can be a flat mop, and the main cleaning element 311 is a main cleaning cloth mounted on the flat mop. Specifically, a vibration plate 313 can be provided in the flat mop. Driven by a second drive mechanism, the vibration plate 313 can reciprocate or swing in at least one direction, thereby driving the main cleaning cloth to vibrate or twist back and forth, thereby creating friction between the main cleaning element 311 and the floor, thereby improving cleaning effectiveness. The vibration plate 313 can move in a horizontal plane.

[0115] Please refer to Figure 8 As shown, in the embodiment of the present application, the auxiliary cleaning module 500 is mainly used to cooperate with the main cleaning module 300 to assist in cleaning the areas that are not easily cleaned by the main cleaning assembly 310. For example, it can clean along the edges, or on the basis of cleaning along the edges, further clean the corner areas (described in detail below) to improve its cleaning efficiency and reduce the areas that are not easily cleaned.

[0116] In order to achieve the cleaning operation of the missed area of the main cleaning component 310, the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, and the auxiliary cleaning component 510 has at least an initial position A and an edge position C relative to the fuselage 100; in the edge position C, at least a portion of the auxiliary cleaning component 510 extends out of the edge of the fuselage 100 for edge cleaning; when the auxiliary cleaning component 510 is in the initial position A, in one embodiment, in the initial position A, the auxiliary cleaning module 500 will be completely retracted within the projection range of the maximum edge of the fuselage 100, and the auxiliary cleaning module 500 will not be missed outside the fuselage 100 when viewed from above the fuselage 100; or, as Figure 1 As shown, at the initial position A, the auxiliary cleaning module 500 is partially retracted within the projection range of the maximum edge of the main body 100 and partially extends outside the edge of the main body 100 .

[0117] In some embodiments, the auxiliary cleaning assembly 510 is in the edge position C, and at least a portion of the auxiliary cleaning disc 512 extends outside the body 100. When the auxiliary cleaning assembly 510 is in the initial position A, the auxiliary cleaning disc 512 is located within the projection range of the maximum edge of the body 100, so that the overall profile size of the cleaning robot is not increased.

[0118] The initial position A and the edge position C can be a fixed point position or an interval position. In particular, the edge position C, when the first driving structure 520 ( Figure 12) Using a first elastic member 522, when the auxiliary cleaning assembly 510 is subjected to a force from an obstacle at edge position C, the auxiliary cleaning module 500 will passively retract under the cushioning effect of the first elastic member 522 to cushion the collision with the obstacle. Therefore, edge position C can be a dynamically changing position rather than a fixed point. Alternatively, when the motor of the first drive structure 520 is a stepper motor, the number of steps of the stepper motor is controlled to control the outward swing distance of the auxiliary cleaning assembly 510, thereby performing edge cleaning of the obstacle, thereby forming a stepless edge mode.

[0119] In addition, if the auxiliary cleaning component 510 is in the initial position A, part of the auxiliary cleaning component 510 extends out of the fuselage 100. At the edge position C, the part of the auxiliary cleaning component 510 extending out of the fuselage 100 is larger than the part of the auxiliary cleaning component 510 extending out of the fuselage 100 at the initial position A, so as to achieve edge cleaning.

[0120] It should be noted that the initial position A and the edge position C are not limited to the auxiliary cleaning assembly 510 , but may also be any component in the auxiliary cleaning module 500 that swings synchronously with the auxiliary cleaning assembly 510 .

[0121] The auxiliary cleaning module 500 further includes a first driving structure 520 for driving the auxiliary cleaning assembly 510 to swing so as to switch between an initial position A and an edge position C.

[0122] For example, the first driving structure 520 includes a first driving motor, a swing arm 524, and at least one first elastic member 522. Under the cooperation of the first driving motor and the first elastic member 522, the swing arm 524 is driven to swing, thereby driving the auxiliary cleaning assembly 510 to swing, so as to switch between the edge position C and the initial position A.

[0123] Since the swing arm 524 and the auxiliary cleaning assembly 510 swing synchronously, the aforementioned initial position A and edge position C can also be said to have the initial position A and edge position C of the swing arm 524 .

[0124] In some embodiments, the auxiliary cleaning assembly 510 includes an auxiliary cleaning tray 512 and an auxiliary cleaning member 511 disposed on the bottom of the auxiliary cleaning tray 512. The aforementioned initial position A and edge position C may be for the auxiliary cleaning tray 512 or for the auxiliary cleaning member 511, which may be a rag, a wiper, or the like.

[0125] In some embodiments, as Figure 8As shown, along the moving direction of the cleaning robot, the auxiliary cleaning module 500 is arranged behind the dry cleaning module and is arranged near the edge of the main body 100. In this way, when the cleaning robot is running, the auxiliary cleaning module 500 can clean the areas such as the edges that are difficult for the main cleaning module 300 to clean, and since the auxiliary cleaning module 500 is arranged near the edge of the main body 100, the auxiliary cleaning module 500 will not occupy more space inside the main body 100 when it is swung outward or retracted.

[0126] In some embodiments, the auxiliary cleaning disc 512 is, for example, a plate-shaped or disc-shaped structure; the auxiliary cleaning member 511 is, for example, a cleaning cloth. Figure 7 and Figure 8 In the figure, the auxiliary cleaning plate 512 is a circular plate, and the auxiliary cleaning member 511 is a circular cleaning cloth that matches the auxiliary cleaning plate 512 and is fixed to the bottom of the auxiliary cleaning plate 512 by gluing or other methods. The auxiliary cleaning plate 512 can also be a triangle, a Leroy triangle, a square, or other irregular shapes.

[0127] The auxiliary cleaning module 500 also includes a second lifting mechanism, which is used to at least drive the auxiliary cleaning component 510 to lift and lower it so that the auxiliary cleaning component 510 is in a lifted position to leave the ground; or in a mopping position to perform edge cleaning.

[0128] As an optional embodiment, in some embodiments, the first drive structure can also drive the auxiliary cleaning disc 512 to rotate, thereby driving the auxiliary cleaning member 511 to rotate, thereby increasing the friction between the auxiliary cleaning member 511 and the floor, and improving the cleaning effect along the edge. That is, a motor in the first drive structure 520 can drive the swing arm 524 to swing the auxiliary cleaning assembly 510 to switch between the initial position A and the edge position C; it can also drive the auxiliary cleaning assembly 510 to rotate to mop the floor, thereby making the drive structure compact and eliminating the need for a separate drive structure to drive the auxiliary cleaning assembly 510 to rotate.

[0129] Furthermore, the second lifting mechanism is combined with the rotational movement of the swing arm 524, and the second lifting mechanism is driven to perform lifting movement through the swinging rotation, and the swing arm 524 is driven to perform lifting movement in the opposite direction, thereby driving the entire auxiliary cleaning module 500 to perform lifting movement, so that the auxiliary cleaning component 510 is between the lifting position and the mopping position, so that only one motor is needed to drive the swinging, rotation, and lifting functions of the auxiliary cleaning component 510, further making the driving structure more compact and occupying less space. The entire auxiliary cleaning module 500 can occupy a small space as a separate module.

[0130] The swing of the auxiliary cleaning component 510 relative to the main body 100 can be a linear swing or an arc-shaped swing. It is preferred to adopt an arc-shaped swing. When achieving the same swing distance, the arc-shaped swing requires a smaller swing space than the linear swing, so that the space required for the auxiliary cleaning module 500 to be arranged in the main body 100 is smaller.

[0131] Alternatively, as a variation, the cleaning module may include a main cleaning module without the auxiliary cleaning module. The main cleaning module 300 may include two main cleaning components, one of which may be swung outward relative to the main body, having an initial position and an edge position, while the other may not be swung relative to the main body. For example, the main cleaning component may include a cleaning tray and a rag disposed on the bottom of the cleaning tray. The rotation of the cleaning tray causes the rag to rotate and mop the floor.

[0132] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0133] Example 1

[0134] This embodiment provides a driving structure that can be used to drive the aforementioned cleaning assembly to swing. For example, the driving structure is used to drive the main cleaning assembly to swing so that the main cleaning member has at least an initial position A and an edge position C. For another example, the driving structure is used to drive the auxiliary cleaning assembly to swing so that the auxiliary cleaning member has at least an initial position A and an edge position C. In this case, the driving structure refers to the first driving structure 520 ( Figure 12 shown).

[0135] Combine Figures 10 to 12 As shown, the driving structure of this embodiment includes a support base 580, a swing motor 521 ( Figure 15 ), a swing arm 524, and a rotation motor 841. The swing motor 521 is mounted on a support base 580. One end of the swing arm 524 is swingably mounted on the support base 580 via a first rotating shaft 680, and the other end is connected to a cleaning assembly. The cleaning assembly has at least an initial position A and an edge position C.

[0136] The top of the first rotating shaft 680 is rotatably disposed on the support seat 580, and the bottom of the first rotating shaft 680 is connected to the upper part of the swing arm 524; the swing motor 521 is used to drive the swing arm 524 to swing on the support seat 580 with the first rotating shaft 680 as the swing axis, so that the cleaning component can switch between the initial position A and the edge position C; the self-rotation motor 841 is disposed on the swing arm 524, and the self-rotation motor 841 is used to drive the cleaning component to rotate; in the height direction of the support seat 580, at least part of the self-rotation motor 841 is distributed directly below the first rotating shaft 680.

[0137] For the convenience of description, the cleaning components mentioned below in this embodiment are all taken as auxiliary cleaning components as an example.

[0138] The top of the first rotating shaft 680 is rotatably mounted on the support base 580, and the bottom of the first rotating shaft 680 is connected to the upper portion of the swing arm 524. This eliminates the need for the first rotating shaft 680 to pass through the swing arm 524, and allows for a portion of space to be reserved below the first rotating shaft 680. This space is used to accommodate the self-rotating motor 841, so that the self-rotating motor 841 does not need to completely avoid the space provided by the first rotating shaft 680 on the swing arm 524. The self-rotating motor 841 is at least partially located directly below the first rotating shaft 680. In other words, the projections of the self-rotating motor 841 and the first rotating shaft 680 along the height of the support base 580 at least partially overlap, resulting in a compact structure that helps reduce space occupied within the cleaning device.

[0139] In an embodiment not shown in the drawings of the present application, in the height direction of the support base 580, a portion of the rotation motor 841 is distributed directly below the first rotating shaft 680, and another portion is distributed directly above the first rotating shaft.

[0140] In other embodiments, Figure 11 As shown, in the height direction of the support base 580, the entire, majority, or entirety of the self-rotating motor 841 is located directly below the first rotating shaft 680. This further allows the self-rotating motor 841 to be located horizontally without occupying any remaining space, making the drive structure compact in the horizontal direction and occupying a small amount of space. In this implementation, the self-rotating motor 841 can be coaxial with the first rotating shaft 680, or it can be eccentrically arranged relative to the first rotating shaft 680.

[0141] When the driving structure is applied to the aforementioned cleaning device 10 , the height direction of the support base 580 generally refers to the height direction of the body 100 of the cleaning device 10 , which is substantially perpendicular to the horizontal plane (or the ground).

[0142] In some embodiments, as Figure 15As shown, the self-rotating motor 841 is installed in the swing arm cavity 5203 of the swing arm 524. The vertical projections of the first rotating shaft 680 and the self-rotating motor 841 on the ground overlap. This provides space for the installation of the self-rotating motor 841 while also preventing moisture from entering the cavity 5203 and potentially affecting the self-rotating motor 841, thus providing some protection for the self-rotating motor 841.

[0143] In an embodiment not shown in the drawings of the present application, the rotation motor 841 may also be arranged outside the swing arm 524 .

[0144] In some embodiments, combined Figure 11 and Figure 15 As shown, in the height direction of the support seat 580, the bottom of the first rotating shaft 680 is connected to the swing arm cavity 5203, and an installation space is enclosed between the bottom of the first rotating shaft 680 and the swing arm cavity 5203, and the rotating motor 841 is arranged in the installation space.

[0145] In this embodiment, the installation space is part of the space of the swing arm cavity 5203.

[0146] In some embodiments, as Figure 18 As shown, the swing arm 524 includes an upper swing arm 5241 and a lower swing arm 5242 connected to the upper swing arm 5241. The upper swing arm 5241 and the lower swing arm 5242 form a first cavity 5246. The top of the upper swing arm 5241 has a downwardly recessed second cavity 5245. The first cavity 5246 and the second cavity 5245 form the swing arm cavity 5203. The bottom of the first rotating shaft 680 is connected to the upper swing arm 5241, and the bottom of the first rotating shaft 680 and the second cavity 5245 form an installation space. The self-rotating motor 841 is disposed in the second cavity 5245. The output shaft of the self-rotating motor 841 extends into the first cavity 5246 and is used to drive the cleaning component to rotate through the second transmission assembly (mentioned below).

[0147] The swing arm 524 includes an upper swing arm 5241 and a lower swing arm 5242. The setting of the upper swing arm 5241 facilitates the connection between the bottom of the first rotating shaft 680 and the upper swing arm 5241 on the one hand; on the other hand, it is convenient to set the self-rotating motor 841 in the second cavity 5245 of the upper swing arm 5241. The upper swing arm 5241 supports the self-rotating motor 841. After the output shaft of the self-rotating motor 841 extends into the first cavity 5246, it is connected to the auxiliary cleaning component 510 through the second transmission component set in the first cavity 5246. The swing arms 524 stacked up and down ensure that the self-rotating motor 841 is located directly below the first rotating shaft 680 while ensuring the power transmission of the self-rotating motor 841. In addition, part of the structure of the second transmission component is also located directly below the self-rotating motor 841 (except the output shaft). Therefore, in the height direction of the swing arm 524, the structure is more compact and the space occupied in the horizontal direction is smaller. Since the self-rotating motor 841 is fixed on the upper swing arm 8241, the self-rotating motor 841 will not shake during the swinging process of the swing arm 524, ensuring that the automatic rotation can normally drive the auxiliary cleaning component to rotate.

[0148] In some embodiments, as Figure 24 As shown, the upper swing arm 5241 includes an arm body 5201 and an annular sleeve 5202 protruding from the top of the arm body 5201, and the inner cavity of the annular sleeve 5202 serves as the second cavity 5245; the bottom of the first rotating shaft 680 is connected to the annular sleeve 5202.

[0149] The arm body 5201 and the lower swing arm 5242 together form a first cavity 5246 .

[0150] In some embodiments, as Figure 12 As shown, the aforementioned water replenishment structure includes a first water channel 610 and a second water channel. The first water channel 610 is used to replenish water for the auxiliary cleaning component 510, and the second water channel is used to replenish water for the main cleaning component 310. The lower swing arm 5242 has a first water outlet, and the first water channel 610 is connected to the first water outlet. The liquid dripping from the first water outlet is used to wet the auxiliary cleaning parts.

[0151] Combine Figure 24 As shown, the arm body 5201 is provided with a first paving hole 5125, which is communicated with the first cavity 5246, and the first water channel 610 passes through the first paving hole 5125 and enters the first cavity 5246 to communicate with the first water outlet.

[0152] like Figure 24 As shown, the arm body 5201 is further provided with a fourth paving hole 743 , which is connected to the second cavity 5245 , so that the control harness 20 can enter the second cavity 5245 through the fourth paving hole 743 and be electrically connected to the rotation motor 841 in the second cavity 5245 .

[0153] In some embodiments, combined Figure 12 and Figure 15 As shown, the bottom of first rotating shaft 680 is embedded in second cavity 5245 and connected to the inner wall of annular sleeve 5202. As can be seen from the figure, the outer diameter of the bottom of first rotating shaft 680 is slightly different from the inner diameter of annular sleeve 5202, and the two are approximately equal. The bottom of first rotating shaft 680 is at least partially located within second cavity 5245 and is secured to the inner wall of annular sleeve 5202. This distribution arrangement makes the structure more compact.

[0154] In this embodiment, Figure 15 As shown, the swing arm 524 has a swing arm cavity 5203 inside, and the first rotating shaft 680 can be at least partially located in the swing arm cavity 5203.

[0155] like Figure 24 As shown, the bottom of the first rotating shaft is embedded in the inner cavity of the annular sleeve, and the outer wall of the first rotating shaft is connected to the inner wall of the annular sleeve. The bottom of the annular sleeve 5202 includes an installation inner wall 5204, which is located at the connection between the second cavity 5245 and the first cavity 5246. The installation inner wall 5204 is roughly parallel to the horizontal plane and can serve as a mounting support for the self-rotating motor 841. In the height direction of the support base 580, the self-rotating motor 841 is located between the bottom of the first rotating shaft 680 and the installation inner wall 5204, and the output shaft of the self-rotating motor 841 can pass through the installation inner wall 5204 to communicate with the first cavity 5246.

[0156] Figure 16 In the illustrated embodiment, the annular sleeve 5202 is at least sleeved on the outside of the bottom of the first rotating shaft 680 .

[0157] In some embodiments, a limiting protrusion 740 ( Figure 18 ), and the other is provided with a first limiting groove 741 ( Figure 26 ), the limiting protrusion 740 and the first limiting groove 741 extend axially along the annular sleeve 5202, and the bottom of the first rotating shaft 680 and the annular sleeve 5202 are connected through the cooperation of the limiting protrusion 740 and the first limiting groove 741.

[0158] For example, Figure 18 and Figure 26 As shown, a first limiting groove 741 is provided at the bottom of the first rotating shaft 680, and a limiting protrusion 740 is provided on the annular sleeve 5202. The limiting protrusion 740 is embedded in the first limiting groove 741 to prevent relative rotation between the annular sleeve 5202 and the first rotating shaft 680. When the swing arm 524 rotates, the first rotating shaft 680 can rotate synchronously.

[0159] The number of the limiting protrusions 740 is at least two, and the number of the first limiting grooves 741 is also at least two.

[0160] In some embodiments, as Figure 18 As shown, an annular step 742 is further provided on the inner wall of the annular sleeve 5202. The bottom of the first rotating shaft 680 is embedded in the annular sleeve 5202 and abuts against the stepped surface of the annular step 742, thereby connecting the first rotating shaft 680 to the annular step 742. The annular step 742 supports the bottom of the first rotating shaft 680, thereby preventing the first rotating shaft 680 from moving downward along its axial direction. The top of the first rotating shaft 680 can be limited by the support seat 580, thereby achieving axial and circumferential fixation of the first rotating shaft 680, resulting in a compact structure and better stability.

[0161] In some embodiments, as Figure 18 、 Figure 22 and Figure 23 As shown, a downwardly protruding connecting column 5248 is provided at the bottom of the upper swing arm 5241 ; the connecting column 5248 passes through the lower swing arm 5242 and is rotatably provided on the support seat 580 .

[0162] During the swinging process of the swing arm 524, the first rotating shaft 680 is used as the swinging axis at the upper part, and the connecting column 5248 is used as the swinging axis at the bottom part. These two swinging axes support the swinging of the swing arm 524 at different positions in the height direction of the support seat 580, thereby improving the stability of the swinging process of the swing arm 524.

[0163] like Figure 22 As shown, the bottom of the support base 580 has a connecting groove 5802, and the bottom of the connecting column 5248 is embedded in the connecting groove 5802. In order to make the connecting column 5248 rotate more smoothly relative to the support base 580, the outer shell of the connecting column 5248 is connected to the first bearing 730, and the first bearing 730 is located between the connecting column 5248 and the inner wall of the connecting groove 5802.

[0164] Likewise, if Figure 16 As shown, a second bearing 684 may also be provided between the top of the first rotating shaft 680 and the support base 580 to enable the top of the first rotating shaft 680 to rotate more smoothly relative to the support base 580 .

[0165] In some embodiments, the axis of the first rotating shaft 680 is parallel to or coincides with the axis of the connecting column 5248 .

[0166] In some embodiments, the axis of the output shaft of the rotation motor 841 is parallel to or coincides with the axis of the first rotation shaft 680 .

[0167] In the implementation of this embodiment, the axis of the output shaft of the self-rotating motor 841 coincides with the axis of the first rotating shaft 680, and the axis of the connecting column 5248 coincides with the axis of the first rotating shaft 680. In this way, when the self-rotating motor 841 rotates and the self-rotating motor swings with the swing arm 524, the axes of rotation and swing are coaxial, and there is no eccentricity, which makes it convenient for the self-rotating motor 841 to drive the auxiliary cleaning component 510 to rotate and swing simultaneously and stably.

[0168] In some embodiments, as Figure 25 and Figure 26 As shown, the first rotating shaft 680 includes a shaft body 682 and a disk body 681 horizontally protruding from the bottom of the shaft body 682, and the disk body 681 is connected to the upper part of the swing arm; the top of the shaft body 682 is rotatably connected to the support seat 580; the swing motor 521 is used to drive the swing arm to drive the disk body 681 to rotate, so that the disk body 681 drives the shaft body 682 to rotate.

[0169] The disc body 681 cannot rotate relative to the swing arm. When the swing arm rotates, the disc body 681 drives the shaft body 682 to rotate synchronously.

[0170] The disc 681 and the shaft 682 are coaxially distributed (eg Figure 26 As shown), alternatively, the axis of the disk body 681 is parallel to the axis of the shaft body 682.

[0171] In some embodiments not shown in the figures of the present application, the swing motor 521 can drive one of the shaft 682 or the disk 681 to rotate, and then the other one drives the swing arm to rotate.

[0172] In some embodiments, as Figures 12 to 14 As shown, the drive structure also includes an output gear 584 and at least one first elastic member 522. The output gear 584 is rotatably mounted on the first rotating shaft 680. One end of the first elastic member 522 is connected to the swing arm, and the other end is connected to the output gear 584. One of the output gear 584 and the swing arm is provided with a second limiting groove 5843 extending in the swing direction of the swing arm, and the other is provided with a limiting protrusion 5247. The limiting protrusion 5247 extends into the second limiting groove 5843. Along the swing direction of the swing arm, the second limiting groove 5843 has a first end wall 5844 and a second end wall 5845.

[0173] When the cleaning assembly is not subjected to the squeezing force or collision force of an obstacle, under the action of the first elastic member 522 , the limiting protruding tooth 5247 maintains contact with the first end wall 5844 and a gap is reserved between the limiting protruding tooth 5247 and the second end wall 5845 .

[0174] The swing motor 521 drives the output gear 584 to rotate forward, forcing the first elastic member 522 to increase its effect, and the limiting convex tooth 5247 maintains contact with the first end wall 5844, driving the swing arm to swing outward through the first elastic member 522; the swing motor 521 drives the output gear 584 to rotate reversely, and the effect of the first elastic member 522 is reduced, and the limiting convex tooth 5247 moves the second end wall 5845, driving the swing arm to actively retract and swing inward.

[0175] The first elastic member 522 can buffer external forces such as squeezing force or collision force from obstacles, thereby reducing damage to the rotating motor 841 caused by the external force.

[0176] In some embodiments, when the cleaning assembly is in the edge position C, under the cooperation of the first elastic member 522, the second limiting groove 5843 and the limiting protruding tooth 5247, the swing arm 524 has a passive retraction process and an active retraction process.

[0177] Through the passive retraction and active retraction of the swing arm, the obstacle avoidance capability of the cleaning component can be improved.

[0178] Figure 12 and Figure 13 Schematically shows a partial structural diagram of the auxiliary cleaning module 500 when the limiting protruding teeth 5247 abut against the first end wall 5844; Figure 14 The diagram exemplarily shows a partial structural diagram of the auxiliary cleaning module 500 when the limiting protruding teeth 5247 abut against the second end wall 5845 .

[0179] The following combination Figure 13 and Figure 14 , respectively introduces the driving principles of the driving structure in two scenarios. Among them, the first scenario is a scenario where the swing arm 524 does not encounter an obstacle during the swing process; the second scenario is a scenario where the swing arm 524 encounters an obstacle during the swing process.

[0180] The first scenario: When the cleaning device 10 needs to clean along the edge, the swing motor 521 rotates forward (for example Figure 12 、 Figure 13 The swing motor 521 rotates clockwise through the first transmission assembly 720 ( Figure 12 As shown in FIG. 5 , which will be discussed below, the first elastic member 522 drives the output gear 584 to rotate in the forward direction. Because the first elastic member 522 is connected at both ends to the swing arm 524 and the output gear 584, respectively, the first elastic member 522 can drive the swing arm 524 to swing outward. The swing arm 524 can swing outward from the initial position A to the edge position C. At the edge position C, the rotation motor 841 drives the auxiliary cleaning assembly 510 to rotate and mop the floor. During the outward swing, the deformation of the first elastic member keeps the limiting protruding tooth 5247 in contact with the first end wall 5844.

[0181] In one embodiment, in the initial position, before the swinging movement begins, the first elastic member may be deformed to a certain extent, causing the limiting protruding tooth 5247 to abut against the first end wall 5844. During the swinging movement, the deformation of the first elastic member continuously increases, causing the limiting protruding tooth 5247 to maintain abutment against the first end wall 5844. Alternatively, in another embodiment, in the initial position, before the swinging movement begins, the first elastic member may be undeformed. During the swinging movement, the first elastic member may be deformed, causing the limiting protruding tooth 5247 to maintain abutment against the first end wall 5844.

[0182] When it is necessary to retract from the edge position C to the initial position A, the swing motor 521 actively retracts. During the active retraction process, the swing motor 521 reverses (for example Figure 12 、 Figure 13 The output gear 584 is driven to rotate in the opposite direction through the first transmission assembly 720. Since the first end wall 5844 of the second limiting groove 5843 is in contact with the limiting protruding tooth 5247 ( Figure 13 As shown), when the output gear 584 rotates in the opposite direction, the limiting protruding tooth 5247 is driven to rotate in the opposite direction through the first end wall 5844. The limiting protruding tooth 5247 then drives the entire swing arm 524 to retract and swing inward, and finally retract to the initial position A.

[0183] In the second scenario, when edge cleaning is required, the swing motor 521 rotates forward, driving the output gear 584 in the forward direction via the first transmission assembly 720. Because the first elastic member 522 is connected at both ends to the swing arm 524 and the output gear 584, respectively, the first elastic member 522 can drive the swing arm 524 to swing outward, switching from the initial position A to the edge position C. During the outward swing, the first elastic member 522 deforms further, causing the limiting protrusion 5247 of the swing arm 524 to abut against the first end wall 5844 of the second limiting groove 5843 on the output gear 584.

[0184] During the outward swing process, or during the edge cleaning process at the edge position C, when the swing arm or the auxiliary cleaning component is subjected to the squeezing force or collision force of an obstacle, the limiting protruding tooth 5247 of the swing arm 524 abuts against the first end wall 5844 of the second limiting groove 5843 on the output gear 584, and a gap ( Figure 13 As shown in the figure), the extrusion force or collision force overcomes the action force of the first elastic member, driving the swing arm to swing relative to the output gear toward the second end wall, so that the limiting protrusion 5247 is separated from the first end wall 5844 and moves toward the second end wall 5845. The swing arm 524 passively retracts to avoid a hard collision between the auxiliary cleaning component or the swing arm and an obstacle, thereby damaging the auxiliary cleaning component or the swing arm.

[0185] Since the swing arm 524 is passively retracted, the auxiliary cleaning assembly 510 in the self-rotating state will hardly be stuck. Figure 14 5845, or the limiting cam 5247 is located between the first end wall 5844 and the second end wall 5845, the obstacle can be avoided or cleaning can be performed along the edge of the obstacle. When the squeezing force or collision force of the obstacle is removed, the limiting cam 5247 moves toward the first end wall 5844 under the elastic force of the first elastic member 522, and returns to abutting against the first end wall 5844, thereby resetting the swing arm. After resetting, under the driving action of the swing motor 521, the swing arm 524 swings outward to the edge position C. If the obstacle still exists after the passive retraction of the swing arm 524 is completed, the squeezing force or collision force will jam the auxiliary cleaning component 510, hindering the auxiliary cleaning component 510 from rotating, thereby increasing the current of the rotation motor 841. According to the increased current of the rotation motor 841, the swing motor 521 can be controlled to reverse, so as to drive the output gear 584 to rotate in the opposite direction. Figure 14 As shown), the swing motor 521 first drives the output gear 584 to idling in the reverse direction for a certain distance (as shown in FIG. Figure 14 As shown, the idle stroke is the gap distance between the first end wall 5844 and the limiting protrusion 5247), until the output gear 584 rotates in the opposite direction until the first end wall 5844 abuts against the limiting protrusion 5247, and the swing motor 521 then drives the swing arm 524 to actively retract by toggling the limiting protrusion 5247.

[0186] In the above example, forward rotation is clockwise rotation and reverse rotation is counterclockwise rotation. As a variation, forward rotation can be counterclockwise rotation and reverse rotation can be clockwise rotation. Correspondingly, the positions of the first end wall and the second end wall need to be swapped.

[0187] In some embodiments, as Figure 12 As shown, the driving structure also includes a position detection member 960. When the swing arm retracts and swings, the position detection member 960 can detect whether the auxiliary cleaning component has reached the initial position, so as to limit the retracted swing of the swing arm. Figure 12 As shown, the output gear 584 has a positioning tooth 5846. When the output gear 584 drives the swing arm to retract and swing inward, if the positioning tooth 5846 contacts the position detection part, the position detection part generates a positioning signal, indicating that the auxiliary cleaning component has retracted to the initial position A. At this time, the swing motor 521 is controlled to stop running to prevent the auxiliary cleaning component from continuing to retract and swing inward.

[0188] In some embodiments, as Figures 2 to 8 As shown, when the swing motor 521 drives the swing arm, the cleaning assembly can be in any one of the initial position A, the edge position C and the third position B. The third position is used to clean the angle area formed by the edge of the obstacle.

[0189] like Figure 28 As shown, the angle area refers to the intersection of the first side and the second side of the obstacle (the first side and the second side can be two sides of an obstacle, or one side of two obstacles respectively, for example, the first side is the side of the first obstacle, and the second side is the side of the second obstacle) to form an angle area.

[0190] In some embodiments, as Figure 4 As shown, in a top-down direction, the swing arm rotates clockwise to switch from the initial position to the edge position C and then to the third position B. Conversely, the swing arm rotates counterclockwise to switch from the third position B to the edge position C and then to the initial position A. As the swing arm 524 swings, the swing arm 524 can switch between any two positions among the initial position A, the edge position C, and the third position B.

[0191] In some embodiments, the swing motor 521 is a stepper motor. Since the number of steps of the stepper motor's rotation can be controlled, the outward swing position of the swing arm 524 can be controlled by controlling the rotation angle or number of steps of the stepper motor, so that the cleaning component can adjust the position of the auxiliary cleaning component online according to the edge of the obstacle during the edge cleaning process to form stepless edge cleaning. Correspondingly, the auxiliary cleaning component does not distinguish between the aforementioned third position B and the edge position C, and can be adjusted to any position between the initial position and the maximum edge position to perform edge cleaning on the edges of obstacles with different edges.

[0192] In some embodiments, as Figure 15 As shown, the first elastic member 522 is a torsion spring, which is sleeved on the output gear 584, and the two ends of the torsion spring are respectively connected to the swing arm and the output gear 584. Figure 15 As can be seen from the illustrated implementation, the torsion spring is sleeved outside a portion of the structure of the output gear 584 .

[0193] In some embodiments, the output gear 584 and the swing arm may be provided with openings respectively, one end of the torsion spring is inserted into the opening of the output gear 584, and the other end is inserted into the opening of the swing arm. Figure 12 and Figure 25 As shown, the opening on the output gear 584 can be a through hole 5847 that passes through the output gear 584, and the opening on the swing arm can be a notch. In an embodiment not shown in the drawings of this application, the openings on the output gear 584 and the swing arm can both be holes.

[0194] The number of the openings on the output gear 584 and the swing arm can be equal to the number of torsion springs. In addition, the number of the openings, the shape of the openings and the depth are not intended to limit the present application.

[0195] exist Figure 25 In the illustrated embodiment, there are two first elastic members 522. It is understood that the number of the first elastic members 522 may also be one, three, or more.

[0196] In some embodiments, as described above, the disk 681 of the first rotating shaft 680 is fixed to the bottom of the shaft 682 and extends outward; the disk 681 is connected to the upper part of the swing arm 524; the top of the shaft 682 is rotatably connected to the support base 580; the swing motor 521 drives the output gear 584 to rotate, and the swing arm swings through the torsion spring, so that the swing arm 524 drives the disk 681 and the shaft 682 of the first rotating shaft 680 to rotate. Figure 15 As shown, the output gear 584 is rotatably arranged outside the shaft body 682, and a receiving groove is formed between the disc body 681 and the output gear 584, and the torsion spring is arranged in the receiving groove. This layout structure is more compact and is conducive to saving the internal space of the swing arm cavity 5203.

[0197] In some embodiments, as Figure 16 and Figure 27 As shown, the bottom of the output gear 584 is provided with a first groove 588 which is recessed upwards; Figure 16 and Figure 26 As shown, the edge of the disk body 681 has an upwardly bent outer edge 6811, and a second groove 683 with an upward opening is formed between the outer edge 6811, the disk body 681 and the shaft body 682. A receiving groove is formed between the first groove 588 and the first groove 588. The upper part of the torsion spring is located in the first groove 588, and the lower part of the torsion spring is located in the second groove 683.

[0198] Without limitation, Figure 26 and Figure 27 As shown, the first groove 588 and the second groove 683 may both be annular grooves, and the torsion spring, the first groove 588 and the second groove 683 may be coaxially distributed.

[0199] In some embodiments, as Figure 16 and Figure 17 As shown, along the radial direction of the output gear 584, an extension portion 589 extending downward is provided on the end portion of the inner groove wall of the first groove 588; a first gap 685 exists between the end portion of the outer groove wall of the first groove 588 and the outer edge 6811; the extension portion 589 is embedded in the second groove 683, and a second gap 686 exists between the extension portion 589 and the top surface of the disk body 681; at least part of the torsion spring is sheathed outside the extension portion.

[0200] By providing the first gap 685, when the first rotating shaft 680 rotates with the swing arm, there is no rotational friction between the end face of the output gear 584 and the outer edge 6811, thereby avoiding wear of the outer end face of the first groove 588 and the outer edge 6811 opposite to the outer end face of the first groove 588 due to rotational friction between the first rotating shaft 680 and the output gear 584, thereby ensuring the normal rotation of the swing arm relative to the output gear 584.

[0201] By providing the second gap 686, there is no rotational friction between the end face of the output gear 584 and the bottom of the second groove 683, thereby avoiding wear between the bottom end of the extension part and the bottom of the second groove 683 due to rotational friction between the first rotating shaft 680 and the output gear 584, thereby ensuring the normal rotation of the swing arm relative to the output gear 584.

[0202] In addition, the extension portion is sleeved outside the shaft body 682 and located inside the torsion spring. The extension portion has a limiting effect on the torsion spring, preventing the torsion spring from contacting the shaft after being deformed by force, thereby reducing or even preventing the torsion spring from affecting the rotation of the first rotating shaft 680 and the swing arm.

[0203] For example, Figure 27 As shown, the extension portion 589 is formed as a downwardly protruding annular inner cylinder, with an outer edge 6811 surrounding the outer portion of the annular inner cylinder. The interior of the annular inner cylinder defines a through hole 5847 that extends through the output gear 584. The shaft 682 extends upward through the through hole 5847 of the annular inner cylinder to be rotatably connected to the support base 580. The shaft 682 can be rotatably connected to the support base 580 directly or indirectly.

[0204] In some embodiments, as Figure 10 As shown, the support base 580 includes a base 587 and an upper cover 585 provided on the base 587; the bottom of the base 587 has a horizontal outward extension seat 586; one end of the upper cover 585 is fixed to the top of the base 587, and the other end is suspended above the extension seat 586, and an open cavity 5801 is formed between the upper cover 585 and the extension seat 586; a first accommodating cavity is formed between the base 587 and the upper cover 585; Figure 12 As shown, the driving structure also includes a first transmission assembly 720 that transmits the swing motor 521 to the output gear 584. The first transmission assembly 720 is located in the first accommodating cavity; one end of the swing arm is installed in the open cavity 5801, and the other end extends out of the open cavity 5801.

[0205] The opening cavity 5801 has an opening at least in the direction of the swing arm's outward swing or retraction to ensure that the swinging process of the swing arm is not hindered.

[0206] Compared with the open cavity 5801 , the first accommodating cavity is relatively closed, so as to reduce the influence of impurities such as dust and water vapor on the second transmission component 842 , thereby protecting the second transmission component 842 .

[0207] The top of the first rotating shaft 680 is rotatably connected to the upper cover 585 , and the connecting groove 5802 matching the connecting column 5248 is provided on the extension seat 586 .

[0208] In some embodiments, as Figure 15 As shown, the base 587 has a hollow portion, the swing motor 521 is disposed in the hollow portion, and the output shaft of the swing motor 521 extends into the first accommodating cavity to be connected to the first transmission assembly 720.

[0209] like Figure 15 As shown, the axis of the swing motor 521 is parallel to the height of the support base 580. The first transmission assembly 720 includes multiple intermeshing gears, which are arranged generally horizontally. The projections of the first transmission assembly 720 and the swing motor 521 on the ground at least partially overlap. This arrangement creates a compact structure and fully utilizes the internal space of the support base 580.

[0210] exist Figure 18 In the implementation shown, the aforementioned installation space is part of the second cavity 5245 and is connected to the first cavity 5246, so that the remaining parts of the rotating motor 841 except the output shaft are located in the second cavity 5245, and the output shaft extends into the first cavity 5246.

[0211] In some embodiments, as Figure 18 As shown, the driving structure also includes a second transmission assembly 842 arranged in the first cavity 5246. The output shaft of the rotating motor 841 is connected to the cleaning assembly (in this embodiment, the auxiliary cleaning assembly 510) through the second transmission assembly 842, so that the cleaning assembly is located below the swing arm 524.

[0212] Figure 18 In the illustrated implementation, the second transmission assembly 842 includes a worm gear structure and a gear assembly meshing with the worm wheel in the worm gear structure. The cleaning assembly is connected to the gear assembly to achieve self-rotation mopping under the rotation of the gear assembly.

[0213] In other embodiments, the second transmission assembly may also adopt other transmission structures, such as a rack and pinion transmission structure, a gear transmission structure, etc.

[0214] In some embodiments, combined Figures 18 to 21As shown, the second transmission assembly includes a gear assembly 8411, and a connecting assembly connecting the gear assembly 8411 to the mounting protrusion 5161 of the cleaning assembly; the connecting assembly includes a fixed sleeve 851, a floating sleeve 852 and a fourth elastic member 853 fixedly connected to the gear assembly; wherein, the fixed sleeve 851 has a second accommodating cavity 8512 with an opening at the bottom; the top of the floating sleeve 852 is installed in the second accommodating cavity 8512, and its bottom extends out of the fixed sleeve 851 and the bottom of the swing arm 524, and is floatingly connected to the mounting protrusion 5161 of the cleaning assembly, and a floating cavity 854 is formed between the mounting protrusion 5161 and the floating sleeve 852, and the fourth elastic member 853 is arranged in the floating cavity 854, and the fourth elastic member 853 applies pre-pressure toward the cleaning surface to the mounting protrusion 5161.

[0215] The auxiliary cleaning disc 512 is connected to the second transmission assembly 842 via the mounting protrusion 5161 . For example, the mounting protrusion 5161 is connected to the second transmission assembly 842 via magnetic attraction.

[0216] The elastic force of the fourth elastic member 853 allows the auxiliary rag to float and contact the ground. When the auxiliary cleaning plate 512 is in the mopping position for cleaning, the elastic force of the fourth elastic member 853 allows the auxiliary rag to float and contact the ground. When the auxiliary cleaning member 511 is in contact with the ground, the elasticity of the fourth elastic member 853 allows the auxiliary rag to more fully adhere to the ground, while preventing excessive contact between the auxiliary rag and the ground from affecting the mopping effect, thereby achieving a balanced pressure effect.

[0217] from Figure 19 As can be seen in the figure, fixed sleeve 851 is sleeved over floating sleeve 852, while floating sleeve 852 at least partially sleeves over mounting protrusion 5161. A floating cavity is formed between the inner wall of floating sleeve 852 and the outer wall of mounting protrusion 5161. This structure makes full use of the lateral space of cleaning apparatus 10, reduces the height space occupied by body 100, and achieves a more compact structure.

[0218] The fourth elastic member 853 includes but is not limited to a compression spring that is sleeved around at least a portion of the mounting protrusion 5161 .

[0219] For example, the fixing sleeve 851 may be fixed to the gear of the gear assembly 8411 by means of fasteners such as screws.

[0220] An anti-rotation structure is provided between the floating sleeve 852 and the fixed sleeve 851. By utilizing the anti-rotation structure, the floating sleeve 852 can rotate synchronously with the fixed sleeve 851. The anti-rotation structure can adopt a structure in which a groove and a protrusion cooperate, but is not limited thereto.

[0221] The floating sleeve 852 and the mounting protrusion 5161 are circumferentially limited, allowing them to rotate synchronously with each other, thus enabling the auxiliary rag to rotate. Furthermore, the floating sleeve 852 and the mounting protrusion 5161 are circumferentially movable, allowing the mounting protrusion 5161 to float vertically relative to the floating sleeve 852. For example, the bottom of the floating sleeve 852 is provided with multiple snaps along its circumference, and the mounting protrusion 5161 is provided with multiple snap interfaces 8526 at corresponding circumferential positions. The snaps are inserted into the snap interfaces 8526 to limit the circumferential relative rotation between the floating sleeve 852 and the mounting protrusion 5161, but do not limit their axial floating.

[0222] When the gear assembly 8411 rotates, the fixed sleeve 851 rotates synchronously because the fixed sleeve 851 is fixed to the gear assembly 8411. The floating sleeve 852 and the auxiliary cleaning assembly 510 also rotate synchronously with the fixed sleeve 851.

[0223] Example 2

[0224] The difference between this embodiment and embodiment 1 is that the first rotating shaft 680 is located outside the swing arm cavity 5203 .

[0225] In some embodiments, the bottom of the first rotating shaft 680 is located outside the swing arm cavity 5203 and is not connected to the swing arm cavity 5203. The swing arm cavity 5203 has an installation space for the self-rotating motor 841 to be installed.

[0226] In some embodiments, the swing arm may also include an upper swing arm 5241 and a lower swing arm 5242 connected to the upper swing arm 5241. Similar to Example 1, a first cavity 5246 is formed between the upper swing arm 5241 and the lower swing arm 5242. The top of the upper swing arm 5241 has a downwardly recessed second cavity 5245. The first cavity 5246 and the second cavity 5245 form a swing arm cavity 5203; the bottom of the first rotating shaft 680 is connected to the upper swing arm 5241, and the second cavity 5245 serves as an installation space; the self-rotating motor 841 is arranged in the second cavity 5245, and the output shaft of the self-rotating motor 841 extends into the first cavity 5246 to drive the cleaning component to rotate.

[0227] In some embodiments, this embodiment differs from Embodiment 1 in that the bottom of the first rotating shaft 680 is sleeved on the outer wall of the annular sleeve 5202 of the upper swing arm 5241 to be connected to the annular sleeve 5202. In other words, the bottom of the first rotating shaft 680 is sleeved on the outside of at least a portion of the outer wall of the annular sleeve 5202.

[0228] In addition, in some other embodiments, the swing arm may not be provided with the swing arm cavity 5203. If there is no swing arm cavity 5203 inside the swing arm, the first rotating shaft 680 may be located above the swing arm.

[0229] The other structures and working principles of the driving structure have been described in detail in the above embodiments and will not be repeated here.

[0230] Example 3

[0231] This embodiment provides a cleaning device based on the above content.

[0232] The cleaning device includes a body, a cleaning component and a first drive structure, wherein the cleaning component has at least an initial position A and an edge position C relative to the body; the first drive structure is the drive structure described in any of the aforementioned embodiments; the first drive structure is used to drive the cleaning component to switch between the initial position A and the edge position C.

[0233] In some embodiments, the cleaning device includes at least one main cleaning component but does not have an auxiliary cleaning component, and the aforementioned cleaning component is the main cleaning component.

[0234] In some embodiments, the cleaning device includes a main cleaning module and an auxiliary cleaning module. The main cleaning module includes at least one main cleaning component, and the auxiliary cleaning module includes at least one auxiliary cleaning component. The aforementioned cleaning component is an auxiliary cleaning component.

[0235] In some embodiments, when the swing motor 521 drives the swing arm 524, the cleaning assembly can be in any of the initial position A, the edge position C, and the third position B. The third position B is used to clean the angle area formed by the edge of the obstacle.

[0236] like Figure 28 As shown, the distances between the rotation center of the body 100 and the rotation center of the cleaning assembly at the initial position A, the edge position C, and the third position B are LA, LB, and LC, respectively, wherein LB>LC>LA.

[0237] The structure and working principle of the cleaning device have been described in detail in the above embodiments and will not be repeated here.

[0238] Example 4

[0239] This embodiment provides another cleaning device based on the above content.

[0240] The cleaning device includes a body, a main cleaning module and an auxiliary cleaning module, wherein the main cleaning module is arranged on the body; the main cleaning module includes a first lifting structure and at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to rise and fall; Figure 6 and Figure 9As shown, the auxiliary cleaning module 500 is arranged on the main cleaning component 310, and the auxiliary cleaning module 500 includes an auxiliary cleaning component 510 and a driving structure as described in any of the above embodiments, and the driving structure is used to drive the auxiliary cleaning component 510 to switch between at least the initial position A and the edge position C; under the drive of the first lifting structure, the auxiliary cleaning module 500 rises and falls synchronously with the main cleaning component 310. In this implementation, as Figure 6 As shown, the auxiliary cleaning module 500 is entirely arranged on the mounting base 312 of the main cleaning component 310. The main cleaning module 300 itself is provided with a first lifting structure for driving the main cleaning component 310 to perform lifting movements. When the first lifting structure drives the main cleaning component 310 to lift and lower, it simultaneously drives the auxiliary cleaning module 500 to lift and lower synchronously, so that the main cleaning component 310 and the auxiliary cleaning component 510 are synchronously in the mopping position and the lifting position. For the auxiliary cleaning component 510, only the aforementioned driving structure is required to drive the auxiliary cleaning component 510 to swing to switch between the edge position C and the initial position A. This implementation method simplifies the structure of the driving structure 520 and occupies less space.

[0241] In some embodiments, when the swing motor 521 drives the swing arm 524, the auxiliary cleaning assembly can be in any of the initial position A, the edge position C, and the third position B. The third position B is used to clean the angle area formed by the edge of the obstacle.

[0242] like Figure 28 As shown, the distances between the rotation center of the main body 100 and the rotation center of the auxiliary cleaning assembly 510 at the initial position A, the edge position C, and the third position B are LA, LB, and LC, respectively, where LB>LC>LA.

[0243] Example 5

[0244] like Figure 29 As shown, how to switch from cleaning the first side to cleaning the angle area formed by the first side and the second side to ensure a high cleaning coverage rate and improve user experience is an urgent problem to be solved. Based on this, in some embodiments of this specification, the body can be controlled to perform a first rotation in the angle area between the first side and the second side, so that the auxiliary cleaning component moves along the first side toward the second side, and the angle area is the inner angle formed by the first side and the second side; during the first rotation of the body, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is the first distance, so as to perform cleaning on the angle area.

[0245] The auxiliary cleaning assembly can utilize a stepless adjustment method and can stay at an initial position, a third position, and any position within a swing range between the initial position and the third position. For example, the first end of the swing arm can be connected to a drive component such as a motor and a gear in the fuselage. The drive component can drive the first end to rotate so that the swing arm drives the auxiliary cleaning assembly to swing within the swing range. The swing arm can drive the auxiliary cleaning assembly to swing to any position within the swing range, that is, the position of the auxiliary cleaning assembly can be steplessly changed. The first drive assembly can drive the auxiliary cleaning assembly to adjust its position within the swing range so that the center of rotation of the auxiliary cleaning assembly maintains a first distance from the first side during the rotation of the fuselage.

[0246] It can be understood that the rotation center of the auxiliary cleaning component is maintained at a first distance from the first side, and it is easy to calculate the distance between any point on the auxiliary cleaning component and the first side. For example, if the rotation center of the auxiliary cleaning component is at a first distance from the first side, it is easy to calculate the distance between the point at which the edge of the auxiliary cleaning component is closest to the first side and the first side. Therefore, making the distance between the rotation center of the auxiliary cleaning component and the first side the first distance is equivalent to maintaining the distance between any point on the auxiliary cleaning component and the first side. Based on the above description, unless otherwise specified, the distance between the rotation center of the auxiliary cleaning component and the first side in the embodiment of this specification can be replaced with the distance between the auxiliary cleaning component and the first side. In actual applications, due to uncontrollable environmental factors or measurement accuracy (such as body shaking, flatness of the first side), the distance between the rotation center of the auxiliary cleaning component and the first side may not necessarily be maintained at an absolutely fixed value, but will float within a certain range. Therefore, the first distance can be a fixed value or a distance value with a predetermined tolerance value.

[0247] When the fuselage performs the first rotation, if the auxiliary cleaning component remains fixed at a certain position relative to the fuselage (that is, the first driving component does not adjust the position of the auxiliary cleaning component), then as the fuselage rotates, the relative position of the auxiliary cleaning component and the first side will also change. For example, the auxiliary cleaning component will move away from the first side, causing a larger gap between the auxiliary cleaning component and the first side, thereby creating a missed cleaning area between the auxiliary cleaning component and the first side, reducing the cleaning effect; or, the auxiliary cleaning disc will interfere with the first side, thereby pushing the fuselage away from the first side or causing the auxiliary cleaning disc to generate greater pressure, collision, etc., thereby damaging the cleaning equipment or causing the cleaning equipment to deviate from the cleaning route.

[0248] Therefore, when the fuselage makes the first rotation, the first drive component can adjust the position of the auxiliary cleaning component relative to the fuselage, such as adjusting the distance of the auxiliary cleaning component from the fuselage, so that the distance between the auxiliary cleaning component and the first side is maintained at the first distance, so that the edge point of the auxiliary cleaning component closest to the first side is very close to the first side or maintains contact with the first side, but no excessive extrusion contact occurs, thereby reducing the probability of abnormal phenomena such as scratches and excessive extrusion between the auxiliary cleaning component and obstacles, while achieving cleaning of the angle area during the first turning process, at least reducing the uncleaned area between the auxiliary cleaning component and the first side.

[0249] After the body performs the first rotation and the auxiliary cleaning assembly swings to the third position, if the distance between the rotation center of the auxiliary cleaning assembly and the second side is greater than the second distance, the auxiliary cleaning assembly is controlled to remain in the third position, and the body is controlled to continue to perform the first rotation until the distance between the rotation center of the auxiliary cleaning assembly and the second side is the second distance, so as to clean the angle area to ensure the coverage rate of the angle cleaning.

[0250] It is understandable that the rotation center of the auxiliary cleaning component is maintained at a second distance from the first side, and it is easy to calculate the distance between any point on the auxiliary cleaning component and the second side. For example, if the rotation center of the auxiliary cleaning component is at the second distance from the second side, it is easy to calculate the distance between the point closest to the edge of the auxiliary cleaning component and the second side and the second side. Therefore, making the distance between the rotation center of the auxiliary cleaning component and the second side the second distance is equivalent to maintaining the distance between any point on the auxiliary cleaning component and the second side. Based on the above description, unless otherwise specified, the distance between the rotation center of the auxiliary cleaning component and the second side in the embodiment of this specification can be replaced with the distance between the auxiliary cleaning component and the second side. In actual applications, due to uncontrollable environmental factors or measurement accuracy (such as body shaking, flatness of the second side), the distance between the rotation center of the auxiliary cleaning component and the second side may not necessarily be maintained at an absolutely fixed value, but will float within a certain range. Therefore, the second distance can be a fixed value or a distance value with a predetermined tolerance value.

[0251] The structure and working principle of the cleaning device have been described in detail in the above embodiments and will not be repeated here.

[0252] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0253] Throughout this specification, references to "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" mean that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative references to the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0254] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A driving structure, characterized in that: include Support seat; A swing motor is provided on the support base; a swing arm, one end of which is swingably disposed on the support seat via a first rotating shaft, and the other end of which is used for connecting to a cleaning assembly; The cleaning component has an initial position and an edge position; The top of the first rotating shaft is rotatably disposed on the support base, and the bottom of the first rotating shaft is connected to the upper portion of the swing arm; the swing motor is used to drive the swing arm to swing on the support base with the first rotating shaft as the swing axis, so that the cleaning component switches between the initial position and the edge position; A rotation motor, provided on the swing arm, for driving the cleaning component to rotate; In the height direction of the support base, at least a portion of the rotation motor is distributed directly below the first rotating shaft.

2. The driving structure according to claim 1, characterized in that: The self-rotating motor is arranged in the swing arm cavity of the swing arm, and the vertical projections of the first rotating shaft and the self-rotating motor on the ground have an overlapping area.

3. The driving structure according to claim 2, characterized in that: In the height direction of the support seat, the bottom of the first rotating shaft is connected to the swing arm cavity, and an installation space is enclosed between the bottom of the first rotating shaft and the swing arm cavity. The self-rotating motor is arranged in the installation space.

4. The driving structure according to claim 3, characterized in that: The swing arm includes an upper swing arm and a lower swing arm connected to the upper swing arm, wherein a first cavity is formed between the upper swing arm and the lower swing arm, and a second cavity is formed on the top of the upper swing arm. The first cavity and the second cavity form the swing arm cavity; The bottom of the first rotating shaft is connected to the upper swing arm, and the bottom of the first rotating shaft and the second cavity form the installation space; The self-rotating motor is arranged in the second cavity, and the output shaft of the self-rotating motor extends into the first cavity to drive the cleaning component to rotate.

5. The driving structure according to claim 4, characterized in that: The upper swing arm includes an arm body and an annular sleeve protruding from the top of the arm body, the inner cavity of the annular sleeve serves as the second cavity; the bottom of the first rotating shaft is connected to the annular sleeve.

6. The driving structure according to claim 5, characterized in that: The bottom of the first rotating shaft is embedded in the second cavity and connected to the inner wall of the annular sleeve; or The bottom of the first rotating shaft is sleeved on the outer wall of the annular sleeve to be connected with the annular sleeve.

7. The driving structure according to claim 6, characterized in that: An annular step is provided on the inner wall of the annular sleeve, the bottom of the first rotating shaft is embedded in the annular sleeve and abuts against the step surface of the annular step; the first rotating shaft is connected to the annular step; and / or A limiting protrusion is provided on one of the outer wall of the bottom of the first rotating shaft and the inner wall of the annular sleeve, and a first limiting groove cooperating with the limiting protrusion is provided on the other. The limiting protrusion and the first limiting groove extend axially along the annular sleeve, and the bottom of the first rotating shaft and the annular sleeve are connected through the cooperation of the limiting protrusion and the first limiting groove.

8. The driving structure according to claim 2, characterized in that: The bottom of the first rotating shaft is located outside the swing arm cavity and is not connected to the swing arm cavity. The swing arm cavity has an installation space for the self-rotating motor to be installed.

9. The driving structure according to claim 8, characterized in that: The swing arm includes an upper swing arm and a lower swing arm connected to the upper swing arm, wherein a first cavity is formed between the upper swing arm and the lower swing arm, and a second cavity is formed on the top of the upper swing arm. The first cavity and the second cavity form the swing arm cavity; The bottom of the first rotating shaft is connected to the upper swing arm, and the second cavity serves as the installation space; The self-rotating motor is arranged in the second cavity, and the output shaft of the self-rotating motor extends into the first cavity to drive the cleaning component to rotate.

10. The driving structure according to claim 4 or 9, characterized in that: A downwardly protruding connecting column is provided at the bottom of the upper swing arm; The connecting column passes through the lower swing arm and is rotatably arranged on the support seat.

11. The driving structure according to any one of claims 4 to 7 and 9, characterized in that: It also includes a second transmission assembly disposed in the first cavity, and the output shaft of the rotating motor is connected to the cleaning assembly through the second transmission assembly, so that the cleaning assembly is located below the swing arm.

12. The driving structure according to any one of claims 1 to 9, characterized in that: The axis of the output shaft of the self-rotating motor is parallel to or coincides with the axis of the first rotating shaft.

13. The driving structure according to any one of claims 1 to 9, characterized in that: The first rotating shaft includes a shaft body, and a disk body horizontally protruding from the bottom of the shaft body, and the disk body is connected to the upper part of the swing arm; the top of the shaft body is rotatably connected to the support seat; the swing motor is used to drive the swing arm to drive the disk body to rotate, so that the disk body drives the shaft body to rotate.

14. The driving structure according to any one of claims 1 to 9, characterized in that: It also includes an output gear and at least one first elastic member; the output gear is rotatably sleeved on the outside of the first rotating shaft; one end of the first elastic member is connected to the swing arm, and the other end is connected to the output gear; One of the output gear and the swing arm is provided with a second limiting groove extending along the swing direction of the swing arm, and the other is provided with a limiting convex tooth; the limiting convex tooth extends into the second limiting groove; along the swing direction of the swing arm, the second limiting groove has a first end wall and a second end wall; When the cleaning assembly is not subjected to the squeezing force or collision force of an obstacle, under the action of the first elastic member, the limiting protruding tooth maintains contact with the first end wall, and a gap is reserved between the limiting protruding tooth and the second end wall; The swing motor drives the output gear to rotate forward, forcing the effect of the first elastic member to increase, the limiting convex tooth maintains abutment with the first end wall, and the swing arm is driven to swing outward through the first elastic member; the swing motor drives the output gear to rotate reversely, the effect of the first elastic member is reduced, and the second end wall is moved through the limiting convex tooth, driving the swing arm to actively retract and swing inward.

15. The driving structure according to claim 14, characterized in that: The first elastic member is a torsion spring, which is sleeved on the output gear. Two ends of the torsion spring are respectively connected to the swing arm and the output gear.

16. The driving structure according to claim 15, characterized in that: The first rotating shaft includes a shaft body and a disc body fixed to the bottom of the shaft body and extending outward; the disc body is connected to the upper part of the swing arm; the top of the shaft body is rotatably connected to the support base; the swing motor is used to drive the swing arm to rotate, so that the swing arm drives the disc body and the shaft body to rotate; The output gear is rotatably disposed outside the shaft body, a receiving groove is formed between the disc body and the output gear, and the torsion spring is disposed in the receiving groove.

17. The driving structure according to claim 16, characterized in that: The bottom of the output gear is provided with a first groove which is recessed upwards; The edge of the disk body has an outer edge that bends upward, and a second groove with an upward opening is formed between the outer edge, the disk body and the shaft body. The first groove and the first groove form the accommodating groove. The upper part of the torsion spring is located in the first groove, and the lower part of the torsion spring is located in the second groove.

18. The driving structure according to claim 17, characterized in that: Along the radial direction of the output gear, an extension portion extending downward is provided on the end portion where the inner groove wall of the first groove is located; a first gap exists between the end portion where the outer groove wall of the first groove is located and the outer edge; the extension portion is embedded in the second groove, and a first gap exists between the extension portion and the top surface of the disk body; at least a portion of the torsion spring is sheathed outside the extension portion.

19. The driving structure according to claim 1, characterized in that: The swing motor is a stepping motor.

20. The driving structure according to claim 14, characterized in that: The support base includes a base and an upper cover shell provided on the base; the bottom of the base has a horizontal outward extension seat; one end of the upper cover shell is fixed to the top of the base, and the other end is suspended above the extension seat, and an open cavity is formed between the upper cover shell and the extension seat; A first accommodating cavity is formed between the base and the upper cover; It also includes a first transmission assembly for connecting the swing motor to the output gear, wherein the first transmission assembly is located in the first accommodating cavity; One end of the swing arm is installed in the open cavity, and the other end extends out of the open cavity.

21. The driving structure according to claim 20, characterized in that: The base has a hollow portion, the swing motor is arranged in the hollow portion, and the output shaft of the swing motor extends into the first accommodating cavity and is connected to the first transmission assembly.

22. The driving structure according to claim 11, characterized in that: The second transmission assembly includes a gear assembly and a connecting assembly connecting the gear assembly to the mounting protrusion of the cleaning assembly; The connecting assembly includes a fixed sleeve, a floating sleeve and a fourth elastic member fixedly connected to the gear assembly; In which, the fixed sleeve has a second accommodating cavity with an open bottom; the top of the floating sleeve is installed in the second accommodating cavity, and the bottom thereof extends out of the fixed sleeve and the bottom of the swing arm, and is floatingly connected to the mounting protrusion of the cleaning assembly. A floating cavity is formed between the mounting protrusion and the floating sleeve, and the fourth elastic member is arranged in the floating cavity, and the fourth elastic member applies pre-pressure toward the cleaning surface to the mounting protrusion.

23. A cleaning device, characterized in that: include body; a cleaning assembly having an initial position and an edgewise position relative to the body; The first driving structure is the driving structure according to any one of claims 1 to 22; The first driving structure is used to drive the cleaning component to switch between the initial position and the edge position.

24. A cleaning device, characterized in that: The cleaning device includes body; A main cleaning module is provided on the machine body; the main cleaning module comprises a first lifting structure and at least one main cleaning component; the first lifting structure is used to drive the main cleaning component to rise and fall; An auxiliary cleaning module, provided on the main cleaning assembly, the auxiliary cleaning module comprising an auxiliary cleaning assembly and a driving structure according to any one of claims 1 to 22, for driving the auxiliary cleaning assembly to switch between an initial position and an edge position; Driven by the first lifting structure, the auxiliary cleaning module rises and falls synchronously with the main cleaning component.

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