Cleaning module and cleaning equipment

Abstract

The utility model discloses a cleaning module and cleaning equipment, the cleaning module comprises a main body and a cleaning assembly, the cleaning assembly comprises a swing arm, a cleaning piece and a push-pull part, the swing arm is rotatably installed on the main body, the cleaning piece is installed on the swing arm, and the push-pull part is installed on the cleaning piece. The swing arm is provided with a first position and a second position, the first position rotates to enable the cleaning piece to be away from the body and at least partially located outside the edge contour of the body, and the push-pull component is installed in the body and located on one side of the swing arm; the push-and-pull part comprises a first driving part, a push-and-pull part and a connecting part, the push-and-pull part is connected with the first driving part, the connecting part is connected between the push-and-pull part and the swing arm, and the first driving part drives the push-and-pull part to drive the connecting part to push the swing arm to the first position or pull the swing arm back to the second position. The cleaning module solves the problems that the cleaning coverage rate of the cleaning module is low, and the cleaning effect is not ideal.

Description

Technical Field

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

[0002] Cleaning devices such as robot vacuums, mops, and floor scrubbers are smart home appliances that can automatically clean the floor in a room using artificial intelligence. However, when cleaning devices clean corners, edges, obstacles, and other edges, there are gaps between the cleaning components (such as side brushes and mops) and the corners, creating blind spots for the cleaning devices. These gaps make it difficult to completely remove debris from these blind spots.

[0003] It can be seen that the existing cleaning equipment cannot completely cover the corner areas when performing cleaning work along the corner areas, resulting in a low cleaning coverage rate of the cleaning equipment and unsatisfactory cleaning effect. Users are required to clean the blind spots in the corner areas by themselves, and the user experience is poor. Utility Model Content

[0004] The main purpose of the present application is to provide a cleaning module and a cleaning device to solve the problems of low cleaning coverage and unsatisfactory cleaning effect of the cleaning device mentioned in the background art.

[0005] According to one aspect of the present application, a cleaning module is provided, comprising:

[0006] main body;

[0007] A cleaning assembly, the cleaning assembly comprising a cleaning component and a push-pull component, the cleaning component comprising a swing arm and a cleaning member, the swing arm being rotatably mounted on the main body, the cleaning member being mounted on the swing arm, the swing arm being capable of rotating to a first position in which the cleaning member is away from the main body and at least partially located outside an edge contour of the main body, and a second position in which the cleaning member is close to the main body, the push-pull component being mounted in the main body and located on one side of the swing arm;

[0008] The push-pull component includes a first driving component, a push-pull component and a connecting component, wherein the push-pull component is connected to the first driving component, and the connecting component is connected between the push-pull component and the swing arm, wherein the first driving component drives the push-pull component to drive the connecting component to push the swing arm to the first position or pull it back to the second position.

[0009] Furthermore, the first driving member includes a first motor, the first motor includes a first output shaft, the push-pull member includes a crank, the crank is connected to the first output shaft, and the crank is connected to the connecting member at one end radially away from the first output shaft along the first output shaft, the first output shaft drives the crank to rotate in a first direction, so that the connecting member drives the swing arm to rotate to the first position away from the crank, and the first output shaft drives the push-pull member to rotate in a second direction, so that the connecting member drives the swing arm to rotate to the second position close to the crank.

[0010] Furthermore, the connecting piece includes:

[0011] An elastic connecting member, one end of which is connected to the crank and the other end is connected to the swing arm. When the cleaning component is subjected to an external force, the elastic connecting member applies an elastic force on the swing arm. When the external force applied to the cleaning component is removed, the swing arm tends to rotate to the first position or the second position under the action of the elastic force.

[0012] Furthermore, the cleaning component further comprises:

[0013] The mounting bracket includes a base and a fixing base, the base is installed at the bottom of the main body, the fixing base is installed on the base and a first mounting groove is formed between the base, the end of the swing arm away from the cleaning member is rotatably installed in the first mounting groove, the first motor is installed in the base and is located on one side of the fixing base, and the first output shaft at least partially extends to the side of the base close to the fixing base and is connected to the crank.

[0014] Furthermore, the cleaning component further comprises:

[0015] A limiting component is installed on the base, and the limiting component is used to limit the rotation angle of the swing arm between the first position and the second position.

[0016] Furthermore, the limiting component includes:

[0017] A first limit member is installed on the base and is located on one side of the crank. The crank rotates along a first direction until it abuts against the first limit member to rotate the swing arm to the first position. The crank rotates along a second direction until it abuts against the first limit member to rotate the swing arm to the second position.

[0018] Furthermore, the crank has a first rotation angle for rotating in the first direction or the second direction, and the first limiting member includes:

[0019] a mounting block, the mounting block being mounted on the base, the first output shaft passing through the mounting block and being connected to the crank;

[0020] An arc-shaped boss, the arc-shaped boss is located on a side of the mounting block away from the base and surrounds a side of the first output shaft away from the fixed seat, along the axial direction of the first output shaft, the height of the side of the crank away from the mounting block is not higher than the height of the arc-shaped boss, along the radial direction of the first output shaft, the length of the crank is greater than the inner diameter of the arc-shaped boss, wherein 360° minus the central angle of the arc-shaped boss is equal to the first rotation angle of the crank in the first direction or the second direction.

[0021] Furthermore, the limiting component further includes:

[0022] A limit switch is installed on the base and is located between the crank and the fixing seat, and the limit switch is offset from the connecting member. The limit switch abuts against the swing arm to limit the swing arm to the second position.

[0023] Furthermore, a receiving cavity is provided in the swing arm, a second mounting groove is provided on a side of the base facing away from the fixing seat, and the second mounting groove is communicated with the first mounting groove, and the cleaning assembly further includes a driving component, and the driving component includes:

[0024] a second motor rotatably mounted in the second mounting slot, the second motor including a second output shaft, wherein along the axial direction of the first output shaft, a side of the swing arm close to the second motor is connected to the second motor, and a side of the swing arm away from the second motor is rotatably connected to a slot wall of the first mounting slot, and the second output shaft is at least partially inserted into the accommodating cavity;

[0025] A transmission system is installed in the accommodating cavity and is transmission-connected between the second output shaft and the cleaning member. The second motor drives the transmission system to drive the cleaning member to rotate.

[0026] Furthermore, the swing arm has a second rotation angle from the first position to the second position, and the fixing seat includes:

[0027] an arc-shaped connecting portion connected to the base;

[0028] The fan-shaped portion is located along the axial direction of the second output shaft on the side of the arc-shaped connecting portion away from the base. The fan-shaped portion, the arc-shaped connecting portion and the base are surrounded to form the first mounting groove. Along the axial direction of the second output shaft, the side of the swing arm away from the second motor is rotatably connected to the fan-shaped portion, wherein the central angle of the fan-shaped portion is not less than the central angle of the arc-shaped connecting portion, and the central angle of the fan-shaped portion is not greater than 180° minus the second rotation angle.

[0029] Furthermore, the cleaning component further comprises:

[0030] A stopping component is provided between the swing arm and the fixing seat, and is used to stop the swing arm at the first position or the second position.

[0031] Furthermore, the stopping component includes:

[0032] A stop protrusion, comprising at least two stop protrusions, wherein along the rotation direction of the swing arm, at least one stop protrusion is provided on a side of the swing arm close to the push-pull member, and at least one stop protrusion is provided on a side of the swing arm away from the push-pull member;

[0033] The stop grooves include at least two stop grooves, which are adapted to the stop protrusions and arranged in a one-to-one correspondence with the stop protrusions. Along the rotation direction of the swing arm, at least one stop groove is arranged on the side of the arc-shaped connecting portion close to the push-pull member, and at least one stop groove is arranged on the side of the arc-shaped connecting portion away from the push-pull member.

[0034] Furthermore, the cleaning member includes a side brush, and the swing arm also has a third position in which the side brush is at least partially located outside the edge contour of the main body, and the third position is located between the first position and the second position, and the connecting member also drives the swing arm to the third position.

[0035] According to another aspect of the present application, a cleaning device is provided, comprising the cleaning module.

[0036] In the present application, the cleaning module includes a main body and a cleaning assembly, the swing arm of the cleaning assembly is rotatably mounted on the main body, and the cleaning member is mounted on the swing arm, and the swing arm has a first position and a second position that rotates to make the cleaning member away from the main body and at least partially located outside the edge contour of the main body and close to the main body. The push-pull member of the push-pull component is connected to the first driving member, and one end of the connector is connected to the push-pull member and the other end is connected to the swing arm. When the cleaning member needs to clean a corner blind spot (such as a corner, a corner between furniture and a wall), the push-pull member can be driven by the first driving member to drive the connecting member to push the swing arm to the first position, so that the cleaning member is at least partially expanded outside the main body. When the cleaning member expands outside the main body to carry out cleaning work, the cleaning member can cover and clean the corner blind spot, thereby improving the cleaning coverage of the cleaning member on the surface to be cleaned, reducing or even eliminating the sanitary dead corners in the corner area, achieving an ideal cleaning effect, and having a good user experience. When cleaning in a relatively wide area, the push-pull member can be driven by the first driving member to drive the connecting member to pull the swing arm back from the first position to the second position. That is to say, the first driving member can drive the cleaning member to flexibly switch between the first position and the second position according to the environment of the surface to be cleaned, so as to improve the cleaning coverage of the surface to be cleaned by the cleaning member.

[0037] The cleaning module provided by the present application not only has a high cleaning coverage rate, but also, from a structural point of view, the assembly between the push-pull component that drives the swing arm to rotate and the swing arm is efficient and convenient. After the push-pull component is connected to the first driving component, the connecting component can be connected between the push-pull component and the swing arm respectively. The assembly difficulty is low, which can improve the yield rate and shipping efficiency of the finished product of the cleaning component and reduce the manufacturing cost and manufacturing time of the cleaning module. In addition, in the process of the first driving component driving the push-pull component to drive the connecting component to pull back the swing arm, the swing arm can be easily pulled back without overcoming any force other than the gravity of the swing arm and the cleaning component on the swing arm and / or the friction between the cleaning component and the surface to be cleaned. While the requirements for the matching strength between the push-pull component and the swing arm are not high, the reliability and service life of the cleaning component can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 A schematic structural diagram of a cleaning module provided in one embodiment of the present application;

[0040] Figure 2 It is a structural diagram of the cleaning component when the swing arm drives the cleaning element to the second position;

[0041] Figure 3 It is a structural diagram of the cleaning component when the swing arm drives the cleaning element to be in the first position;

[0042] Figure 4 This is an exploded diagram of the cleaning components;

[0043] Figure 5 Schematic diagram of the structure of the mounting frame;

[0044] Figure 6 for Figure 2 Schematic diagram of the structure from another perspective;

[0045] Figure 7 This is a schematic diagram of the assembly of the swing arm and the transmission system;

[0046] Figure 8 It is a structural diagram of the transmission system;

[0047] Figure 9 This is the assembly diagram of the first motor and the mounting bracket.

[0048] The above drawings include the following reference numerals:

[0049] 10. Main body; 20. Swing arm; 21. First cover; 211. Groove; 22. Second cover; 23. Second connecting shaft; 24. Connecting block; 30. Cleaning member; 40. Push-pull member; 41. First motor; 410. First output shaft; 42. Crank; 43. Elastic connecting member; 50. Mounting bracket; 51. Base; 510. Second mounting groove; 101. First sleeve; 511. Through hole; 52. Fixing seat; 520. First mounting groove; 521. Arc-shaped connecting portion; 522. Fan-shaped portion; 523. Second sleeve; 60. Limiting member; 61. First limiting member; 611. Mounting block; 6 12. Arc-shaped boss; 62. Limit switch; 70. Driving component; 71. Second motor; 710. Second output shaft; 711. First connecting shaft; 72. Transmission system; 721. Third output shaft; 722. Gear transmission unit; 221. Fifth gear; 222. Third transmission shaft; 223. Sixth gear; 224. Seventh gear; 723. Staggered shaft transmission unit; 231. First transmission shaft; 232. First gear; 233. Second gear; 234. Second transmission shaft; 235. Third gear; 236. Fourth gear; 80. Stop component; 81. Stop protrusion; 82. Stop groove. DETAILED DESCRIPTION

[0050] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0052] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as being merely exemplary, not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0053] When sweeping or mopping in scenes such as corners, cleaning modules such as sweeping robots and sweeping machines leave a certain gap between them and the corners, making it impossible to sweep out or clean all the garbage in the corners, resulting in a low cleaning coverage rate of the cleaning module and unsatisfactory cleaning effect. In view of this, the first embodiment of the present invention provides a cleaning module, see Figure 1 The cleaning module includes a main body 10 and a cleaning component.

[0054] See Figures 2 to 9 The cleaning assembly includes a swing arm 20, a cleaning member 30, and a push-pull component 40. The swing arm 20 is rotatably mounted in the main body 10, and the cleaning member 30 is mounted on the swing arm 20. The swing arm 20 has a first position in which the cleaning member 30 is rotated to a position in which the cleaning member 30 is away from the main body 10 and at least partially located outside the edge contour of the main body 10, and a second position in which the cleaning member 30 is close to the main body 10. That is, when the swing arm 20 in this embodiment rotates to the first position, the cleaning member 30 is at least partially located outside the edge contour of the main body 10, so that the cleaning member 30 can clean the corner areas in the environment to be cleaned, thereby improving the cleaning coverage rate. Of course, when the corner areas are large, the cleaning member 30 can be located as a whole outside the edge contour of the main body 10, so that the cleaning member can fully clean the corner areas between the main body 10 and the corners of the wall or obstacles (such as furniture, decorations, etc.), thereby improving the cleaning coverage rate and the cleaning effect.

[0055] When the swing arm 20 rotates to the second position, the cleaning member 30 may be at least partially located outside the edge contour of the main body 10. If the portion of the cleaning member 30 located outside the edge contour of the main body 10 when the swing arm 20 is in the second position has a first volume, and the portion of the cleaning member 30 located outside the edge contour of the main body 10 when the swing arm 20 is in the first position has a second volume, then the first volume is smaller than the second volume, thereby achieving the goal that after the cleaning member 30 completes edge cleaning of the corner area, it can be recovered to a position close to the main body. When the swing arm 20 rotates to the second position, the cleaning member 30 may also be entirely located inside the edge contour of the main body 10. Whether the cleaning member 30 is completely recovered to within the edge contour of the main body 10 when the swing arm 20 is in the second position depends on the specific situation and is not the sole limitation in this embodiment.

[0056] The push-pull member 40 is mounted within the main body 10 and is located on one side of the swing arm 20. The push-pull member 40 includes a first driving member, a push-pull member, and a connecting member. The push-pull member is connected to the first driving member, and one end of the connecting member is connected to the push-pull member and the other end is connected to the swing arm 20. The first driving member drives the push-pull member, which in turn drives the connecting member to push the swing arm 20 to the first position or pull it back to the second position.

[0057] As can be seen, in this embodiment, the cleaning module includes a main body 10 and a cleaning assembly. The swing arm 20 of the cleaning assembly is rotatably mounted on the main body 10, and the cleaning member 30 is mounted on the swing arm 20. The swing arm 20 has a first position in which the cleaning member 30 is rotated to a position in which the cleaning member 30 is away from the main body 10 and at least partially located outside the edge contour of the main body 10, and a second position in which the cleaning member 30 is closer to the inside of the main body 10. The push-pull member of the push-pull component 40 is connected to the first driving member, and one end of the connecting member is connected to the push-pull member and the other end is connected to the swing arm 20. When the cleaning member 30 needs to clean a blind corner (such as a corner of a wall or the corner between furniture and a wall), the first driving member can drive the push-pull member to drive the connecting member to push the swing arm 20 to the first position, thereby expanding the cleaning member 30 at least partially outside the main body 10. When the cleaning member 30 extends outward from the main body 10 to perform cleaning operations, it can cover and clean blind corners, thereby improving the cleaning coverage of the cleaning member 30 on the surface to be cleaned, reducing or even eliminating sanitary blind spots in corners, achieving ideal cleaning results, and providing a good user experience. When cleaning a relatively wide area, the first drive member can drive the push-pull member to drive the connecting member to pull the swing arm 20 back from the first position to the second position. In other words, the first drive member can drive the cleaning member 30 to flexibly switch between the first position and the second position according to the environment of the surface to be cleaned, thereby improving the cleaning coverage of the cleaning member 30 on the surface to be cleaned.

[0058] The cleaning module provided in this embodiment not only has a high cleaning coverage rate, but also, from a structural perspective, the assembly between the push-pull component 40 that drives the swing arm 20 to rotate and the swing arm 20 is efficient and convenient. After connecting the push-pull component to the first driving component, the connecting component can be connected between the push-pull component and the swing arm 20 respectively. This reduces the assembly difficulty, improves the yield rate and shipping efficiency of the finished cleaning component, and reduces the manufacturing cost and manufacturing time of the cleaning module. In addition, when the first driving component drives the push-pull component to drive the connecting component to pull back the swing arm 20, the swing arm 20 can be easily pulled back without overcoming any forces other than the gravity of the swing arm 20 and the cleaning component 30 on the swing arm 20 and / or the friction between the cleaning component 30 and the surface to be cleaned. This reduces the requirements for the fit strength between the push-pull component 40 and the swing arm 20, and improves the reliability and service life of the cleaning component.

[0059] The cleaning member 30 in this embodiment can include at least one of a side brush and a mop. For example, if the cleaning member 30 is a side brush, after the side brush is mounted on the swing arm 20, it can move to the outer edge of the main body 10 as the swing arm 20 rotates. At this time, the brush head of the side brush can cover the corner areas of the environment to be cleaned, thereby clearing away garbage in these corner areas. If the cleaning member 30 is a mop, after the mop is mounted on the swing arm 20, it can move with the swing arm 20 to the outer edge of the main body 10 to clean corner areas such as wall corners and table corners, thereby improving the cleaning coverage rate. Whether it is a side brush or a mop, when cleaning of the corner areas is no longer needed, the swing arm 20, driven by the first driving member, can retract the corresponding cleaning member 30 to the second position within the main body 10.

[0060] In this embodiment, if Figure 2 and Figure 3 As shown, the first driving member includes a first motor 41, the first motor 41 includes a first output shaft 410, and the push-pull member includes a crank 42, the crank 42 is connected to the first output shaft 410, and the end of the crank 42 radially away from the first output shaft 410 is connected to the connecting member. The first output shaft 410 drives the crank 42 to move in a first direction (such as Figure 3 The direction indicated by the arrow A is the counterclockwise direction in which the crank 42 rotates around the axis of the first output shaft 410. Figure 3 The first output shaft 410 drives the push-pull member to move in the second direction (the second direction is Figure 3 The connecting member drives the swing arm 20 to rotate to a second position close to the crank 42 by rotating in the direction indicated by the middle arrow B, that is, the counterclockwise direction in which the crank 42 rotates around the axis of the first output shaft 410.

[0061] It can be seen that in this embodiment, in the process of driving the crank 42 to rotate by the first output shaft 410 of the first motor 41, by changing the rotation direction of the crank 42, the connecting member can drive the swing arm 20 to switch back and forth between the first position and the second position. The crank 42 is fixedly connected to the first output shaft 410 by a fastener (such as a screw), and the assembly difficulty is low. The connecting member is directly connected between the crank 42 and the swing arm 20, so that the connecting member can directly apply the thrust or pulling force generated during the rotation of the crank 42 to the swing arm 20, thereby rotating the swing arm 20 to expand and recycle the side brush, and reducing the complexity of the cleaning component structure, which can greatly simplify the assembly process of the cleaning component, thereby improving the production efficiency and reliability of the cleaning component. Moreover, directly connecting the connecting member to the swing arm 20 and the crank 42 reduces the number of connection points between the swing arm 20 and the crank 42, reducing material costs and labor costs, greatly reducing the assembly error rate of the cleaning component, and improving the overall service life of the cleaning component. Furthermore, the reliability of the expansion and recovery functions of the cleaning assembly can be ensured by simply ensuring the connection strength between the connector and the swing arm 20 and the crank 42, and the cleaning assembly can be made easier to maintain.

[0062] Of course, the push-pull member in this embodiment may also include a cam. When it is a cam, when the cam pushes the connecting member to move a longer distance, since the connecting member bears a larger force, the material strength requirements for the connecting member will be higher, and the strength requirements for the motor performance and related assembly parts will also be higher.

[0063] In addition to the above-mentioned method of driving the crank 42 or cam to rotate by the first motor 41 to cause the connecting member to push the swing arm 20 to rotate, the push-pull member can also be designed to move in a linear reciprocating manner, so that during the linear reciprocating motion of the push-pull member, the connecting member pushes or pulls the swing arm 20 to rotate. In this case, when the first driving member in this embodiment is the first motor 41, the push-pull member can include a rack that is movably mounted within the main body 10 and connected to the end of the connecting member away from the swing arm 20. To achieve linear motion, a gear can be provided on the first output shaft 410 of the first motor 41, and the gear and the rack are engaged. When the first motor 41 drives the gear to rotate, the gear drives the rack to move linearly along its length, pushing the connecting member to cause the swing arm 20 to rotate the cleaning member 30 to the first position, or pulling the connecting member to cause the swing arm 20 to rotate the cleaning member 30 to the second position.

[0064] In one embodiment of the present invention, the connecting member may specifically include a connecting rod, wherein opposite ends of the connecting rod are respectively rotatably connected to the crank 42 and the swing arm 20. During the rotation of the crank 42, the connecting rod is pushed to rotate the swing arm 20 to the first position or pulled to rotate the swing arm 20 to the second position. Since the swing arm 20 and / or the cleaning member 30 may encounter obstacles during operation, in order to further improve the reliability of the cleaning assembly, in this embodiment, the connecting member is preferably an elastic connecting member 43, one end of the elastic connecting member 43 is connected to the crank 42 and the other end is connected to the swing arm 20. When the cleaning member is subjected to an external force (such as when the swing arm 20 and / or the cleaning member 30 is subjected to an external force), the elastic connecting member 43 applies an elastic force to the swing arm 20. When the external force applied to the cleaning member is removed, the swing arm 20 has a tendency to rotate to the first position or the second position under the action of the elastic force. In other words, the elastic connecting member 43 can act as a buffer to the rotation of the swing arm 20.

[0065] Specifically, when the swing arm 20 expands outward and the cleaning member 30 is in the first position for edge cleaning and encounters an obstacle, the obstacle will apply an external force to the expanding swing arm 20 and / or the cleaning member 30. Since the elastic connecting member 43 is elastic, the swing arm 20 can overcome the elastic force of the elastic connecting member 43 under the action of the external force and retract into the main body 10 in a direction closer to the second position until it reaches the second position or a position between the second position and the first position. When the external force is sufficiently large, the swing arm 20 eventually reaches the second position. When the external force is relatively small, the swing arm 20 can stay at any position between the second position and the first position, at which time the elastic connecting member 43 is compressed and retracted. When the swing arm 20 leaves the obstacle (i.e., the external force is removed), the swing arm 20 drives the cleaning member 30 to rotate to the expanded first position under the action of the elastic tensile force of the elastic connecting member 43, so that the cleaning member 30 continues to clean along the edge. Alternatively, when the first driving member is obstructed while driving the swing arm 20 to rotate to the first position, the swing arm 20 swings toward the second position under the action of the obstructing external force, but the crank 42 can still continue to rotate, and the elastic connecting member 43 is compressed and contracted under the action of the obstructing force on the swing arm 20. When the obstruction is removed, the swing arm 20 rotates to the desired first position under the elastic force of the elastic connecting member 43. In addition, when the swing arm 20 drives the cleaning member 30 to rotate to the second position, if the swing arm 20 and / or the cleaning member 30 are obstructed and cannot continue to rotate toward the second position, the crank 42 can continue to rotate clockwise, while the elastic connecting member 43 is stretched. When the obstruction on the swing arm 20 and / or the cleaning member 30 is removed, the swing arm 20 can drive the cleaning member 30 to retract to the second position under the retraction force of the elastic connecting member 43. The elastic connecting member 43 in this embodiment can specifically include a torsion spring or a spring. If it is a torsion spring, one end of the torsion spring is connected to the swing arm 20 and the other end is connected to the crank 42. At this time, it is only necessary to set corresponding connecting holes on the crank 42 and the swing arm 20 to connect the torsion spring between the crank 42 and the swing arm 20, and the assembly is efficient and convenient.

[0066] Therefore, the elastic connecting member 43 in this embodiment can cushion the collision between the swing arm 20 and the obstacle, protect the swing arm 20, and keep the swing arm 20 in the tendency to return to the first position or the second position to complete the expansion or recovery of the cleaning member 30.

[0067] In order to improve the efficiency and convenience of assembling the cleaning assembly and the main body 10, the cleaning assembly in this embodiment further includes a mounting bracket 50. Figures 2 to 5The mounting frame 50 includes a base 51 and a fixing base 52. The base 51 is mounted on the bottom of the main body 10, and the fixing base 52 is mounted on the base 51 and a first mounting groove 520 is formed between the base 51 and the base 51. The end of the swing arm 20 away from the cleaning member 30 is rotatably mounted in the first mounting groove 520, the first motor 41 is mounted in the base 51 and is located on one side of the fixing base 52, and the first output shaft 410 at least partially extends to the side of the base 51 close to the fixing base 52 and is connected to the crank 42. When installing the cleaning component on the main body 10, in this embodiment, the first motor 41, the swing arm 20 connected to the cleaning member 30, and the crank 42 can be first installed on the mounting frame 50, and then the mounting frame 50 can be installed on the main body 10 and the base 51 can be fixedly connected to the main body 10. The assembly efficiency and convenience between the cleaning component and the main body 10 are improved, which is beneficial to the modular production of the cleaning module and simplifies the assembly process of the cleaning module, thereby improving production efficiency while reducing labor costs.

[0068] like Figure 2 As shown, the cleaning assembly in this embodiment further includes a limiting member 60 mounted on the base 51. The limiting member 60 is used to limit the rotational angle of the swing arm 20 between the first position and the second position. By limiting the rotational position of the swing arm 20 by the limiting member 60, the swing arm 20 can be ensured to accurately rotate to the first position or the second position, preventing the swing arm 20 from rotating beyond the expected position due to excessive rotation angle, thereby preventing interference with or even damage to other parts or components of the cleaning module, thereby improving the reliability and service life of the cleaning module.

[0069] Figure 2 In the embodiment, the limiting component 60 includes a first limiting member 61, which is mounted on the base 51 and located on one side of the crank 42. The crank 42 rotates in a first direction until it abuts against the first limiting member 61, causing the swing arm 20 to rotate to a first position (the first position is the maximum outward expansion position where the cleaning member 30 expands outward beyond the edge contour of the main body 10). The crank 42 rotates in a second direction until it abuts against the first limiting member 61, causing the swing arm 20 to rotate to a second position (the second position is the maximum retraction position where the cleaning member 30 is close to the main body 10). Thus, in this embodiment, the first limiting member 61 is used to limit the rotation angle of the crank 42 when it rotates in the first direction or the second direction, so that when the crank 42 rotates to abut against the first limiting member 61, the swing arm 20 drives the cleaning member 30 to accurately dock in the first position or the second position. It can be seen that the first limit member 61 only needs to cooperate with the crank 42. When the crank 42 drives the swing arm 20 to rotate to the first position or the second position, the crank 42 is abutted against the first limit member 61 to stop the crank 42 from rotating, thereby realizing the rotational positioning of the swing arm 20.

[0070] Specifically, in this embodiment, the crank 42 has a first rotation angle for rotating in the first direction or the second direction (the first rotation angle is the angle at which the crank 42 drives the swing arm 20 to rotate from the first position to the second position, or the first rotation angle is the second rotation angle at which the swing arm 20 drives the cleaning member 30 to rotate between the first position and the second position). The first limiting member 61 includes a mounting block 611 and an arcuate boss 612. The mounting block 611 is mounted on the base 51, and a clearance hole is provided on the mounting block 611 so that the first output shaft 410 passes through the mounting block 611 along the clearance hole and is connected to the crank 42. The arcuate boss 612 is located on the side of the mounting block 611 away from the base 51 and surrounds the side of the first output shaft 410 away from the fixing seat 52. Along the axial direction of the first output shaft 410, the height of the side of the crank 42 away from the mounting block 611 is no higher than the height of the arcuate boss 612. Along the radial direction of the first output shaft 410, the length of the crank 42 is greater than the inner diameter of the arcuate boss 612, so that when the crank 42 drives the swing arm 20 to rotate to the first position or the second position, the crank 42 can abut against the arcuate boss 612. The first rotation angle is 360° minus the central angle of the arcuate boss 612, so that when the crank 42 drives the swing arm 20 to rotate to the first position or the second position, the crank 42 can abut against the arcuate boss 612. The central angle of the arcuate boss 612 refers to the angle formed by the outer diameter or inner diameter of the arcuate boss 612 on opposite sides of the arcuate boss 612 along its own circumference, with the center of the circle where the arcuate outer contour of the arcuate boss 612 is located as the origin. The first retaining member 61 of this embodiment, consisting of a mounting block 611 and an arcuate boss 612, is simple in structure and easy to manufacture. During assembly, the mounting block 611 is fixedly connected to the base 51, and the arcuate boss 612 is positioned around the outside of the first output shaft 410, away from the fixing seat 52, resulting in efficient assembly. Although the arcuate boss 612 can also be replaced with two spaced-apart bosses that abut the crank 42, the arcuate boss 612 has greater structural strength and a more stable and reliable abutment against the crank 42, adapting to the high-intensity cleaning cycle of the cleaning module, reducing the maintenance frequency of the cleaning component, and increasing the service life of the cleaning component.

[0071] In this embodiment, when the crank 42 abuts the arcuate boss 612, the first output shaft 410 of the first motor 41 attempts to overcome the abutment force between the arcuate boss 612 and the crank 42 and continues to rotate. At this time, the controller of the cleaning module detects an increase in the current of the first motor 41. To avoid energy consumption caused by the continued operation of the first motor 41 when the crank 42 stops rotating, the controller can control the first motor 41 to stop rotating when the current of the first motor 41 increases to a predetermined value.

[0072] In addition, in order to enable the cleaning module to more accurately know whether the swing arm 20 has driven the cleaning member 30 back to the second position, the limit component 60 in this embodiment also includes a limit switch 62. The limit switch 62 is installed on the base 51 and is located between the crank 42 and the fixed seat 52, and the limit switch 62 is offset from the connecting member to avoid the limit switch 62 interfering with the movement of the connecting member. The limit switch 62 abuts against the swing arm 20 to limit the swing arm 20 to the second position. The limit switch 62 is a device for detecting the position of an object and realizing stroke control or limit protection. For example, the limit switch 62 may include a travel switch, a proximity switch, etc. In this embodiment, it is preferred that the travel switch can detect whether the swing arm 20 is rotated into place when the swing arm 20 contacts it. When the travel switch detects whether the swing arm 20 is rotated into place through physical contact, the detection result is more accurate and reliable. That is to say, this embodiment can detect whether the swing arm 20 has rotated to the right position by making the limit switch 62 abut against the swing arm 20 when the swing arm 20 rotates to the second position, thereby ensuring that the cleaning member 30 can accurately return to the second position for cleaning or temporary docking, avoiding the cleaning member 30 from being exposed to the outside of the cleaning module for an unnecessary long time and causing the risk of damage.

[0073] In this embodiment, the limit switch 62 can be electrically connected to a controller of the cleaning module. When the controller detects the activation of the limit switch 62, it controls the first motor to stop, causing the swing arm 20 to rotate into position. If the connector includes an elastic connector 43, when the crank 42 abuts the first limit switch 61 but the limit switch 62 does not actuate, it indicates that the elastic connector 43 has not yet pulled the swing arm 20 back to the second position. For example, if the swing arm 20 and / or the cleaning member 30 are obstructed by an obstacle and cannot continue to rotate in the second direction during the process of rotating the swing arm 20 and / or the cleaning member 30 to the second position, the crank 42 can continue to rotate until it abuts the first limit switch 61, causing the elastic connector 43 to be stretched due to the force. When the obstruction to the swing arm 20 and / or the cleaning member 30 is removed (this removal operation can be either the entire cleaning module turning or manual removal of the obstruction), the swing arm 20 is pulled back to the second position and abuts the limit switch 62 under the retraction force of the elastic connector 43.

[0074] like Figure 4 and Figure 5As shown, a receiving chamber is provided within the swing arm 20. A second mounting slot 510 is provided on the side of the base 51 facing away from the fixed seat 52, and the second mounting slot 510 is connected to the first mounting slot 520. The cleaning assembly also includes a drive component 70, which includes a second motor 71 and a transmission system 72. The second motor 71 is rotatably mounted within the second mounting slot 510 and includes a second output shaft 710. Along the axial direction of the first output shaft 410, the side of the swing arm 20 closest to the second motor 71 is connected to the second motor 71, and the side of the swing arm 20 away from the second motor 71 is rotationally connected to the wall of the first mounting slot 520, and the second output shaft 710 is at least partially extended into the receiving chamber. The transmission system 72 is mounted within the receiving chamber and is transmission-connected between the second output shaft 710 and the cleaning member 30. The second motor 71 drives the transmission system 72 to rotate the cleaning member 30, so that the cleaning member 30 can rotate and clean the surface to be cleaned. That is, in this embodiment, the second motor 71 and the transmission system 72 can be used to drive the cleaning member 30 to rotate, and the second motor 71 can be rotatably installed in the second mounting groove 510 and connected to the swing arm 20. Since the side of the swing arm 20 away from the second motor 71 is rotatably connected to the groove wall of the first mounting groove 520, the swing arm 20 can be rotatably installed in the first mounting groove 520. After the second motor 71 and the swing arm 20 are rotatably installed in the mounting frame 50, the overall structure of the cleaning assembly is compact and reliable, and it can ensure that the swing arm 20 can rotate under the push or pull of the crank 42. After the swing arm 20 rotates to the first position or the second position, the cleaning member 30 can be driven to rotate by the second motor 71.

[0075] Specifically, if Figure 5As shown, a through hole 511 is provided on the base 51, and the through hole 511 is connected between the first mounting slot 520 and the second mounting slot 510. The second motor 71 is at least partially inserted into the through hole 511 to be fixedly connected to the side of the swing arm 20 located at the bottom of the first mounting slot 520. Along the axial direction of the second output shaft 710, a first connecting shaft 711 is provided on the side of the second motor 71 away from the swing arm 20. A first bushing 101 is installed at the bottom of the second mounting slot 510 away from the swing arm 20. The first connecting shaft 711 is inserted into the first bushing 101 and is loosely fitted with the first bushing 101. When the swing arm 20 rotates, the first connecting shaft 711 can stably rotate relative to the first bushing 101, and the second motor 71 can stably rotate with the swing arm 20. The second motor 71 is loosely coupled to the first sleeve 101 via the first connecting shaft 711, facilitating assembly. Furthermore, after the second output shaft 710 of the second motor 71 is connected to the transmission system 72 within the swing arm 20, the second motor 71 does not interfere with the rotation of the swing arm 20, resulting in a stable, reliable, and compact overall structure. Of course, the first sleeve 101 in this embodiment can also be replaced by a bearing, with the inner circumference of the bearing fixedly connected to the first connecting shaft 711 and the outer circumference of the bearing fixedly connected to the bottom of the second mounting groove 510, thereby also enabling rotatable mounting of the second motor 71.

[0076] The swing arm 20 in this embodiment has a second rotation angle from the first position to the second position, such as Figure 2 As shown, the fixing seat 52 includes an arcuate connecting portion 521 and a fan-shaped portion 522. The arcuate connecting portion 521 is connected to the base 51. Along the axial direction of the second output shaft 710, the fan-shaped portion 522 is located on the side of the arcuate connecting portion 521 away from the base 51, and the fan-shaped portion 522 and the arcuate connecting portion 521 are arranged with the base 51 to form a first mounting groove 520. Along the axial direction of the second output shaft 710, the swing arm 20 is rotatably connected to the fan-shaped portion 522 on the side away from the second motor 71. Among them, the central angle of the fan-shaped portion 522 is not less than the central angle of the arcuate connecting portion 521, and the central angle of the fan-shaped portion 522 is not greater than 180° minus the second rotation angle. The second rotation angle can be set in the range of 40° to 60°, and the rotation size of the second rotation angle can actually be adaptively adjusted according to the assembly position of the cleaning component in the main body 10. In this embodiment, the central angle of the sector portion 522 is no less than the central angle of the arc-shaped connecting portion 521 and no greater than 180° minus the second rotation angle, thereby ensuring that the fixing base 52 does not interfere with the swinging of the swing arm 20 between the first position and the second position. Specifically, the central angle of the sector portion 522 can include one of 140°, 130°, 120°, 100°, 90°, 80°, etc.

[0077] Among them, a second sleeve 523 is installed on the side of the fan-shaped portion 522 of the fixed seat 52 close to the swing arm 20, and a second connecting shaft 23 is provided on the side of the swing arm 20 close to the fan-shaped portion 522. The second connecting shaft 23 is clearance-fitted in the second sleeve 523 and can rotate around its own axis relative to the second sleeve 523. Therefore, while the second motor 71 connected to the swing arm 20 can rotate, the swing arm 20 can be rotatably installed in the first mounting groove 520 through the clearance fit between the second connecting shaft 23 and the second sleeve 523, and the assembly is efficient and convenient. Among them, the second sleeve 523 can be replaced by a bearing, the outer peripheral surface of the bearing is fixedly connected to the fan-shaped portion 522, and the inner peripheral surface is fixedly connected to the second connecting shaft 23 to realize the rotational installation of the swing arm 20. This installation method will be more stable and reliable.

[0078] like Figure 6 and Figure 7 As shown, the swing arm 20 in this embodiment includes a first cover body 21 and a second cover body 22 that are detachably connected. The first cover body 21 is provided with a groove 211, and the second cover body 22 covers the groove 211 to form a receiving cavity with the first cover body 21. Before installing the transmission system 72, the transmission system 72 is first installed in the groove 211 and then the second cover body 22 is covered. The second cover body 22 is connected to the second motor 71, and the second connecting shaft 23 is provided on the first cover body 21 to make the first cover body 21 and the second shaft sleeve 523 on the fan-shaped portion 522 fit in a clearance. The swing arm 20 is assembled together by the first cover body 21 and the second cover body 22. Not only does it make the swing arm 20 simple and light in structure and easy to be pulled and rotated by the connecting member, but also because the first cover body 21 is detachably connected to the second cover body 22, it is convenient to assemble and maintain the transmission system 72. In addition, along the first direction or the second direction, a connecting block 24 is provided on the side of the swing arm 20 close to the crank 42. The connecting block 24 is located between the fixed seat 52 and the cleaning member 30. One end of the elastic connecting member 43 is fixedly connected to the crank 42 and the other end is fixedly connected to the connecting block 24. The assembly is convenient and it can ensure that the elastic connecting member 43 can pull the swing arm 20 to rotate.

[0079] The cleaning assembly in this embodiment also includes a stop member 80, which is arranged between the swing arm 20 and the fixed seat 52. The stop member 80 is used to stop the swing arm 20 at the first position or the second position. That is to say, in this embodiment, while limiting the rotation position of the swing arm 20 by the limiting member 60, the swing arm 20 is further limited by the stop member 80. In particular, when the swing arm 20 is connected to the elastic connector 43, after the swing arm 20 rotates to the first position or the second position, the elastic connector 43 will not be stretched or compressed due to the existence of inertia, thereby causing a large impact force on the fixed seat 52. While improving the rotation accuracy of the swing arm 20, it also improves the force condition of the fixed seat 52 and improves the stability of the connection between the fixed seat 52 and the base 51.

[0080] The stop component 80 specifically includes a stop protrusion 81 and a stop groove 82. There are at least two stop protrusions 81. Along the rotational direction of the swing arm 20, at least one stop protrusion 81 is positioned on the side of the swing arm 20 closest to the push-pull member, and at least one stop protrusion 81 is positioned on the side of the swing arm 20 away from the push-pull member. There are at least two stop grooves 82, each of which is compatible with and corresponding to each of the stop protrusions 81. Along the rotational direction of the swing arm 20, at least one stop groove 82 is positioned on the side of the arcuate connecting portion 521 closest to the push-pull member, and at least one stop groove 82 is positioned on the side of the arcuate connecting portion 521 away from the push-pull member. When the swing arm 20 rotates to either the first or second position, the stop protrusion 81 can be inserted into the stop groove 82, thereby stopping the swing arm 20 in the first or second position. This prevents the swing arm 20 from deviating from its current position due to the elastic force of the elastic connector 43, thereby improving the accuracy of the resting position of the swing arm 20.

[0081] Secondly, this embodiment uses the stop protrusion 81 and the stop groove 82 to limit the rotation of the swing arm 20. In addition to improving the accuracy of the docking position of the swing arm 20, it also has the following advantages:

[0082] 1) Reduced Wear: When the swing arm 20 rotates to a certain position, if it directly collides with the fixed seat 52, hard contact will occur between the swing arm 20 and the fixed seat 52. This will increase wear and reduce the structural strength of the swing arm 20 and the fixed seat 52 after long-term use. The use of the stop protrusion 81 and the stop groove 82 can avoid this hard contact, thereby extending the service life of the cleaning component.

[0083] 2) Reduce noise: When the swing arm 20 hits the fixing seat 52, a loud impact sound will be generated. The use of the stop protrusion 81 and the stop groove 82 can greatly reduce the noise and improve the user experience.

[0084] 3) Improved precision: The stop protrusion 81 and the stop groove 82 cooperate to more accurately control the position of the swing arm 20, ensuring that each swing stops at a predetermined position and avoiding mechanical damage caused by excessive rotation of the swing arm 20, such as breakage of the connector due to excessive pulling or compression.

[0085] 4) Smooth Stop: The stop protrusion 81 and the stop groove 82 cooperate to allow the swing arm 20 to smoothly enter the rest position, rather than stopping suddenly. This improves the stability and reliability of the cleaning assembly's overall structure. Furthermore, if the swing arm 20's rotation range needs to be changed, this can be achieved by adjusting the position of the stop protrusion 81 on the swing arm 20 and / or the arc of the curved connecting portion 521 of the fixing base 52. This also prevents unexpected equipment loss of control.

[0086] It can be seen that the stop component 80 in this embodiment, which is equipped with a stop protrusion 81 and a stop groove 82 between the swing arm 20 and the fixed seat 52, can not only improve the working performance of the cleaning component, but also extend its service life and reduce maintenance costs.

[0087] like Figure 8 As shown, in this embodiment, the transmission system 72 installed in the swing arm 20 includes a third output shaft 721 and an angle transmission mechanism. The third output shaft 721 is rotatably mounted on the end of the swing arm 20 radially away from the second motor 71 along the second output shaft 710 and is connected to the cleaning member 30, and a predetermined angle is formed between the third output shaft 721 and the second output shaft 710. Therefore, after the cleaning member 30 is installed on the third output shaft 721, it will have a certain inclination angle with the surface to be cleaned. When the cleaning member 30 is a side brush, the inclination angle can ensure that the side brush can clean the garbage on the surface to be cleaned into the dust box of the main body 10 in a timely manner. When the cleaning member 30 is a mop, the inclination angle can increase the cleaning force of the mop on the surface to be cleaned, thereby cleaning stubborn stains on the surface to be cleaned more effortlessly. The angle transmission mechanism is connected between the second output shaft 710 and the third output shaft 721 , and is used to transmit the rotational kinetic energy of the second output shaft 710 to the third output shaft 721 , so that the third output shaft 721 can drive the cleaning member 30 to rotate.

[0088] The angle transmission mechanism includes a gear transmission unit 722 and an interdigitated shaft transmission unit 723. The gear transmission unit 722 is in transmission connection with the second output shaft 710. The interdigitated shaft transmission unit 723 includes a first transmission shaft 231, a first gear 232, a second gear 233, a second transmission shaft 234, a third gear 235, and a fourth gear 236. The first transmission shaft 231 is mounted on the side of the gear transmission unit 722 away from the second output shaft 710. The first gear 232 and the second gear 233 are sleeved on the first transmission shaft 231 and can rotate about the axis of the first transmission shaft 231. The first gear 232 is in transmission connection with the gear transmission portion 722. The second transmission shaft 234 is mounted between the first transmission shaft 231 and the third output shaft 721. The third gear 235 is sleeved on the second transmission shaft 234 and is rotatable about the axis of the second transmission shaft 234. The third gear 235 is meshed with the second gear 233. The fourth gear 236 is sleeved on the third output shaft 721 and meshed with the third gear 235. A predetermined angle is formed between the first transmission shaft 231 and the second transmission shaft 234. At least one of the second gear 233 and the third gear 235 comprises a helical gear, and the fourth gear 236 is the same gear type as the third gear 235.

[0089] In this embodiment, the second gear 233 is a helical gear, and the third gear 235 is a spur gear. The helix angle of the helical gears is equal to the predetermined angle between the third output shaft 721 and the second output shaft 710. Alternatively, the third gear 235 and the fourth gear 236 may be helical gears, and the second gear 233 may be a spur gear. The helix angle βi of the third gear 235 (the helix angle βi of a helical gear is determined by its lead L and the pitch diameter di of the cylinder. Gears with the same helix angle lead but different pitch diameters, or gears with different pitch diameters, have different helix angles, as shown by the relationship: tgβi = πdi / L) is set to a predetermined angle to transfer the rotational kinetic energy of the second output shaft 710 to the third output shaft 721. In this embodiment, the second gear 233, the third gear 235, and the fourth gear 236 can all be configured as helical gears, and the sum of the helix angle of the third gear 235 and the helix angle of the second gear 233 can be a predetermined angle, thereby transmitting the rotational kinetic energy of the second output shaft 710 to the third output shaft 721. Therefore, regardless of the aforementioned combination of the third gear 235 and the second gear 233, this embodiment can stably transmit the rotational kinetic energy of the second output shaft 710 of the second motor 71 to the third output shaft 721 via the staggered shaft transmission portion 723.

[0090] Specifically, the gear transmission unit 722 includes a fifth gear 221, a third transmission shaft 222, a sixth gear 223, and a seventh gear 224. The fifth gear 221 is sleeved on the second output shaft 710 and can rotate with the second output shaft 710. The third transmission shaft 222 is installed between the fifth gear 221 and the first transmission shaft 231. The sixth gear 223 and the seventh gear 224 are both sleeved on the third transmission shaft 222 and can rotate around the axis of the third transmission shaft 222. The sixth gear 223 is meshed with the fifth gear 221, and the seventh gear 224 is meshed with the first gear 232. In order to ensure smoother kinetic energy transmission of the gear transmission unit 722, the fifth gear 221 and the sixth gear 223 in this embodiment are both configured as helical gears, and the seventh gear 224 and the first gear 232 are both configured as spur gears.

[0091] In this embodiment, the kinetic energy of the second output shaft 710 is sequentially transmitted to the staggered shaft transmission portion 723 via the fifth gear 221 and the sixth gear 223, which are helical gears. Compared to spur gears, the transmission process is smoother because the teeth of the helical gears are tilted. This means that when a pair of helical gears (i.e., the fifth gear 221 and the sixth gear 223) begin to mesh, not all teeth contact at the same time. Instead, one end of the tooth begins to contact first, and then gradually expands to the entire tooth surface. This progressive contact method reduces impact and noise. Secondly, due to the progressive contact characteristics of the helical gears, multiple teeth are engaged at any time. This helps to distribute the load and reduce the pressure on a single tooth, thereby reducing vibration and noise, making the transmission smoother. In addition, helical gears generally have a higher degree of overlap, that is, while one tooth on one gear is meshing with a tooth on another gear, other teeth on the gear are also meshing with other teeth on the other gear. High overlap means smoother and quieter operation.

[0092] In the embodiment of the present invention, a dust box for collecting garbage can be provided in the middle of the main body 10. When the cleaning member 30 is a side brush, Figure 1 From the perspective of the side brushes on the two sides of the main body 10 can be rotated in one direction respectively. Figure 1 The side brush on the left side of the middle body 10 always rotates counterclockwise, Figure 1 The side brush on the right side of the middle body 10 always rotates in a clockwise direction, so that the side brushes on both sides of the body 10 can concentrate the cleaned garbage to the middle of the body 10 to be collected by the dust box in the middle of the body 10 and maintain a high cleanliness level.

[0093] For example, in this embodiment, the gear transmission unit 722 of the transmission system 72 can be configured so that when the second output shaft 710 rotates forward or reverse, the transmission system can drive the side brush to rotate in a set direction (the set direction being either counterclockwise or clockwise). In this case, the gear transmission unit 722 in this embodiment can further include an eighth gear, a ninth gear, a tenth gear, and an eleventh gear. The eighth gear meshes with the fifth gear 221, the ninth gear is coaxially arranged with the eighth gear, and the tenth gear meshes with the eighth gear. The eleventh gear is coaxially arranged with the tenth gear. The input end of the staggered shaft transmission unit 723 meshes with the ninth gear or the eleventh gear, respectively, and the output end is connected to the side brush. The eighth and tenth gears are configured such that the eighth gear rotates in a first clockwise direction, the eighth gear moves axially to connect with the ninth gear, driving the ninth gear to rotate in the first clockwise direction. The eighth gear rotates in a second clockwise direction, the eighth gear meshes with the tenth gear, driving the tenth gear to rotate in the first clockwise direction, and the tenth gear moves axially to connect with the eleventh gear, driving the eleventh gear to rotate in the first clockwise direction.

[0094] In the above embodiment, both the eighth and tenth gears are movable. When the eighth gear rotates clockwise, the eighth gear can move axially until it connects with the ninth gear, driving synchronous rotation, while the tenth gear can move axially until it connects with the eleventh gear, driving synchronous rotation. Specifically, when the eighth gear rotates clockwise, the ninth gear also rotates clockwise, driving the side brush counterclockwise via the interleaved shaft transmission unit 723. At this time, the eighth and tenth gears may still be engaged, but the counterclockwise rotation of the tenth gear does not produce an axial position, and thus cannot drive the eleventh gear to rotate. In other words, the eleventh gear is not in transmission with the interleaved shaft transmission unit 723. When the eighth gear rotates counterclockwise, it meshes with the tenth gear, causing the tenth gear to rotate clockwise. This axial movement drives the eleventh gear to rotate clockwise, and then connects with the interleaved shaft transmission unit 723, driving the side brush counterclockwise. At this time, although the ninth gear is engaged with the interleaved shaft transmission unit 723, the ninth gear has no rotational driving force and therefore cannot affect the interleaved shaft transmission unit 723. In general, no matter in which direction the fifth gear 221 rotates driven by the second output shaft 710 , the side brush can be driven to rotate in the same direction through the gear transmission part 722 .

[0095] When the cleaning member 30 in this embodiment includes a side brush, when the cleaning module moves to drive the side brush to clean the corner area, if there is a protrusion (such as a wall or furniture edge with an arc-shaped structure or a local protrusion) or an obstacle in the corner area, the cleaning module needs to reverse its direction of movement as a whole to continue to drive the side brush to clean. In this case, after the cleaning module reverses its direction, it is easy for the side brush to miss the area that should be cleaned, such as causing the side brush to fail to clean the protrusion or obstacle edge in the corner area. In order to further improve the cleaning coverage rate, the swing arm 20 in this embodiment also has a third position that allows the side brush to be at least partially located outside the edge contour of the main body 10, and the third position is located between the first position and the second position. The connecting member also drives the swing arm 20 to the third position. Therefore, when there are protrusions or obstacles in the corner area that block the side brush or the main body 10, the first driving member will drive the connecting member to move the swing arm 20 to the third position, so that the cleaning module can continue to clean the protrusions or obstacles in the corners along the current direction of travel, so that the cleaning coverage of the cleaning module is higher.

[0096] When the connecting member includes a crank 42, the angle of rotation of the crank 42 is equal to the angle of rotation of the swing arm 20, and the rotation angle of the crank 42 is determined by the rotation angle of the first output shaft 410 of the first motor 41. To ensure that the swing arm 20 can be docked in the third position, the push-pull component 40 in this embodiment also includes a controller and an angle sensor, and the controller is electrically connected to the angle sensor and the first motor 41, respectively. The angle sensor can specifically include at least one of an encoder, a potentiometer, a Hall effect sensor, a magnetoresistive sensor, a gyroscope, and the like.

[0097] An encoder is a commonly used position sensor that converts mechanical position information into an electrical signal, making it easier for a controller to read and process the position information. In this embodiment, the encoder can be installed near the first motor 41 to detect the rotation angle of the first output shaft 410 of the first motor 41, or installed on the first stopper 61 to detect the rotation angle of the crank 42. The detected position information is converted into an electrical signal and transmitted to the controller. Upon receiving the corresponding position signal, the controller controls the first motor 41 to stop, thereby stopping the swing arm 20 at the corresponding position. Potentiometers are one of the most common angle sensors, measuring angles by changing the sliding resistance. They are divided into two types: linear and rotary, with rotary potentiometers being used for angle measurement. Hall effect sensors can be used to detect magnetic field strength and then measure the rotation angle using a fixed magnet (in this case, a magnetic element can be placed on the measured object, such as the first motor 41 or crank 42, to cooperate with the Hall effect sensor to achieve rotation angle measurement). Gyroscopes are generally used to measure or maintain direction, but can also be used to measure angular velocity and obtain angles through integration.

[0098] In this embodiment, if the encoder is mounted on the curved boss 612 of the first position-limiting member 61, the controller stops the first motor 41 when the encoder detects that the swing arm 20 has rotated to one of the first, second, and third positions. This stops the crank 42, and the swing arm 20 stops at the third position, continuing to clean the corners along the edge without interfering with the current direction of travel of the cleaning module. This allows the side brush to clean protruding areas and obstacles in the corners, improving the cleaning module's cleaning coverage.

[0099] The second embodiment of the present invention also provides a cleaning device, which includes a cleaning module. For the specific structure of the cleaning module, please refer to the content provided in the first embodiment of the present invention, which will not be repeated here. In some embodiments, the cleaning device also includes a middle sweeping component, a dust box, a clean water tank, a sewage tank, and a walking component. The middle sweeping component, the dust box, the clean water tank, the sewage tank, and the walking component are all installed on the main body 10 of the cleaning module. The walking component is used to drive the cleaning device to move along a predetermined motion trajectory so that the middle sweeping component, the cleaning part 30, etc. can clean the surface to be cleaned along the way. The clean water tank can provide clean water to the cleaning parts 30 such as the mop of the cleaning equipment, and the sewage tank is used to collect sewage on the mop. The dust box is used to collect garbage swept by the middle sweeping component, the side brush, etc.

[0100] In the cleaning device of this embodiment, when the cleaning member 30 needs to clean blind corners (such as corners of walls, corners between furniture and walls), the first driving member of the cleaning module can drive the push-pull member to drive the connecting member to push the swing arm 20 to the first position, so that the cleaning member 30 is at least partially extended outside the main body 10. When the cleaning member 30 is extended outside the main body 10 to perform cleaning work, the cleaning member 30 can cover and clean the blind corners, thereby improving the cleaning coverage rate of the cleaning member 30 on the surface to be cleaned, reducing or even eliminating sanitary dead corners in the corners, achieving an ideal cleaning effect, and providing a good user experience.

[0101] The third embodiment of the present invention further provides a method for controlling a cleaning module. The method for controlling a cleaning module is used to control the cleaning module. The specific structure of the cleaning module is described in detail in the first embodiment of the present invention, and will not be described in detail in this embodiment. The method provided in this embodiment includes the following steps:

[0102] Step S1: Connect the elastic connecting member 43 between the push-pull member and the swing arm 20 .

[0103] Step S2: When the cleaning component is subjected to an external force, the elastic force applied to the swing arm 20 by the elastic connector 43 drives the swing arm 20 to rotate to a predetermined position. When the external force on the cleaning component is removed, the swing arm 20 has a tendency to rotate from the predetermined position to the first position or the second position under the action of the elastic force. The situation in which the cleaning component is subjected to the external force may include only the swing arm 20 being obstructed or pulled by the obstacle, only the cleaning component 30 being obstructed or pulled by the obstacle, or both the swing arm 20 and the cleaning component 30 being obstructed or pulled by the obstacle.

[0104] In other words, the elastic connector 43 in this embodiment can cushion the impact of the swing arm 20 against obstacles, thereby protecting the swing arm 20. When the swing arm 20 is subjected to external force from an obstacle, the elastic connector 43 can drive the swing arm 20 to rotate to a predetermined position to prevent the swing arm 20 from being impacted by the obstacle. After the external force on the cleaning component is removed, the elastic connector 43 can maintain the tendency of the swing arm 20 to return to the first position or the second position. The cleaning component will not be damaged by the external force, such as causing the connecting rod or crank 42 to break. This improves the structural reliability and stability of the cleaning component while completing the expansion or retraction of the cleaning element 30.

[0105] In this embodiment, the elastic force exerted by the elastic connecting member 43 on the swing arm 20 includes a retraction force and an extension force, and the predetermined position is the second position or a position between the first position and the second position. Step S2 in this embodiment may specifically include the following steps:

[0106] Step S211: If the cleaning component is subjected to a first external force directed toward the main body 10 while the swing arm 20 is docked at the first position (i.e., the first external force can push the cleaning component toward the main body 10), the swing arm 20 is rotated to a predetermined position toward the second position using the retraction force generated by the compression of the elastic connector 43 (the retraction force is the force generated by the elastic connector 43 when the cleaning component is compressed by the first external force). When the first external force is sufficiently large, the swing arm 20 eventually rotates to the second position. When the first external force is relatively small, the swing arm 20 eventually rotates to a position between the first and second positions. In other words, the final position of the swing arm 20 at this time is related to the magnitude of the first external force.

[0107] Step S212: When the first external force is removed, the swing arm 20 is pushed back to the first position from the predetermined position by utilizing the tensile force generated by the elastic connector 43 as it stretches and rebounds (after the first external force is removed, the cleaning component no longer transmits thrust to the elastic connector 43, and the elastic connector 43 rebounds to its natural state). In other words, after the first external force is removed, the swing arm 20 returns to its initial first position due to the tensile force of the elastic connector 43, allowing the cleaning component 30 to continue cleaning the corners and edges in its expanded position. This ensures that the swing arm 20 and cleaning component 30 can better avoid obstacles while increasing the cleaning coverage of the corners and edges by the cleaning component 30.

[0108] When the predetermined position is the second position or a position between the first position and the second position (the position between the first position and the second position is the third position), step S2 in this embodiment may further include the following steps:

[0109] Step S221: If the cleaning component is subjected to a second external force toward the main body 10 during the process of the first driving member driving the swing arm 20 to rotate to the first position, the first driving member is controlled to continue to drive the swing arm 20 to rotate to the first position (that is, the pusher at this time can still apply a force to the swing arm 20 to expand outward to the first position under the drive of the first driving member, which can be specifically manifested in that the crank 42 can still continue to rotate in the first direction), and the retraction force generated when the elastic connecting member 43 is compressed and contracted is used to drive the swing arm 20 to rotate in the direction close to the second position to a predetermined position. Specifically, when the second external force is small, the swing arm 20 can eventually rotate to a position between the first position and the second position. When the second external force is large enough, the swing arm 20 can eventually rotate and dock at the second position, so that the swing arm 20 can avoid the impact force from obstacles and improve the structural stability of the cleaning component.

[0110] Step S222: When the second external force is removed, the swing arm 20 is pushed back to the first position by the tensile force generated by the elastic connector 43 as it stretches and rebounds. That is, after the second external force is removed, the swing arm 20 returns to the first position desired by the first driving member due to the tensile force of the elastic connector 43, allowing the cleaning member 30 to perform edge cleaning in the corner area in the expanded position. This ensures that the swing arm 20 and cleaning member 30 can better avoid obstacles while improving the cleaning coverage of the corner area by the cleaning member 30.

[0111] When the predetermined position includes one of the current position of the swing arm 20, the first position, and a position between the first position and the second position, step S2 in this embodiment may further include the following steps:

[0112] Step S231: If the cleaning component is subjected to a third external force away from the main body 10 during the process of the first driving member driving the swing arm 20 to rotate to the second position (i.e., the third external force can be a pulling force of an external object pulling the cleaning component, or an obstacle blocking the cleaning component and the main body 10 exerting an external force away from the main body 10 on the cleaning component), the first driving member is controlled to continue to drive the swing arm 20 to rotate to the second position (specifically, the crank 42 can still rotate in the second direction), and the tension generated by the elastic connecting member 43 when it is stretched is used to drive the swing arm 20 to the predetermined position. When the third external force applied to the cleaning component is from an obstacle located between the cleaning component and the main body 10 and the obstacle is stationary, the swing arm 20 can be maintained in the position currently blocked by the obstacle due to the tension of the elastic connecting member 43. When the third external force acting on the cleaning component pulls the cleaning component in a direction away from the main body 10, the swing arm 20 can rotate to a position between the first position and the second position under the action of the tensile force of the elastic connecting member 43. When the third external force is large enough, the swing arm 20 can also eventually rotate and stop at the first position.

[0113] Step S232 : When the third external force is removed, the retraction force generated by the elastic connecting member 43 when it retracts is used to pull the swing arm 20 back from the predetermined position to the second position, thereby finally recovering the cleaning member 30 .

[0114] Therefore, this embodiment ensures through steps S231 and S232 that when the swing arm 20 is subjected to the third external force, the elastic connecting member 43 can buffer the impact on the swing arm 20, thereby improving the reliability and stability of the cleaning component.

[0115] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0116] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0117] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A cleaning module, characterized in that: include: Subject (10); A cleaning assembly, the cleaning assembly comprising a cleaning component and a push-pull component (40), the cleaning component comprising a swing arm (20) and a cleaning member (30), the swing arm (20) being rotatably mounted on the main body (10), the cleaning member (30) being mounted on the swing arm (20), the swing arm (20) being capable of rotating to a first position in which the cleaning member (30) is away from the main body (10) and at least partially located outside the edge contour of the main body (10), and a second position in which the cleaning member (30) is close to the main body (10), the push-pull component (40) being mounted in the main body (10) and located on one side of the swing arm (20); The push-pull component (40) includes a first driving component, a push-pull component, and a connecting component, wherein the push-pull component is connected to the first driving component, and the connecting component is connected between the push-pull component and the swing arm (20), wherein the first driving component drives the push-pull component to drive the connecting component to push the swing arm (20) to the first position or pull it back to the second position.

2. The cleaning module according to claim 1, characterized in that: The first driving member includes a first motor (41), the first motor (41) includes a first output shaft (410), the push-pull member includes a crank (42), the crank (42) is connected to the first output shaft (410), and the crank (42) is connected to the connecting member at one end radially away from the first output shaft (410) along the first output shaft (410), the first output shaft (410) drives the crank (42) to rotate in a first direction, so that the connecting member drives the swing arm (20) to rotate to the first position away from the crank (42), and the first output shaft (410) drives the push-pull member to rotate in a second direction, so that the connecting member drives the swing arm (20) to rotate to the second position close to the crank (42).

3. The cleaning module according to claim 2, characterized in that: The connecting piece includes: An elastic connecting member (43), one end of the elastic connecting member (43) is connected to the crank (42) and the other end is connected to the swing arm (20), the elastic connecting member (43) applies an elastic force to the swing arm (20) when the cleaning member is subjected to an external force, and when the external force applied to the cleaning member is removed, the swing arm (20) has a tendency to rotate to the first position or the second position under the action of the elastic force.

4. The cleaning module according to any one of claims 2 to 3, characterized in that: The cleaning component also includes: The mounting frame (50) comprises a base (51) and a fixing seat (52), wherein the base (51) is mounted on the bottom of the main body (10), the fixing seat (52) is mounted on the base (51) and a first mounting groove (520) is formed between the base (51) and the fixing seat (52), and the end of the swing arm (20) away from the cleaning member (30) is rotatably mounted in the first mounting groove (520), the first motor (41) is mounted in the base (51) and is located on one side of the fixing seat (52), and the first output shaft (410) at least partially extends to a side of the base (51) close to the fixing seat (52) and is connected to the crank (42).

5. The cleaning module according to claim 4, characterized in that: The cleaning component also includes: A limiting component (60) is installed on the base (51), and the limiting component (60) is used to limit the rotation angle of the swing arm (20) between the first position and the second position.

6. The cleaning module according to claim 5, characterized in that: The limiting component (60) includes: A first limiting member (61) is installed on the base (51) and is located on one side of the crank (42); the crank (42) rotates in a first direction until it abuts against the first limiting member (61) so that the swing arm (20) rotates to the first position; and the crank (42) rotates in a second direction until it abuts against the first limiting member (61) so that the swing arm (20) rotates to the second position.

7. The cleaning module according to claim 6, characterized in that: The crank (42) has a first rotation angle for rotating in a first direction or a second direction, and the first limiting member (61) includes: a mounting block (611), the mounting block (611) being mounted on the base (51), the first output shaft (410) passing through the mounting block (611) and being connected to the crank (42); An arc-shaped boss (612), the arc-shaped boss (612) is located on a side of the mounting block (611) away from the base (51) and surrounds a side of the first output shaft (410) away from the fixing seat (52), along the axial direction of the first output shaft (410), the height of the side of the crank (42) away from the mounting block (611) is not higher than the height of the arc-shaped boss (612), along the radial direction of the first output shaft (410), the length of the crank (42) is greater than the inner diameter of the arc-shaped boss (612), wherein 360° minus the central angle of the arc-shaped boss (612) is equal to the first rotation angle.

8. The cleaning module according to claim 5, characterized in that: The limiting component (60) further includes: A limit switch (62) is installed on the base (51) and is located between the crank (42) and the fixing seat (52), and the limit switch (62) is offset from the connecting member. The limit switch (62) abuts against the swing arm (20) to limit the swing arm (20) to the second position.

9. The cleaning module according to claim 4, characterized in that: The swing arm (20) is provided with a receiving cavity, a second mounting groove (510) is provided on a side of the base (51) facing away from the fixing seat (52), and the second mounting groove (510) is communicated with the first mounting groove (520), and the cleaning assembly further includes a driving component (70), and the driving component (70) includes: a second motor (71), the second motor (71) being rotatably mounted in the second mounting groove (510), the second motor (71) comprising a second output shaft (710), wherein along the axial direction of the first output shaft (410), a side of the swing arm (20) close to the second motor (71) is connected to the second motor (71), and a side of the swing arm (20) away from the second motor (71) is rotatably connected to a groove wall of the first mounting groove (520), and the second output shaft (710) is at least partially inserted into the accommodating cavity; A transmission system (72) is installed in the accommodating cavity and is transmission-connected between the second output shaft (710) and the cleaning member (30); the second motor (71) drives the transmission system (72) to drive the cleaning member (30) to rotate.

10. The cleaning module according to claim 9, characterized in that: The swing arm (20) has a second rotation angle from the first position to the second position, and the fixing seat (52) includes: an arc-shaped connecting portion (521), the arc-shaped connecting portion (521) being connected to the base (51); The fan-shaped portion (522) is located on a side of the arc-shaped connecting portion (521) away from the base (51) along the axial direction of the second output shaft (710), and the fan-shaped portion (522) and the arc-shaped connecting portion (521) are arranged with the base (51) to form the first mounting groove (520). Along the axial direction of the second output shaft (710), the swing arm (20) is rotatably connected to the fan-shaped portion (522) on a side away from the second motor (71), wherein the central angle of the fan-shaped portion (522) is not less than the central angle of the arc-shaped connecting portion (521), and the central angle of the fan-shaped portion (522) is not greater than 180° minus the second rotation angle.

11. The cleaning module according to claim 10, characterized in that: The cleaning component also includes: A stop component (80) is provided between the swing arm (20) and the fixing seat (52), and the stop component (80) is used to stop the swing arm (20) at the first position or the second position.

12. The cleaning module according to claim 11, wherein: The stopping component (80) comprises: a stop protrusion (81), wherein the stop protrusion (81) includes at least two stop protrusions (81), and along the rotation direction of the swing arm (20), at least one stop protrusion (81) is arranged on a side of the swing arm (20) close to the push-pull member, and at least one stop protrusion (81) is arranged on a side of the swing arm (20) away from the push-pull member; A stop groove (82), wherein the stop groove (82) includes at least two stop grooves (82), which are adapted to the stop protrusion (81) and are arranged in a one-to-one correspondence with the stop protrusion (81); along the rotation direction of the swing arm (20), at least one stop groove (82) is arranged on a side of the arc-shaped connecting portion (521) close to the push-pull member, and at least one stop groove (82) is arranged on a side of the arc-shaped connecting portion (521) away from the push-pull member.

13. The cleaning module according to any one of claims 1 to 3, characterized in that: The cleaning member (30) includes a side brush, and the swing arm (20) also has a third position in which the side brush is at least partially located outside the edge contour of the main body (10), and the third position is located between the first position and the second position. The connecting member also drives the swing arm (20) to the third position.

14. A cleaning device, characterized in that: The cleaning device comprises the cleaning module according to any one of claims 1 to 13.

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