Cleaning module, cleaning equipment and cleaning system

Abstract

The utility model belongs to the technical field of electrical equipment, and particularly relates to a cleaning module, cleaning equipment and a cleaning system. The cleaning module comprises a power assembly, a stirring assembly, a lifting assembly and a side brush assembly, the stirring assembly is connected with the power assembly, the stirring assembly comprises a stirring part which intermittently swings in a reciprocating mode, the lifting assembly comprises a rotating part and a lifting part, the rotating part is connected with the power assembly, and the lifting part and the rotating part are intermittently connected in a threaded mode; the side brush assembly is connected to the lifting piece so as to synchronously ascend and descend with the lifting piece. The side brush assembly and the stirring assembly are in intermittent contact so as to swing in a reciprocating mode under driving of the stirring assembly. The cleaning efficiency and the user experience can be improved.

Description

Technical Field

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

[0002] In the related art, the side brush assembly is a common accessory for sweeping robots to expand the cleaning range and improve cleaning efficiency. When the sweeping robot is working, the side brush of the side brush assembly will always be in an extended state, which is not conducive to the operation of the robot under some special working conditions. Summary of the Invention

[0003] The present application provides a cleaning module, a cleaning device and a cleaning system, which aim to at least to some extent solve the technical problem that when the machine is working, the side brush of the side brush assembly will always be in an extended state, which is not conducive to the operation of the robot under some special working conditions.

[0004] In the first aspect of the present application, a cleaning module is provided, wherein the side brush assembly includes: a power assembly; a toggle assembly connected to the power assembly, the toggle assembly including a toggle portion that intermittently swings back and forth; a lifting assembly including a rotating member and a lifting member, the rotating member is connected to the power assembly, and the lifting member and the rotating member are intermittently threaded; a side brush assembly connected to the lifting member to rise and fall synchronously with the lifting member; the side brush assembly and the toggle assembly are intermittently in contact to swing back and forth under the drive of the toggle assembly.

[0005] The cleaning module provided in the present application controls the operation of the power component of the cleaning module to drive the toggle part of the toggle component to swing back and forth, and then drives the side brush component that is intermittently in contact with the toggle component to swing back and forth, so that the side brush assembly is in two positions, extended and retracted, to adapt to scenarios such as the machine crawling over obstacles; controls the operation of the power component, and the rotating part of the power component rotates to drive the rotating part of the lifting component to rotate, and the lifting part is threadedly transmitted with the driving part to drive the side brush assembly connected to the lifting part to rise, so that the side brush assembly is in a raised posture, to adapt to scenarios such as the machine crawling over carpets or cleaning sanitary corners, so as to improve the cleaning efficiency and user experience.

[0006] In some embodiments, the toggle portion swings back and forth in a first period, and the lifting member is threadedly connected to the rotating member in a second period, wherein: on the time axis, the first period and the second period are arranged at intervals, or the first period and the second period have overlapping periods, or the first period is arranged in the second period, or the second period is arranged in the first period.

[0007] In some embodiments, the power assembly is provided with two rotating parts, the shifting assembly is connected to one of the rotating parts, and the rotating member is connected to the other rotating part.

[0008] In some embodiments, the toggle assembly includes an intermittent motion mechanism, and the toggle portion is disposed on an output portion of the intermittent motion mechanism.

[0009] In some embodiments, the intermittent motion mechanism comprises a grooved wheel mechanism.

[0010] In some embodiments, the sheave mechanism includes a matching dial and a sheave, the dial is connected to the power assembly, and the dial portion is provided on the sheave.

[0011] In some embodiments, the side brush assembly is provided with a passive portion that is intermittently in contact with the toggle portion, and the passive portion drives the side brush assembly to swing in response to the reciprocating swing of the toggle portion.

[0012] In some embodiments, the cleaning module further includes: a reset member, responsive to the swinging of the side brush assembly, to drive the side brush assembly to reset.

[0013] In some embodiments, the side brush assembly is provided with two passive parts, and the toggle part swings back and forth between the two passive parts and intermittently contacts the two passive parts respectively.

[0014] In some embodiments, the cleaning module further includes: a limiting member, the passive portion is driven by the toggle portion to the limiting member, and the side brush assembly rises and falls along the limiting member.

[0015] In some embodiments, a driving block and a driving groove are provided on the circumferential surface of the rotating member and the lifting member, and the driving block moves back and forth in the driving groove. The driving block is spiral-shaped, and the driving groove includes a first spiral groove body and a second groove body with a planar portion that are arranged at intervals.

[0016] In some embodiments, the top and / or bottom of the first trough is connected to the second trough.

[0017] In some embodiments, a plurality of the driving blocks are arranged at intervals.

[0018] In some embodiments, blocking portions are provided at both ends of the driving slot to block the driving block from moving in the driving slot.

[0019] In some embodiments, the cleaning module further includes a position confirmation member to confirm the position and posture of the cleaning module.

[0020] In some embodiments, the cleaning module further includes an anti-collision mechanism, which includes: a detection member disposed on a side of the side brush assembly; and a trigger member protruding from a side of the side brush assembly and elastically connected to the detection member.

[0021] In a second aspect of the present application, the present application further provides a cleaning device, which includes a main body and the above-mentioned cleaning module, and the cleaning module is assembled on the main body.

[0022] The cleaning device provided in this application can control the side brush assembly of the cleaning module to switch between extended, retracted and raised positions to adapt to scenarios such as the machine climbing over obstacles or carpets or cleaning sanitary corners, so as to improve cleaning efficiency and user experience.

[0023] In a third aspect of the present application, the present application further provides a cleaning system, which includes a matching base station and the above-mentioned cleaning device.

[0024] The cleaning system provided in this application can control the side brush assembly of the cleaning module of the cleaning equipment to switch between extended, retracted and raised positions to adapt to scenarios such as the machine climbing over obstacles or carpets or cleaning sanitary corners, so as to improve cleaning efficiency and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A schematic diagram showing the structure of the cleaning module in one or more embodiments of the present application in a low-position extended posture;

[0027] Figure 2 Shown Figure 1 The cleaning module is shown in a schematic structural diagram in a low retracted position;

[0028] Figure 3 Shown Figure 1 The cleaning module is shown in a schematic structural diagram in a high-position retracted posture;

[0029] Figure 4 Shown Figure 1-Figure 3 Schematic diagram of the structure of the base;

[0030] Figure 5 Shown Figure 4 The schematic diagram of the structure of the base with the cover removed is shown;

[0031] Figure 6 Shows a schematic diagram of the assembly of the power assembly and the base;

[0032] Figure 7 Shown Figure 6 Schematic diagram of the structure with the cover removed;

[0033] Figure 8 shows an assembly diagram of a position confirmation member;

[0034] Figure 9 Shows a schematic diagram of the assembly of the sheave mechanism;

[0035] Figure 10 Shown Figure 9 A structural diagram from another perspective;

[0036] Figure 11 Shown Figure 6 A structural diagram from another perspective;

[0037] Figure 12 As shown Figure 2 A partial schematic diagram of the cleaning module;

[0038] Figure 13 A schematic diagram showing the structure of the swinging portion of the side brush assembly abutting against the limiting portion on the base;

[0039] Figure 14 shows a partial schematic diagram of a side brush assembly;

[0040] Figure 15 Shows a schematic diagram of the assembly of the central shaft and the third gear;

[0041] Figure 16 Shows a schematic structural diagram of the lifting assembly;

[0042] Figure 17 Shown Figure 16 Schematic cross-sectional view of ;

[0043] Figure 18 Shown Figure 16 A schematic diagram of the structure of the rotating parts;

[0044] Figure 19 Shown Figure 16 A schematic diagram of the structure of the lifting parts;

[0045] Figure 20 Shown Figure 19 A structural diagram from another perspective;

[0046] Figure 21 Shows a schematic diagram of the assembly of the side brush assembly and the lifting member;

[0047] Figure 22 Shows a schematic structural diagram of the reset member;

[0048] Figure 23 shows a schematic diagram of the arrangement of the anti-collision mechanism;

[0049] Figure 24 Shown Figure 23 A schematic diagram of the structure of the anti-collision mechanism;

[0050] Figure 25 Shown Figure 19 A schematic cross-sectional view of a lifting member from a top perspective;

[0051] Figure 26 Shown Figure 19 A schematic cross-sectional view of a lifting member from a bottom perspective;

[0052] Figure 27 A schematic diagram of the running trajectory of the side brush assembly is shown;

[0053] Figures 28-30 Schematic diagrams of the running tracks of the side brush assemblies in other embodiments are shown;

[0054] Figure 31 A schematic flow chart showing a method for operating a cleaning device in one or more embodiments of the present application is shown;

[0055] Figure 32 A schematic diagram of assembling a side brush assembly and a shielding member of a cleaning device in one or more embodiments of the present application is shown;

[0056] Figure 33 Shown Figure 32 Schematic diagram of the side brush assembly in cleaning mode;

[0057] Figure 34 Shown Figure 32 Schematic diagram of the side brush assembly in a raised position;

[0058] Figure 35 Shown Figure 32 A schematic diagram of a state in which at least a portion of the side brush assembly is rotated to the top of the shielding member;

[0059] Figure 36 Shown Figure 32-Figure 35 A schematic structural diagram of the shielding member in FIG.

[0060] Figure 37 Shown Figure 36 A structural diagram from another perspective;

[0061] Figure 38 Shown Figure 32 Schematic diagram of the position of the side brush member and the shielding member;

[0062] Figure 39 Shown Figure 32 A schematic structural diagram of a side brush assembly;

[0063] Figure 40 Shown Figure 39 Schematic diagram of the internal structure;

[0064] Figure 41 A schematic structural diagram of a side brush assembly in one or more embodiments of the present application is shown;

[0065] Figure 42 Shown Figure 41 A structural diagram from another perspective;

[0066] Figure 43 Shown Figure 41 A front view schematic diagram of

[0067] Figure 44 Shown Figure 41 Schematic top view of

[0068] Figure 45 Shown Figure 41 Schematic diagram of the working status of the side brush assembly shown.

[0069] Description of reference numerals:

[0070] Power assembly 1, drive motor 11, first gear 12, second gear 13, third gear 14, fourth gear 15;

[0071] Toggle assembly 2, toggle portion 21, sheave mechanism 22, dial 221, sheave 222, drive pin 223, radial groove 224, toggle arm 23, insert 24;

[0072] Lifting assembly 3, rotating member 31, tray 311, lifting member 32, cylindrical structure 321, base 322, connecting portion 323, protruding structure 324, driving block 33, driving slot 34, first slot 341, second slot 342, first blocking portion 35;

[0073] Side brush assembly 4, passive portion 41, blocking arm 42, side brush housing 43, communication port 431, passive protrusion 44, brush head 45, side brush member 46, side brush arm 461, first arm 461a, second arm 461b, third arm 461c, brush 462, guide portion 463, second blocking portion 464, blocking protrusion 467, second recess 468, first inclined surface 469, second inclined surface 4610, position confirmation member 47, side brush housing 48, side brush motor 49, gear assembly 410;

[0074] Base 5, connecting portion 51, supporting portion 52, accommodating cavity 521, limiting space 5211, swinging space 5212, assembly opening 522, limiting wall 523, loading portion 53, loading cavity 531, sealing cover 532, swinging hole 533;

[0075] Position confirmation element-6, sensing element-61, mounting plate-62, light shielding element-63;

[0076] Central axis-7;

[0077] Resetting member 8, first free end 81, second free end 82;

[0078] Anti-collision mechanism-9, triggering member-91, detection member-92, spring piece-93;

[0079] Shielding member 10, through portion 101, through hole 1011, notch 1012, first recess 102, blocking member 103;

[0080] Cleaning housing-11, storage cavity-1101;

[0081] Low extended posture-A, low retracted posture-B, high retracted posture-C, high extended posture-D. DETAILED DESCRIPTION

[0082] In order to enable those skilled in the art to understand the present application more clearly, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of this application.

[0083] A sweeping robot is a smart mobile cleaning product. When performing cleaning tasks, it primarily relies on its central roller brush to sweep up dust from the ground, and the airflow generated by the fan inside the main unit draws the dust into the dust box. Because the roller brush has a limited coverage area during operation, two cleaning modules are positioned on either side of the front roller brush. These modules gather dust from both sides of the roller brush into the area covered by the roller brush, facilitating cleaning. This increases the sweeper's coverage area, broadens the cleaning range, improves cleaning efficiency, and removes small debris that is difficult to remove with the roller brush or main mop.

[0084] In related technologies, a sweeping robot will have one or two cleaning modules arranged at the bottom of the machine. The cleaning modules are fixed on the chassis. When working, the side brushes of the cleaning modules will always be in a rotating state. When the machine is climbing over obstacles or carpets, or cleaning corners, the cleaning modules will hinder the machine from climbing or rolling up the carpet, causing the machine to be unable to clean in some specific scenarios, affecting cleaning efficiency and user experience.

[0085] Based on the above technical problems, the present application provides a cleaning module, a cleaning device and a cleaning system, so that the machine can perform cleaning work in specific scenarios to improve cleaning efficiency and user experience.

[0086] The design concept of this application is to control the swing and / or lifting movement of the side brush assembly of the cleaning module to control the side brush assembly to different posture positions to meet the cleaning needs of the machine in different scenarios, thereby improving cleaning efficiency and user experience. The specific technical solution will be described in detail below with reference to the accompanying drawings.

[0087] The cleaning module of the present application includes a power component 1, a toggle component 2, a lifting component 3 and a side brush component 4. The toggle component 2 is transmission-connected to the power component 1. The toggle component 2 includes a toggle part 21 that intermittently swings back and forth; the lifting component 3 includes a rotating part 31 and a lifting part 32. The rotating part 31 is connected to the power component 1. The lifting part 32 is intermittently threadedly connected to the rotating part 31. The side brush assembly 4 is connected to the lifting part 32 so as to rise and fall synchronously with the lifting part 32. The side brush assembly 4 is in contact with the toggle component 2 so as to swing back and forth under the drive of the toggle component 2.

[0088] Figure 1 Schematic diagram showing the structure of the cleaning module in one or more embodiments of the present application in a low-position extended posture A. Figure 2 Shown Figure 1 The cleaning module is shown in a schematic structural diagram in a low retracted position B. Figure 3 Shown Figure 1 The cleaning module is shown in a schematic structural diagram in a high-position retracted posture C. Figure 1-Figure 3 The toggle component 2 is not shown in the figure. The specific structure of the toggle component 2 can be referred to Figure 9-10 And the following description. Figure 1-Figure 3, control the power component 1 of the cleaning module to work, so as to drive the toggle part 21 of the toggle component 2 to swing back and forth, and then drive the side brush component 4 that is intermittently in contact with the toggle component 2 to swing back and forth, so that the side brush component 4 is in two positions of extended and retracted, so as to adapt to scenarios such as the machine crawling over obstacles; control the power component 1 to work, and the rotating part of the power component 1 rotates to drive the rotating part 31 of the lifting component 3 to rotate, and the lifting part 32 is threadedly transmitted with the driving part to drive the side brush assembly 4 connected to the lifting part 32 to rise, so that the side brush assembly 4 is in a raised posture, so as to adapt to scenarios such as the machine crawling over carpets or cleaning sanitary corners, so as to improve cleaning efficiency and user experience.

[0089] Since the toggle portion 21 of the toggle assembly 2 intermittently reciprocates, i.e., it switches between resting and reciprocating, the toggle portion 21 of the toggle assembly 2 can be configured to reciprocate within a first cycle and remain stationary outside of the first cycle without reciprocating. Since the lifting member 32 and the rotating member 31 of the lifting assembly 3 are intermittently threadedly connected, the lifting member 32 and the rotating member 31 can be configured to be threadedly connected within a second cycle, with the lifting member 32 being threadedly driven by the rotating member 31 during the second cycle and not being threadedly driven by the rotating member 31 outside of the second cycle. According to one embodiment of the present application, a first cycle and a second cycle are alternately arranged on a time axis. Specifically, the toggle portion 21 of the toggle assembly 2 reciprocates during the first cycle to drive the side brush assembly 4 to reciprocate during the first cycle. The rotating member 31 of the lifting assembly 3 is threadedly coupled to the driving member during the second cycle to drive the side brush assembly 4, which is connected to the lifting member 32, to ascend and descend during the second cycle, so that the reciprocating oscillation and elevation of the side brush assembly 4 alternate within different cycles. According to another embodiment of the present application, the first cycle and the second cycle overlap. For example, after the side brush assembly 4 reciprocates for a certain period of time, the side brush assembly 4 ascends and descends, and after the reciprocating oscillation ends, the side brush assembly 4 continues to ascend and descend. Alternatively, the first cycle is arranged within the second cycle, so that the side brush assembly 4 ascends and descends during the reciprocating oscillation of the first cycle. Alternatively, the second cycle is arranged within the first cycle, so that the side brush assembly 4 reciprocates during the elevation of the first cycle. The cleaning module shown in the present application will be further described with the reciprocating oscillation and elevation of the side brush assembly 4 alternating within different cycles.

[0090] Figure 4 Shown Figure 1-Figure 3 The structural diagram of the base in Figure 5 Shown Figure 4 The schematic diagram of the structure of the base with the cover removed is shown. Figure 4 as well as Figure 5The cleaning module of the present application includes a base 5, which includes a connecting portion 51, a supporting portion 52 and a loading portion 53. The connecting portion 51 is arranged at the bottom of the supporting portion 52 for assembling the base 5 on the cleaning equipment. The supporting portion 52 is roughly a shell structure, which has a built-in accommodating cavity 521. The side of the accommodating cavity 521 is provided with an assembly port 522. The loading portion 53 is connected to the top of the supporting portion 52, and a loading cavity 531 is provided inside it. The top of the loading cavity 531 is sealed by a detachable cover 532. The connecting portion 51, the supporting portion 52 and the loading portion 53 can be integrally formed, or assembled together by detachable connection methods such as snaps or / bolts, which are not limited here. According to one embodiment of the present application, the connecting portion 51 and the loading portion 53 can be arranged on the same side of the supporting portion 52 to reduce the space occupied by the base 5 to meet the design trend of miniaturization of products.

[0091] Figure 6 Shows the assembly diagram of the power component and the base. Figure 7 Shown Figure 6 Schematic diagram of the structure with the cover removed. Figure 6 as well as Figure 7 The power assembly 1 of the present application includes a drive motor 11, the top of the drive motor 11 is connected to the bottom of the loading portion 53, and the output shaft of the drive motor 11 passes through the bottom of the loading portion 53 and extends into the loading cavity 531. The power assembly 1 also includes a first gear 12, a second gear 13 and a third gear 14, wherein the first gear 12 is fixedly sleeved on the output shaft of the drive motor 11, the first gear 12 and the output shaft of the drive motor 11 rotate synchronously, the second gear 13 and the first gear 12 are meshed and transmitted, and the third gear 14 is connected to the second gear 13 in transmission, so that the power assembly 1 has two rotating parts, which are partial circumferential surface of the second gear 13 and partial circumferential surface of the third gear 14. For the sake of description, the partial circumferential surface of the second gear 13 is defined as the first rotating part, and the partial circumferential surface of the third gear 14 is defined as the second rotating part.

[0092] Combine Figure 7 According to one embodiment of the present application, the power assembly 1 may further include a fourth gear 15, which is disposed between the third gear 14 and the second gear 13 and meshes with the third gear 14 and the second gear 13, respectively. That is, power is transmitted through the fourth gear 15 to drive the fourth gear 15 to rotate. The fourth gear 15 has a smaller diameter and serves as a transition gear, providing sufficient space for the rotation of the side brush assembly 4. According to another embodiment of the present application, if there is sufficient space for the rotation of the side brush assembly 4, the fourth gear 15 may be eliminated, so that the third gear 14 and the second gear 13 are directly meshed and transmitted.

[0093] It should be noted that the second gear 13 , the third gear 14 and the fourth gear 15 are all assembled into the loading cavity 531 of the loading portion 53 through corresponding rotating shafts.

[0094] Combine Figure 7 The present application also includes a position confirmation member 6 for confirming the position and posture of the side brush assembly 4 so that the cleaning module can be automatically controlled according to instructions. Figure 8 Shows the assembly diagram of the position confirmation part, combined with Figure 6-Figure 8 According to one embodiment of the present application, the position confirmation member 6 may include a light-interrupting sensor having three sensing members 61. The three sensing members 61 may be connected to a mounting plate 62 by means of a snap or the like. The mounting plate 62 may be assembled on the top of the cover 532. Three sensing members 61 may be arranged at intervals around the central axis 7 of the second gear 13. The light-shielding member 63 is arranged on the end face of the top of the second gear 13. It rotates synchronously with the second gear 13 and passes through the three sensing members 61 in sequence to form detection confirmations of three positions and postures. According to another embodiment of the present application, the position confirmation member 6 may also be a contact sensor such as a contact switch, which may be connected to the bottom of the cover 532 by means of a snap or the like. A corresponding trigger member is provided on the end face of the top of the second gear 13 so that when the side brush assembly 4 is in different positions and postures, the trigger member triggers the corresponding position confirmation member 6 to form detection confirmations of three positions and postures.

[0095] The toggle assembly 2 of the present application includes an intermittent motion mechanism, which refers to a mechanism in which a component moves and stops periodically, and can convert the continuous rotation of the driving member into the periodic motion and stop of the driven member. The output part of the intermittent motion mechanism is connected to the above-mentioned toggle part 21.

[0096] Common intermittent motion mechanisms include ratchet mechanisms, grooved wheel mechanisms, connecting rod mechanisms and incomplete gear mechanisms. Now, the intermittent motion mechanism is taken as an example of a grooved wheel mechanism 22, and the following Figure 9 -Attached Figure 11 The specific details of the sheave mechanism 22 are further described.

[0097] Figure 9 The figure shows the assembly diagram of the grooved wheel mechanism. Figure 10 Shown Figure 9 Another structural diagram of the perspective. Figure 9 as well as Figure 10The sheave mechanism 22 includes a matching dial 221 and a sheave 222, wherein the dial 221 is in transmission connection with the first rotating portion of the power assembly 1, and the toggle portion 21 is disposed on the sheave 222. Driven by the first rotating portion of the power assembly 1, the dial 221 rotates continuously. When the driving pin 223 on the dial 221 does not enter the radial groove 224 of the sheave 222, the sheave 222 remains stationary. When the driving pin 223 on the dial 221 enters the radial groove 224 of the sheave 222, the sheave 222 rotates under the drive pin 223. When the driving pin 223 on the dial 221 leaves the radial groove 224 of the sheave 222, the sheave 222 changes from rotating to stationary, thereby achieving periodic rotation and rest of the sheave 222. The toggle portion 21 is connected to the sheave 222, and the toggle portion 21 and the sheave 222 rotate and rest synchronously.

[0098] Combine Figure 10 The dial 221 can be integrally formed or detachably connected to the bottom end surface of the second gear 13 of the power assembly 1. The dial 221 and the second gear 13 share a rotating shaft, so that the dial 221 and the second gear 13 of the power assembly 1 rotate synchronously. According to one embodiment of the present application, the middle portion of the sheave 222 is also assembled in the loading cavity 531 via a corresponding rotating shaft. The sheave 222 can be provided with two radial grooves 224. The central angle between the two radial grooves 224 is approximately 90°, which is slightly smaller than the central angle of the swing hole 533 provided at the bottom of the loading portion 53. When the dial 221 rotates one circle, the sheave 222 rotates approximately one quarter of a circle. According to other embodiments of the present application, the sheave 222 can be provided with three or more radial grooves 224. The central angle between two adjacent radial grooves 224 can also be other angles, such as 30°, 60°, etc., which are not limited here.

[0099] Combine Figure 9 as well as Figure 10 The circumferential portion of the sheave 222 may be integrally formed with or detachably connected to a toggle arm 23 , which passes through the bottom of the loading portion 53 and extends toward the connecting portion 51 . The swing arm may be configured as the toggle portion 21 of the toggle assembly 2 .

[0100] Figure 11 Shown Figure 6 Another structural diagram of the perspective. Figure 11 A swing hole 533 is provided at the bottom of the loading portion 53, and the toggle arm 23 passes through the swing hole 533 at the bottom of the loading portion 53. The swing hole 533 can be roughly fan-shaped, and its central angle is greater than or equal to the swing angle of the toggle portion 21 of the toggle assembly 2, which can provide a swing space for the reciprocating swing of the toggle portion 21 of the toggle assembly 2.

[0101] Figure 12As shown Figure 2 Partial schematic diagram of the cleaning module in FIG. In order to clearly show the position of the side brush assembly 4, Figure 12 The motor and brush parts of the side brush assembly 4 are removed. Figure 12 The side brush assembly 4 is provided with a passive portion 41 in contact with the toggle portion 21. When the toggle portion 21 is driven to swing, the passive portion 41 of the side brush assembly 4 contacts the toggle portion 21 of the toggle assembly 2, so as to drive the passive portion 41 of the cleaning module to swing through the swinging toggle portion 21, thereby driving the side brush assembly 4 to swing, so that the cleaning module is in two positions, extended and retracted, to adapt to scenarios such as the machine climbing over obstacles or cleaning corners.

[0102] Combine Figure 12 The cleaning module includes a central shaft 7, which is connected to the base 5. The side brush assembly 4 can swing back and forth around the central shaft 7. The two ends of the central shaft 7 are respectively connected to the connecting part 51 and the loading part 53 of the base 5.

[0103] Combine Figure 12 According to one embodiment of the present application, a passive portion 41 is provided around the side brush assembly 4, and only one passive portion 41 is provided. When the toggle portion 21 swings, the passive portion 41 of the side brush assembly 4 contacts the toggle portion 21 of the toggle assembly 2. The swinging toggle portion 21 drives the cleaning module to swing, causing the side brush assembly 4 to switch from an extended position to a retracted position, adapting to scenarios such as when the machine is climbing over obstacles. In order to switch the side brush assembly 4 from a retracted posture to an extended posture, the cleaning module provided by the present application further includes a reset member 8, which is connected to the side brush assembly 4. When the passive portion 41 is driven by the toggle portion 21 to swing, the reset member 8 is deformed to enable the side brush assembly 4 to switch from an extended posture to a retracted posture. When the side brush assembly 4 needs to switch from a retracted posture to a cleaning posture, the power assembly 1 stops outputting, and the reset member 8 resumes its deformation to drive the side brush assembly 4 to switch from a retracted posture to an extended posture. That is, the switching of the side brush assembly 4 between an extended posture and a retracted posture is achieved through the combination of the toggle portion 21 and the reset member 8. For the specific assembly method of the reset member 8, please refer to the relevant description below.

[0104] Figure 13 The diagram shows the structure of the swing part of the side brush assembly against the limiting part on the base. Figure 12 as well as Figure 13 A limiting portion is also provided on the base 5. When the passive portion 41 of the side brush assembly 4 is driven by the toggle portion 21 of the toggle assembly 2 to swing to a retracted posture, the side brush assembly 4 is blocked and limited by the limiting portion of the base 5, so that the side brush assembly 4 cannot continue to swing.

[0105] Combine Figure 13According to one embodiment of the present application, the inner side wall of the accommodating cavity 521 of the supporting portion 52 of the base 5 is provided with a limiting wall 523 extending into the interior of the accommodating cavity 521. The limiting wall 523 can be configured as a limiting portion of the base 5. The limiting wall 523 in the accommodating cavity 521 is arranged roughly vertically, which divides the accommodating cavity 521 into two spaces, namely a limiting space 5211 and a swinging space 5212. The passive portion 41 swings in the swinging space 5212. When the side brush assembly 4 is in a retracted posture, the passive portion 41 of the side brush assembly 4 is clamped between the toggle portion 21 of the toggle assembly 2 and the limiting wall 523. The toggle portion 21 of the toggle assembly 2 and the limiting wall 523 form a limiting channel to keep the side brush assembly 4 in a retracted posture. According to another embodiment of the present application, the inner side wall of the accommodating cavity 521 of the supporting portion 52 of the base 5 is provided with a limit block extending into the interior of the accommodating cavity 521. The limit block can be configured as a limit portion of the base 5. The structures and functions of the limit block and the limit wall 523 are similar. The difference is that the limit block is suspended in the accommodating cavity 521, and the top and bottom of the limit block do not have the same structure as the connecting portion 51 and the supporting portion 52 of the base 5, which will not be elaborated here.

[0106] Figure 14 A partial schematic diagram of the side brush assembly is shown. Figure 13 as well as Figure 14 The side brush assembly 4 may also include a blocking arm 42. One end of the blocking arm 42 is movably mounted on the central shaft 7, and the other end of the blocking arm 42 extends horizontally or nearly horizontally out of the side brush housing 43. The blocking arm 42 operates synchronously with the side brush assembly 4, swinging within the limiting space 5211 while the passive portion 41 swings within the swinging space 5212. When the side brush assembly 4 swings to the retracted position, the passive portion 41 abuts against the side of the swinging space 5212 facing the limiting wall 523, while the blocking arm 42 abuts against the inner sidewall of the accommodating cavity 521, located outside the assembly opening 522, to prevent the side brush assembly 4 from remaining in the retracted position. When the side brush assembly 4 switches from the retracted position to the extended position, the blocking arm 42 moves within the limiting space 5211 toward the limiting wall 523. When the side brush assembly 4 switches to the extended position, the blocking arm 42 abuts against the limiting wall 523, maintaining the side brush assembly 4 in the extended position, enabling normal operation of the side brush assembly 4.

[0107] Combine Figure 14 The side brush assembly 4 further includes a passive protrusion 44 extending in a horizontal direction or a nearly horizontal direction. The passive protrusion 44 can be configured as a passive portion 41 of the side brush assembly 4 .

[0108] According to another embodiment of the present application, two passive parts 41 can be provided, and the toggle part 21 of the toggle assembly 2 swings back and forth between the two passive parts 41 to realize the switching of the side brush assembly 4 from the extended posture to the retracted posture. When the toggle part 21 of the toggle assembly 2 swings, one passive part 41 of the side brush assembly 4 contacts the toggle part 21 of the toggle assembly 2, and the swinging toggle part 21 drives the cleaning module to swing, so that the side brush assembly 4 switches from the extended posture to the retracted posture, so as to adapt to the scene such as the machine climbing over obstacles; when the side brush assembly 4 switches from the retracted posture to the extended posture, the power assembly 1 controls the toggle part 21 to swing in the opposite direction, and the other passive part 41 of the side brush assembly 4 contacts the toggle part 21 of the toggle assembly 2, and the swinging toggle part 21 drives the side brush assembly 4 to swing, so that the side brush assembly 4 switches from the retracted posture to the extended posture.

[0109] Figure 15 Shows the assembly diagram of the central shaft and the third gear. Figure 15 The top end of the central shaft 7 is connected to the rotation axis of the third gear 14 (i.e., the second rotating portion), so that when the third gear 14 rotates, the central shaft 7 and the third gear 14 rotate synchronously, thereby enabling the central shaft 7 to also have a rotation function. In a specific implementation, the interior of the third gear 14 can be hollow, and the top end of the central shaft 7 extends into the interior of the third gear 14. An insert 24 is connected between the inner sidewall of the third gear 14 and the top end of the central shaft 7, so that the third gear 14 and the top end of the central shaft 7 are integrally connected, so that the rotating third gear 14 drives the central shaft 7 to rotate synchronously. The central shaft 7 can be configured as the rotating member 31 of the lifting assembly 3.

[0110] Figure 16 The figure shows the structure diagram of the lifting assembly. Figure 16 The lifting member 32 of the lifting assembly 3 is matched and placed on the outer peripheral surface of the rotating member 31, so that the lifting member 32 can be lifted and lowered on the peripheral surface of the rotating member 31. Figure 15 -Attached Figure 26 The specific details of the lifting assembly 3 are further described.

[0111] Figure 17 Shown Figure 16 Schematic cross-section of the . Figure 16 as well as Figure 17A driving block 33 and a driving groove 34 are provided on the circumference of the rotating member 31 and the lifting member 32. The driving block 33 reciprocates in the driving groove 34. The driving block 33 is spiral-shaped, and the driving groove 34 includes a first spiral groove body and a second planar groove body that are spaced apart. When the side brush assembly 4 is driven to swing by the toggle assembly 2, the driving block 33 runs in the second planar groove body, and the lifting member 32 idles in the rotating member 31. When the side brush assembly 4 is blocked by the limiting portion of the base 5 and cannot continue to swing, the driving block 33 runs in the first spiral groove body, threading the rotating member 31 and the lifting member 32 to drive the lifting member 32 to rise and fall on the circumference of the rotating member 31. Since the lifting member 32 is connected to the side brush assembly 4, the side brush assembly 4 can also be raised and lowered, thereby enabling the side brush assembly 4 to switch between a retracted position and a raised position.

[0112] Figure 18 Shown Figure 16 Schematic diagram of the structure of the rotating parts, Figure 19 Shown Figure 16 Schematic diagram of the structure of the lifting parts. Figure 18 as well as Figure 19 According to one embodiment of the present application, the drive block 33 can be integrally formed on the outer circumference of the rotating member 31. Two or more drive blocks 33 can be arranged at intervals, which can improve the balance and reliability of the operation of the drive block 33 in the drive slot 34, thereby improving the reliability of the switching of the posture of the side brush assembly 4. The lifting member 32 includes a cylindrical structure 321, which is sleeved on the rotating member 31, and the drive slot 34 is opened on the inner circumference of the cylindrical structure 321. According to another embodiment of the present application, the drive block 33 can be integrally formed on the inner circumference of the lifting member 32, and the drive slot 34 is opened on the outer circumference of the rotating member 31.

[0113] Combine Figure 18 A tray 311 may also be integrally connected to the outer periphery of the rotating member 31. The tray 311 is placed within the lifting member 32 and below the driving slot 34. When the side brush assembly 4 is in the low, extended position A or the low, retracted position B, the tray 311 supports the lifting member 32, thereby improving the reliability of the side brush assembly 4 connected to the lifting member 32 when operating in the low position.

[0114] Figure 20 Shown Figure 19 Another perspective of the structural diagram, combined with Figure 20 According to one embodiment of the present application, a convex structure 324 is integrally formed on the circumference of the rotating member 31 or the lifting member 32, and the driving groove 34 is provided on the circumferential surface of the convex structure 324. According to another embodiment of the present application, the driving groove 34 can also be provided in the first concave structure within the circumference of the rotating member 31 or the lifting member 32.

[0115] Combine Figure 20 A first blocking portion 35 is also provided at both ends of the driving groove 34. The first blocking portion 35 can be a protruding structure, which is integrally formed on the peripheral side wall of the rotating part 31 or the lifting part 32 to block the displacement of the driving block 33 in the driving groove 34, thereby improving the reliability of the posture switching of the side brush assembly 4.

[0116] Combine Figure 19 as well as Figure 20 The lifting member 32 also includes a base 322 and a connecting portion 323. The cylinder structure 321 and the connecting portion 323 are both connected to the base 322. The connecting portion 323 and the cylinder structure 321 are arranged in parallel or approximately in parallel. The connecting portion 323 and the side brush assembly 4 can be connected by screws or snap connections to connect the lifting member 32 with the side brush assembly 4 so that the two can move synchronously. In addition, combined with Figure 12 When the side brush assembly 4 is in the extended posture, the connecting portion 323 also abuts against the side wall of the assembly opening 522 of the accommodating cavity 521 to limit the position of the side brush assembly 4 and keep the side brush assembly 4 in the extended posture.

[0117] Figure 21 Shows the assembly diagram of the side brush assembly and the lifting member. Figure 21 The side brush assembly 4 includes a side brush shell 43 for loading the components of the side brush assembly 4. The side brush shell 43 is provided with a through communication port. The bottom part of the side brush shell 43 is located on the base 322 of the lifting member 32. The cylindrical structure 321 of the lifting member 32 is connected to the communication port, and the connecting part 323 of the lifting member 32 is connected to the side brush shell 43.

[0118] Figure 22 The schematic diagram of the structure of the reset part is shown. Figure 21 as well as Figure 22 The reset member 8 can be a torsion spring, which is mounted on the cylindrical structure 321 of the lifting member 32. The reset member 8 has a first free end 81 and a second free end 82. The first free end 81 of the reset member 8 can be provided with two. The first free end 81 of the reset member 8 rests on the connecting portion 323 of the lifting member 32, and the second free end 82 of the reset member 8 rests on the side brush housing 43. When the side brush assembly 4 switches from the extended position to the retracted position, the reset member 8 is compressed, and the deformation of the reset member 8 causes the side brush assembly 4 to switch from the retracted position to the extended position. In addition, when the machine moves along an obstacle such as a wall, the wall or other obstacle will force the side brush assembly 4 to move into the machine. The setting of the reset member 8 can buffer the movement of the side brush assembly 4 into the machine, avoiding damage to the side brush assembly 4 caused by hard contact.

[0119] Figure 23 The figure shows the layout of the anti-collision mechanism. Figure 23The cleaning module also includes an anti-collision mechanism 9, which is connected to the side of the side brush assembly 4. When the anti-collision structure collides with an obstacle, a trigger signal is generated to control the side brush assembly 4 to retract inward so that the machine can move normally.

[0120] Figure 24 Shown Figure 23 Schematic diagram of the anti-collision mechanism in the Figure 24 The anti-collision mechanism 9 includes a detection member 92 and a trigger member 91. The detection member 92 is arranged on the side of the side brush assembly 4. The trigger member 91 protrudes from the side of the side brush assembly 4 and is elastically connected to the detection member 92. For example, the inner side of the trigger member 91 is connected to the detection member 92 via a spring 93. When the trigger member 91 collides with an obstacle, the trigger member 91 moves toward the detection member 92 and contacts the detection member 92 to generate a trigger signal. When the obstacle is contacted, the trigger member 91 returns to its initial position.

[0121] For the sake of convenience, the side brush assembly 4 is now defined as being in an extended working posture as a low extended posture A, the side brush assembly 4 is defined as being in a retracted posture as a low retracted posture B, the side brush assembly 4 is defined as being in a raised retracted posture as a high retracted posture C, and the side brush assembly 4 is defined as being in a raised extended posture as a high extended posture D.

[0122] Figure 25 Shown Figure 19 A cross-sectional diagram of a lifting member from a top perspective, Figure 26 Shown Figure 19 A cross-sectional diagram of a lifting member from the bottom perspective. Figure 25 as well as Figure 26 According to an embodiment of the present application, two first slots 341 are provided, and the two first slots 341 are respectively provided at both ends of the second slot 342 . Figure 27 The schematic diagram of the running track of the side brush assembly 4 is shown. Figure 27When the side brush assembly 4 is in a low extended posture A, the driving block 33 is placed in the second groove 342 at the bottom; when the side brush assembly 4 is toggled by the toggle assembly 2, the side brush assembly 4 swings from the low extended posture A to the low retracted posture B. During this process, the reset member 8 is compressed, and the driving block 33 runs in the second groove 342 at the bottom until it runs to the entrance end of the first groove 341. Since the second groove 342 is a flat part, it can provide support for the driving block 33, so that the side brush assembly 4 can stably switch postures; the rotating member 31 rotates under the drive of the power assembly 1, and the driving block 33 runs in the first groove 341 until the driving block 33 rotates to the entrance end of the second groove 342 at the top. Since the rotating member 31 and the lifting member 32 are threadedly connected, the lifting member 32 is connected to the side brush assembly 4. Therefore, during the operation of the driving block 33 in the first groove 341, the lifting member 32 is driven to rise on the circumferential surface of the rotating member 31 to drive The side brush assembly 4 rises along the limiting portion, so that the side brush assembly 4 can switch from the low retracted posture B to the high retracted posture C; the rotating member 31 continues to rotate under the drive of the power assembly 1, and the driving block 33 runs into the second slot 342 at the top, and the power assembly 1 stops working. During this process, the side brush assembly 4 remains stationary, and the driving block 33 falls into the second slot 342. Since the second slot 342 is a flat part, it can provide support for the driving block 33, so that the side brush assembly 4 can switch postures stably; the power assembly 1 is controlled to rotate in the opposite direction, and the driving block 33 runs from the second slot 342 at the top to the first slot 341. The side brush assembly 4 descends along the limiting portion, and the side brush assembly 4 switches from the high retracted posture C to the low retracted posture B; the power assembly 1 stops working, the compressed elastic member is reset, driving the driving block 33 to run in the second slot 342 at the bottom, and the side brush assembly 4 switches from the low retracted posture B to the low extended posture A to work normally. In this embodiment, the side brush assembly 4 can be switched between four postures (low-position extended posture A, low-position retracted posture B and high-position retracted posture C), which can meet different usage scenarios, improve cleaning efficiency, and enable the machine to operate normally. In addition, when the side brush assembly 4 is in a certain posture, the drive block 33 is located in the second groove 342 of the plane part, which can support the side brush assembly 4 and improve the stability of the normal operation of the side brush assembly 4.

[0123] Combine Figure 28According to another embodiment of the present application, after the side brush assembly 4 switches from the low retracted posture B to the high retracted posture C, the power assembly 1 stops working, the compressed elastic member resets, and drives the drive block 33 to reversely run in the second slot 342 at the top, and the side brush assembly 4 switches from the high retracted posture C to the high extended posture D, so that the side brush assembly 4 can work under the condition of a certain height to clean the parts with a certain height position; the second output part of the power assembly 1 is controlled to reverse, and the drive block 33 runs in the first slot 341 to drive the lifting member 32 and the side brush assembly 4 to switch from the high extended posture D to the low extended posture A; the power assembly 1 is controlled to continue to reverse, and the drive block 33 runs to the second slot 342 at the bottom, and the power assembly 1 is controlled to stop working and wait for the next posture switch. In this embodiment, the side brush assembly 4 can be switched between four postures (low extended posture A, low retracted posture B, high retracted posture C and high extended posture D), which can meet different usage scenarios, improve cleaning efficiency, and enable the machine to operate normally. In addition, when the side brush assembly 4 is in a certain posture, the drive block 33 is located in the second groove 342 of the plane part, which can support the side brush assembly 4 and improve the stability of the normal operation of the side brush assembly 4.

[0124] According to another embodiment of the present application, only one of the second groove body 342 and the first groove body 341 can be provided, and the second groove body 342 can be provided at the bottom or top of the first groove body 341, so that the side brush assembly 4 can be in different postures. Figure 29 Under the condition that the second slot body 342 is arranged at the bottom of the first slot body 341, the side brush assembly 4 can switch from the low-position extended posture A to the low-position retracted posture B and the high-position retracted posture C in sequence; or, from the high-position retracted posture C to the low-position retracted posture B and the low-position extended posture A in sequence, so as to meet different usage scenarios, improve cleaning efficiency, and enable the machine to operate normally; combined with Figure 30 When the second slot body 342 is set at the top of the first slot body 341, the side brush assembly 4 can switch from the low-position extended posture A to the high-position extended posture D and the high-position retracted posture C in sequence, or switch from the high-position retracted posture C to the high-position extended posture D and the low-position extended posture A in sequence to meet different usage scenarios, improve cleaning efficiency, and enable the machine to operate normally.

[0125] To sum up, the cleaning module provided in this application can realize the switching of the side brush assembly in different postures (retraction and / or lifting) through a driving motor to adapt to different cleaning scenarios, thereby improving the cleaning effect and cleaning efficiency, and has good adaptability and practicality.

[0126] The present application also provides a cleaning device, which includes a main unit and the above-mentioned cleaning module, wherein the above-mentioned cleaning module is assembled on the main unit. The cleaning device can be a sweeping robot or other cleaning device with a side brush function.

[0127] This application also provides a method for operating a cleaning device. Figure 31 The flowchart of the operation method of the cleaning device in one or more embodiments of the present application is shown. Figure 31 , the operation method includes:

[0128] S1: Obtain target cleaning status information;

[0129] S2: Control the side brush assembly to different positions and postures according to the target cleaning state information.

[0130] The operating method of the cleaning equipment provided in this application can control the side brush assembly of the cleaning module to switch between extended, retracted and raised positions to adapt to scenarios such as the machine climbing over obstacles or carpets or cleaning sanitary corners, so as to improve cleaning efficiency and user experience.

[0131] S1 of the present application specifically includes: the target cleaning status information of the machine equipment can be obtained in real time through the information of the video sensor and / or infrared sensor set in the cleaning equipment. The target cleaning status information includes whether there are obstacles such as blankets in the target cleaning area, whether it is cleaning a dark corner, etc.

[0132] If the target cleaning area confirmed by the target cleaning status information has obstacles such as carpets, or requires cleaning of dark corners, when the robot is in normal cleaning mode, the side brush of the side brush assembly will always be in an extended state, which is not conducive to the operation of the robot under the above working conditions. Therefore, the side brush assembly can be controlled to switch its position so that the side brush assembly is in different positions and postures to improve cleaning efficiency and user experience.

[0133] S2 of the present application specifically includes: controlling the side brush assembly to switch back and forth between a low-extended posture and a low-retracted posture; or; controlling the side brush assembly to switch back and forth between a low-extended posture, a low-retracted posture and a high-retracted state in sequence; or; controlling the side brush assembly to switch back and forth between a low-extended posture, a low-retracted posture, a high-retracted state and a high-extended posture in sequence; or; controlling the side brush assembly to switch back and forth between a low-extended posture and a high-retracted posture. For details, please refer to the above description and will not be repeated here.

[0134] The present application also provides a cleaning system, which includes a matching base station and the above-mentioned cleaning equipment.

[0135] The cleaning device and cleaning system with the above-mentioned cleaning module can switch between different postures to adapt to different cleaning scenarios, thereby improving the cleaning effect and cleaning efficiency, and has good adaptability and practicality.

[0136] Since the cleaning equipment and cleaning system provided in the present application include a cleaning module according to any of the above technical solutions, the cleaning equipment and cleaning system have all the beneficial effects of the cleaning module according to the above technical solutions, which will not be described in detail here.

[0137] While the aforementioned cleaning module can raise the side brush assembly to facilitate the robot's ability to climb over obstacles in normal cleaning mode, in some operating conditions, for example, the side brush assembly's limited height allows the bristles of the side brush assembly to come into contact with the cleaning surface. This can be particularly problematic when the cleaning surface is prone to entanglement, such as with carpets, hindering the robot's ability to maneuver. Therefore, the present application also provides a cleaning module to facilitate the robot's maneuverability.

[0138] Figure 32 Schematic diagram of the assembly of the side brush assembly and the shielding member of the cleaning device in one or more embodiments of the present application is shown. Figure 33 Shown Figure 32 Schematic diagram of the side brush assembly in cleaning mode. Figure 34 Shown Figure 32 Schematic diagram of the side brush assembly in a raised position, Figure 35 Shown Figure 32 Schematic diagram of a state in which at least part of the side brush assembly is rotated to the top of the shielding member. Figure 32-Figure 35 The cleaning module provided in this application includes a shielding member 10 and a side brush assembly 4. The shielding member 10 is provided with a through portion 101. The side brush assembly 4 includes a brush head 45 and a side brush member 46 connected to the brush head 45. The brush head 45 can be raised above the shielding member 10, and the side brush member 46 can pass through the through portion 101. At least part of the side brush member 46 can be rotated to the top of the shielding member 10.

[0139] The cleaning module provided by this application is as follows: Figure 33 As shown, in the cleaning mode, at least part of the brush head 45 of the side brush assembly 4 and the side brush member 46 are placed below the shielding member 10, as shown in FIG. Figure 34 As shown, the brush head 45 of the side brush assembly 4 can be raised above the shielding member 10 to drive the side brush connected to the brush head 45 to rise, and then the brush head 45 of the side brush assembly 4 is controlled to rotate to drive the brush head 45 to rotate synchronously with the side brush member 46, so that at least part of the side brush member 46 rotates to the top of the shielding member 10 to form Figure 35In the state shown, the side brush 46 can be relatively retracted, so that the side brush 46 of the side brush assembly 4 is completely separated from the cleaning ground, so that when the robot is in normal cleaning mode, it can climb over obstacles and other scenes, which is beneficial to the operation of the robot under special working conditions. When the robot is in standby mode, it can also reduce the space occupied by the side brush 46 and improve the appearance of the robot, which has good practicality. Figure 32 -Attached Figure 39 The specific details of the shielding member 10 are further described.

[0140] Figure 36 Shown Figure 32-Figure 35 The structural diagram of the shielding member in FIG. Figure 36 The shielding member 10 provided in the present application can be a sheet-like structure. When the cleaning module is assembled on the robot, the shielding member 10 is located at the bottom of the robot. A through hole 1011 is provided at the position of the shielding member 10 close to the side of the robot. The through hole 1011 can be configured as the above-mentioned through portion 101.

[0141] According to one embodiment of the present application, as described above, the side brush assembly 4 of the cleaning module has a reciprocating swing function. In order to enable the side brush assembly 4 to swing normally, a notch 1012 is further provided on the edge of the shielding member 10. The notch 1012 is connected to the through hole 1011. The notch 1012 and the through hole 1011 are combined to form the above-mentioned through portion 101. According to another embodiment of the present application, if the aperture of the above-mentioned through hole 1011 is sufficient for the reciprocating swing of the side brush assembly 4, or if the side brush assembly 4 does not have the reciprocating swing function, the notch 1012 may also be omitted from the edge of the shielding member 10. This is not limited here.

[0142] Figure 37 Shown Figure 36 Another structural diagram of the perspective. Figure 37 A first recess 105 may be provided at the bottom of the shielding member 10, and the first recess 105 is provided around the passing portion 101. The setting of the first recess 105 can provide a rotation space for the side brush member 46 of the side brush assembly 4 to avoid affecting the operation of the side brush member 46 of the side brush assembly 4.

[0143] According to one embodiment of the present application, the brush head 45 of the side brush assembly 4 can swing and rise and fall within the passage portion 101, for example, using the above-mentioned cleaning module. According to another embodiment of the present application, the brush head 45 of the side brush assembly 4 can also only rise and fall within the passage portion 101, for example, by eliminating the toggle assembly in the above-mentioned cleaning module, or by connecting the side brush assembly 4 to a linear reciprocating motion mechanism, so that the linear reciprocating motion mechanism drives the side brush assembly 4 to rise and fall within the passage portion 101, and this is not limited here.

[0144] According to one embodiment of the present application, if the lifting height of the side brush assembly 4 is insufficient, at least part of the side of the side brush member 46 of the side brush assembly 4 rises to the side of the shielding member 10, and then the brush head 45 of the side brush assembly 4 is controlled to rotate, and the side brush member 46 rotates synchronously with the brush head 45. At least part of the side brush member 46 is deformed under the action of the shielding member 10, so that at least part of the side brush member 46 rotates to the top of the shielding member 10, and at least part of the side brush member 46 contacts the top of the shielding member 10. The side brush member 46 rotates onto the shielding member 10 along the top of the shielding member 10, so that the side brush member 46 can be relatively retracted, so that the side brush member 46 of the side brush assembly 4 is completely separated from the cleaning floor.

[0145] Figure 38 Shown Figure 32 Schematic diagram of the position of the side brush and the shielding member. Figure 38 In order to enable the shielding member 10 to smoothly rotate to the top of the shielding member 10, a guide portion 463 is provided at least at one of the contacting portions between the side of the side brush member 46 and the side of the shielding member 10. Figure 38 As shown, in one embodiment, the side brush member 46 includes a side brush arm 461 and a brush 462, the side brush arm 461 is connected to the brush head 45, the brush 462 is connected to the side brush arm 461, at least part of the side of the side brush arm 461 of the side brush member 46 rises to the side of the shielding member 10, and the side of the side brush arm 461 is provided with a guide portion 463, the side brush arm 461 rotates along the guide portion 463 until it is deformed and rotates to the top of the shielding member 10, at least part of the side brush arm 461 of the side brush member 46 contacts the top of the shielding member 10, and the side brush arm 461 of the side brush member 46 rotates to the shielding member 10 along the top of the shielding member 10, so that the bristles of the side brush member 46 can be relatively retracted, so that the side brush member 46 of the side brush assembly 4 is completely separated from the cleaning floor. In another embodiment, the guide portion 463 may also be provided on the side of the shielding member 10 , or the guide portion 463 may be provided on both the side of the side brush member 46 and the side of the shielding member 10 , which is not limited here.

[0146] Combine Figure 38 In one embodiment, the guide portion 463 includes a guide slope, so that the side brush arm 461 of the side brush member 46 can rotate along the slope of the guide slope to the top of the shielding member 10. In another embodiment, the guide slope may also include a curved surface, or a combination of a curved surface and a guide slope, which is not limited here.

[0147] According to another embodiment of the present application, if the lifting height of the side brush assembly 4 is sufficient, the side brush member 46 of the side brush assembly 4 can be raised to above the covering member 10, and then the brush head 45 of the side brush assembly 4 is controlled to rotate, and the side brush member 46 rotates synchronously with the brush head 45, so that at least part of the side brush member 46 is rotated to the covering member 10, so that the side brush member 46 can be relatively retracted, and the side brush member 46 of the side brush assembly 4 is completely separated from the cleaning floor.

[0148] Combine Figure 38 According to one embodiment of the present application, in order to limit the rotation position of the side brush 46, a stopper 103 may be provided on the top of the shielding member 10, and the side brush 46 rotating on the shielding member 10 may abut against the stopper 103. In a specific implementation, a plate-like structure may be provided on the top of the shielding member 10. On the one hand, the plate-like structure can be configured as the stopper 103, which abuts against the bristles 462 of the side brush member 46 of the side brush assembly 4 to limit the side brush assembly 4 from continuing to rotate. On the other hand, it can also be connected to the cleaning housing 11 of the machine so that the shielding member 10 is connected and assembled to the cleaning housing 11 of the machine.

[0149] Figure 39 Shown Figure 32 Schematic diagram of the structure of the side brush assembly, Figure 40 Shown Figure 39 Schematic diagram of the internal structure. Figure 39 as well as Figure 40 In order to confirm the position of the side brush assembly 4, the side brush assembly 4 is also provided with a position confirmation member 47 to confirm the position of the side brush member 46 of the side brush assembly 4 on the shielding member 10. When the side brush member 46 of the side brush assembly 4 is confirmed to be rotated into position, the brush head 45 of the side brush assembly 4 is controlled to stop rotating, so that the side brush member 46 of the side brush assembly 4 remains in the set position. In a specific embodiment, the side brush assembly 4 includes a side brush housing 48, a side brush motor 49, and a gear set 410 for transmission connection. The position confirmation member 47 can include a Hall element and a magnet that work together. The magnet is connected to a gear in the gear set 410 and rotates synchronously with the gear. The Hall element is placed on the side brush housing 48 to confirm the position of the magnet, and then confirm the position of the side brush member 46.

[0150] In one embodiment, combining Figure 39 Two position confirmation members 47 may be provided to respectively confirm that the side brush 46 is in the cleaning position and the position rotated to the shielding member 10. In another embodiment, only one position confirmation member 47 may be provided, and the position confirmation member 47 is used to confirm that the side brush 46 is in the cleaning position. When the side brush 46 rotates to the shielding member 10 and abuts the blocking member 103, the instantaneous current of the side brush motor 49 increases, thereby confirming that the side brush 46 has rotated to the shielding member 10.

[0151] In the related art, during the operation of the cleaning equipment, flexible garbage such as hair and thread on the ground are easily entangled on the side brush, which not only affects the cleaning effect, but also affects the normal use of the cleaning equipment. During daily maintenance, the hair on the side brush is also difficult to clean, affecting the user experience.

[0152] Based on the above technical problems, the present application provides a side brush assembly, which aims to at least reduce or even avoid the phenomenon of flexible garbage being entangled on the side brush to a certain extent, so as to improve the cleaning effect, enable the cleaning equipment to be used normally, and make it easy to clean the side brush to improve the user experience. Figure 41 -Attached Figure 45 The specific details of the side brush assembly are further described.

[0153] Figure 41 Schematic diagram showing the structure of the side brush assembly in one or more embodiments of the present application, Figure 42 Shown Figure 41 A structural diagram from another perspective, Figure 43 Shown Figure 41 Combined with Figures 41-43 The present application provides a side brush assembly, including a brush head 45 and a side brush member 46. The side brush member 46 is connected to the brush head 45. The side brush member 46 includes bristles 462. A second blocking portion 464 is provided on the side brush member 46. The projection of the second blocking portion 464 on the brush head 45 at least overlaps with the projection of the bristles 462 on the brush head 45, so as to prevent the hair wrapped around the side brush member 46 from entering the brush head 45 along the direction of the side brush member 46.

[0154] The side brush assembly provided in the present application has a second blocking portion 464 provided on the side brush member 46, and the projection of the second blocking portion 464 on the brush head 45 at least partially overlaps with the projection of the bristles 462 on the brush head 45, that is, the second blocking portion 464 protrudes from the periphery of the bristles 462. During the rotation of the side brush assembly, if flexible garbage such as hair and thread is entangled on a side brush, due to the setting of the second blocking portion 464, the hair wrapped around the side brush member 46 can be blocked from entering the brush head 45 along the direction of the side brush member 46, and then the drive shaft of the cleaning device connected to the brush head 45 can be prevented from being entangled by flexible garbage such as hair and thread, resulting in a stop, so as to avoid affecting the cleaning effect and enable the cleaning device to be used normally to improve the user experience.

[0155] Combine Figures 41-43 In some embodiments, three side brushes 46 may be provided, and the three side brushes 46 may be evenly spaced around the circumference of the brush head 45 to ensure that the side brush assembly has sufficient cleaning coverage. In other embodiments, one, two, four, or five side brushes 46 may be provided. If more than two side brushes 46 are provided, multiple side brushes 46 may also be unequally spaced around the circumference of the brush head 45, without limitation.

[0156] Combine Figures 41-43In some embodiments, the side brush 46 may include a side brush arm 461 and bristles 462, wherein one end of the side brush arm 461 is connected to the brush head 45, and the other end of the side brush arm 461 extends away from the brush head 45, and the bristles 462 are connected to the other end of the side brush arm 461 and extend away from the side brush arm 461. The part of the floor cleaned by the bristles 462 can be defined as the cleaning end of the side brush 46, and the above-mentioned second blocking portion 464 is arranged on the side brush arm 461.

[0157] Combine Figures 41-43 A blocking protrusion 467 may be provided on the side brush arm 461 , and the blocking protrusion 467 may be configured with the second blocking portion 464 .

[0158] Combine Figures 41-43 The second blocking portion 464 may be provided with a second recess 468, with the opening of the second recess 468 facing the bristles. If hair, thread, or other flexible debris becomes entangled with the side brush member 46, it will accumulate in the second recess 468 of the second blocking portion 464. The second recess 468 can, to a certain extent, restrict the movement path of the hair, thread, or other flexible debris, further preventing the hair from migrating from the side brush member 46 to other locations, such as the brush head 45, or to components of the cleaning device adjacent to the side brush member 46, thereby preventing the cleaning device from malfunctioning.

[0159] According to one embodiment of the present application, the opening side of the second recess 468 has an angle greater than or equal to 90 degrees, so that the second blocking portion 464 has a sufficiently large accommodation space to prevent hair, thread, and other flexible debris on the side brush member 46 from entering the brush head 45 along the direction of the side brush member 46. According to another embodiment of the present application, the angle formed by the opening side of the second recess 468 can also be an acute angle, which can also prevent hair, thread, and other flexible debris on the side brush member 46 from entering the brush head 45 along the direction of the side brush member 46.

[0160] Combine Figure 43In a specific implementation, the blocking protrusion 467 can be set near the other end of the side brush arm 461 to extend the distance between the hair and the brush head 45 to a certain extent, and prevent the part of the hair protruding from the second blocking portion 464 from contacting the brush head 45 and being drawn into the brush head 45. In addition, the blocking protrusion 467 is preferably set at the bottom of the side brush arm, and the bottom of the side brush arm 461 can be provided with a first inclined surface 469, the lower end of the first inclined surface 469 is connected to the side of the blocking protrusion 467 facing the bristles 462, and the high end of the first inclined surface 469 extends to the other end of the side brush arm 461, that is, the first inclined surface 469 is set obliquely upward, and the side of the blocking protrusion 467 facing the bristles 462 is provided with a second inclined surface 4610, and the high end of the second inclined surface 4610 is connected to the side brush arm 461. 61, the lower end of the second slope 4610 extends in the direction away from the bristles 462, that is, the second slope 4610 is set obliquely downward, the bottom end of the first slope 469 and the top end of the second slope 4610 intersect to form the two side portions of the above-mentioned second recess 468, and the first slope 469 and the second slope 4610 are configured to form two side walls of the second recess 468, and the angle between the first slope 469 and the second slope 4610 forms the angle of the opening side of the second recess 468.

[0161] In other embodiments, only the above-mentioned first inclined surface 469 or only the above-mentioned second inclined surface 4610 may be provided, and the technical effect of the angle between the bottom of the other end of the side brush arm 461 and the side of the blocking protrusion 467 toward the bristles 462 being greater than or equal to 90° can also be achieved, which will not be elaborated here.

[0162] It should be noted that the second blocking portion 464 can also be set in the middle of the side brush arm 461, or can be set at the top of the side brush arm 461. For example, a circumferential protrusion extending outward is provided on the circumferential surface of the middle of the side brush arm 461, and the circumferential protrusion can be configured as the above-mentioned second blocking portion 464, which is not limited here.

[0163] Combine Figure 43 In some embodiments, the side brush arm 461 may include multiple arm sections, among which at least two sections have different thicknesses, so that the side brush arm 461 has a certain deformation ability. This is because: the side brush arm 461 is usually made of soft rubber material, and the cleaning end of the side brush member 46 will deform when it contacts the cleaning ground, but the side brush arm 461 needs to maintain a certain connection strength. Therefore, the side brush arm 461 can be divided into multiple arm sections, and at least two sections have different thicknesses to meet the above requirements.

[0164] Combine Figure 43The thickness of the multi-segment arm body can gradually decrease in the direction away from the brush head 45. In addition, the thickness of at least part of the middle part of the side brush arm 461 gradually changes from thick to thin in the direction away from the brush head 45, so that the strength of this part is reduced and the elasticity is enhanced.

[0165] Combine Figure 43 In a specific implementation, the side brush arm 461 may include three arm sections, namely the first arm 211 connected to the brush head 45, the third arm 461c connected to the bristles 462, and the second arm 461b connecting the first arm 461a and the third arm 461c. Among them, the arm thickness of the first arm 211 is relatively thick so as to have sufficient connection strength for use, the arm thickness of the second arm 461b is a gradual part from thick to thin, the strength of the second arm 461b gradually decreases, and the elasticity gradually increases, so as to serve as the starting point of the deformation position when the side brush assembly rotates. The arm thickness of the third arm 461c is relatively thin so as to have sufficient elasticity to adapt to the deformation caused by the contact between the cleaning end of the side brush 46 and the cleaning ground.

[0166] In one embodiment, the multiple arm sections constituting the side brush arm 461 can be integrally formed. Since the side brush arm 461 is made of soft rubber and the brush head 45 is made of hard rubber, the side brush arm 461 can be formed on the circumference of the brush head 45 by secondary injection molding. In another embodiment, the side brush arm 461 can also be connected to the circumference of the brush head 45 by plugging or other means, which is not limited here.

[0167] Combine Figure 42 The bristles 462 are connected to the blocking protrusion 467 and extend obliquely downward. In addition, the bristles 462 can be inclined at an angle of 40-60 degrees, that is, the bristles 462 can have an angle of 40-60 degrees with the plane where the brush head 45 is located, so as to have a better effect of preventing hair entanglement while ensuring that the cleaning coverage rate of the side brush assembly meets the requirements. For example, the inclination angle of the bristles 462 can be 40 degrees, 60 degrees, or even 45 degrees, and there is no limitation here.

[0168] In addition, in order to achieve a better cleaning effect, the length of the bristles 462 needs to be set. The length of the bristles 462 can be within 20-60 mm to ensure that the cleaning coverage of the side brush assembly meets the requirements and has a better effect of preventing hair entanglement. For example, the length of the bristles 462 can be 20 mm, 40 mm or 60 mm, and there is no restriction here.

[0169] Figure 44 Shown Figure 41 A top view diagram of Figure 44The projections of the side brush arms 461 of the multiple side brush members 46 on the plane where the brush head 45 is located can be in the form of a spiral involute. When the side brush assembly rotates, if there is hair on the side brush member 46, a centrifugal force will be generated on the hair, and the hair will be thrown out under the action of the centrifugal force, thereby preventing the hair from being entangled on the side brush member 46 to a certain extent. If the hair on the side brush member 46 is not thrown out, the second blocking portion 464 on the side brush member 46 can prevent the hair entangled on the side brush member 46 from entering the brush head 45 along the direction of the side brush member 46. This can prevent the drive shaft of the cleaning device connected to the brush head 45 from being entangled by the hair and causing it to stop rotating, thereby avoiding affecting the cleaning effect and allowing the cleaning device to be used normally.

[0170] Figure 45 Shown Figure 41 The working state diagram of the side brush assembly shown in FIG. Figure 45 When the bristle assembly 462 of the present application rotates counterclockwise, hair, thread, and other flexible debris entangled with the bristles 462 generates a clockwise centrifugal force. Under the action of the centrifugal force, the hair, thread, and other flexible debris on the bristles 462 are thrown out and automatically detached from the bristles 462, thereby preventing the hair, thread, and other flexible debris from becoming entangled in the side brush member 46 to a certain extent. If the hair on the side brush member 46 is not thrown out, the second blocking portion 464 of the side brush member 46 will cause the hair to accumulate on the second blocking portion 464. Since the centrifugal force of an object is proportional to its mass, when the hair, thread, and other flexible debris accumulate to a certain mass, the side brush assembly, when rotating at an accelerated speed, such as when moving along a wall, generates sufficient centrifugal force to throw the hair, thread, and other flexible debris out, automatically detaching the hair, thereby preventing the hair from affecting the normal operation of the device and ensuring the cleaning effect. At the same time, it also avoids the need for the user to manually clean the hair, thereby improving the user experience.

[0171] In one embodiment, the bristles 462 and the connected side brush arm 461 can be arranged tangentially on the plane where the brush head 45 is located to ensure that during the operation of the side brush assembly, the bristles 462 can produce enough deformation with the ground to throw away flexible garbage such as hair and thread on the bristles 462.

[0172] It should be noted that if there is an extremely bad situation, flexible garbage such as hair and thread cannot be brushed out from the bristles 462, but accumulate on the second blocking part 464. When cleaning the hair, the user can quickly clean the hair and other flexible garbage accumulated on the second blocking part 464 at one time, which is convenient and fast, and can also improve the user experience.

[0173] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0174] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise" and "counterclockwise" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0175] In this application, unless otherwise specified or limited, the terms "connect," "fix," etc. should be understood broadly. For example, "fix" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection or electrical connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0176] In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0177] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning module, characterized in that: The cleaning module comprises: Power components; A toggle assembly connected to the power assembly, the toggle assembly comprising a toggle portion that intermittently reciprocates; A lifting assembly, comprising a rotating member and a lifting member, wherein the rotating member is connected to the power assembly, and the lifting member and the rotating member are intermittently threadedly connected; The side brush assembly is connected to the lifting member to rise and fall synchronously with the lifting member; the side brush assembly is in contact with the toggle assembly to swing back and forth under the drive of the toggle assembly.

2. The cleaning module according to claim 1, characterized in that: The toggle portion swings back and forth in a first cycle, and the lifting member is threadedly connected to the rotating member in a second cycle, wherein: On the time axis, the first cycle and the second cycle are set at intervals, or the first cycle and the second cycle have overlapping cycles, or the first cycle is set within the second cycle, or the second cycle is set within the first cycle.

3. The cleaning module according to claim 1 or 2, characterized in that: The power assembly is provided with two rotating parts, the shifting assembly is connected to one of the rotating parts, and the rotating member is connected to the other rotating part.

4. The cleaning module according to claim 1, wherein: The toggle assembly includes an intermittent motion mechanism, and the toggle portion is arranged on an output portion of the intermittent motion mechanism.

5. The cleaning module according to claim 4, characterized in that: The intermittent motion mechanism includes a grooved wheel mechanism.

6. The cleaning module according to claim 5, characterized in that: The sheave mechanism comprises a matched dial and a sheave, the dial is connected to the power assembly, and the dialing part is arranged on the sheave.

7. The cleaning module according to any one of claims 1, 2 and 4-6, characterized in that: The side brush assembly is provided with a passive portion that is in intermittent contact with the toggle portion. The passive portion responds to the reciprocating swing of the toggle portion to drive the side brush assembly to swing.

8. The cleaning module according to claim 7, characterized in that: The cleaning module also includes: A reset member is configured to drive the side brush assembly to reset in response to the swinging of the side brush assembly.

9. The cleaning module according to claim 7, characterized in that: The side brush assembly is provided with two passive parts, and the toggle part swings back and forth between the two passive parts and is in intermittent contact with the two passive parts respectively.

10. The cleaning module according to any one of claims 8 to 9, characterized in that: The cleaning module further includes a limiting member, the passive portion is driven by the toggling portion to the limiting member, and the side brush assembly rises and falls along the limiting member.

11. The cleaning module according to claim 10, characterized in that: A driving block and a driving groove are provided on the circumferential surface where the rotating member and the lifting member cooperate. The driving block moves back and forth in the driving groove. The driving block is spiral-shaped. The driving groove includes a first spiral groove body and a second groove body with a planar portion that are spaced apart.

12. The cleaning module according to claim 11, wherein: The top and / or bottom of the first trough body is connected to the second trough body.

13. The cleaning module according to claim 11, wherein: A plurality of the driving blocks are arranged at intervals.

14. The cleaning module according to claim 11, wherein: Blocking portions are provided at both ends of the driving slot to block the driving block from moving in the driving slot.

15. The cleaning module according to any one of claims 1, 2, 4-6 and 8-9, characterized in that: The cleaning module further includes a position confirmation component to confirm the position and posture of the cleaning module.

16. The cleaning module according to any one of claims 1, 2, 4-6 and 8-9, characterized in that: The cleaning module further includes an anti-collision mechanism, which includes: a detection member, disposed on a side of the side brush assembly; The triggering member protrudes from the side of the side brush assembly and is elastically connected to the detecting member.

17. A cleaning device, characterized in that: The cleaning device comprises a main body and a cleaning module according to any one of claims 1 to 16, wherein the cleaning module is assembled on the main body.

18. A cleaning system, characterized in that: The cleaning system comprises a coordinated base station and the cleaning device according to claim 17 .

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