Cleaning module and self-moving cleaning equipment

Abstract

The utility model provides a cleaning module and self-moving cleaning equipment, and belongs to the technical field of cleaning equipment. According to the cleaning module, a first fixing shaft is fixedly connected to a mounting frame; the first driving mechanism comprises a first driving assembly and a swing gear, and the first driving assembly is installed on the installation frame and used for driving the swing gear. The swing gear is rotationally connected to the first fixing shaft. The swing arm is provided with a rotating end and a swing end, the rotating end is rotationally connected to the mounting frame, and the swing end is far away from the rotating end. The transmission part is arranged between the swing gear and the swing arm, and the swing gear is in linkage fit with the transmission part to drive the swing end of the swing arm to be switched between the inward shrinkage position and the outward swing position. The second driving mechanism comprises a second driving assembly and a transmission assembly, the second driving assembly is installed on the installation frame and used for driving the transmission assembly to move, the output end of the transmission assembly is arranged at the swing end of the swing arm, and the cleaning assembly is connected to the output end of the transmission assembly. The cleaning module is good in operation stability and long in service life.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a cleaning module and a self-moving cleaning equipment. Background Art

[0002] In recent years, with the improvement of people's living standards, home cleaning has gradually entered the era of automation and intelligence. Cleaning equipment that has emerged, such as sweeping robots, which are also called automatic cleaning machines, smart vacuum cleaners, robot vacuum cleaners, etc., can liberate people from home cleaning work and effectively reduce people's workload in home cleaning.

[0003] A typical robot vacuum cleaner consists of a main body and a cleaning assembly, which includes a roller brush and a mop assembly. The mop assembly is typically oscillating. For example, during use, the mop assembly can swing to the outside of the main body of the robot vacuum cleaner to clean areas outside the main body, improving cleaning efficiency. After cleaning, the mop assembly can be retracted back into the main body, reducing the space occupied by the robot vacuum cleaner.

[0004] However, the structure of the mop assembly in the related art is not very stable and is easily damaged. Utility Model Content

[0005] The embodiments of the present application provide a cleaning module and a self-moving cleaning device. The cleaning module can improve the stability of the cleaning module and thereby extend the service life of the cleaning module by fixedly connecting the first fixed shaft to the mounting frame.

[0006] In a first aspect, an embodiment of the present application provides a cleaning module, which is applied to a self-propelled cleaning device, comprising:

[0007] Clean components;

[0008] Mounting rack;

[0009] a first fixed shaft, fixedly connected to the mounting frame;

[0010] a first drive mechanism comprising a first drive assembly and a swing gear, wherein the first drive assembly is mounted on the mounting frame and is used to drive the swing gear to rotate, and the swing gear is sleeved on the first fixed shaft and can rotate relative to the first fixed shaft;

[0011] a swing arm having a rotating end and a swinging end, wherein the rotating end is connected to the mounting frame and can rotate relative to the mounting frame, and the swinging end is arranged away from the rotating end, and the swinging end has an inward-retracted position and an outward-swinged position;

[0012] a transmission member disposed between the swing gear and the swing arm, the transmission member having a first end and a second end, the first end being connected to the swing gear, the second end being connected to the swing arm, the swing gear and the transmission member being linked to drive the swing end of the swing arm to switch between the retracted position and the outward swing position;

[0013] The second driving mechanism includes a second driving component and a transmission component. The second driving component is installed on the mounting frame. The second driving component is used to drive the transmission component to move. The output end of the transmission component is arranged at the swing end of the swing arm, and the cleaning component is connected to the output end of the transmission component.

[0014] The cleaning module provided in the embodiment of the present application is configured to perform cleaning operations on the surface to be cleaned by setting a cleaning component, and to provide an installation position for the first fixed shaft, the first drive mechanism, the swing arm, the second drive mechanism, etc., so that the first fixed shaft, the first drive mechanism, the swing arm, the second drive mechanism, etc. can be easily assembled into a module, which is convenient for assembly with cleaning equipment.

[0015] The provision of a first fixed shaft and its fixed connection to the mounting bracket provide a sturdy support structure, reducing displacement or deviation caused by vibration or external forces during operation, thereby improving system stability and reliability. The fixed connection between the mounting bracket and the first fixed shaft optimizes the power transmission path, reduces energy loss, and improves drive efficiency.

[0016] By providing a first drive mechanism and a swing arm to drive the swing arm to switch between a retracted position and an outward swing position, and by enabling the swing arm to move between the retracted and outward swing positions, the cleaning assembly can flexibly adjust its working range to accommodate different cleaning needs and environments, such as cleaning within a narrow space or covering a larger area. The swing arm's mobility enables the cleaning module to optimize its cleaning path, reducing duplicate cleaning and missed areas, thereby improving overall cleaning effectiveness.

[0017] By providing a transmission member and interlocking the swing gear with the transmission member, the swing end of the swing arm switches between the retracted and outward positions. In other words, the swing arm is driven by the transmission member between the first drive mechanism and the swing arm. Compared to directly driving the swing arm through the first drive mechanism, the use of the transmission member can effectively disperse and transmit the stress during movement, reduce wear on the swing arm and other mechanical components, and extend the service life of the equipment. Through the linkage between the swing gear and the transmission member, the movement of the swing arm can be precisely controlled. This transmission mechanism ensures smooth and efficient movement of the swing arm, improving cleaning efficiency.

[0018] Driven by the first driving mechanism, the transmission member can accurately control the movement of the swing arm, thereby achieving precise adjustment of the position and angle of the cleaning component, which helps to improve cleaning efficiency and effect.

[0019] By mounting both the first and second drive assemblies on the mounting bracket, they can operate in sync and coordination, enabling better control of the swing arm's swing and the cleaning assembly's rotation, ensuring efficient and consistent cleaning. Furthermore, integrating the first and second drive assemblies on the same mounting bracket effectively reduces the overall size of the device, making the cleaning module more compact and easier to operate and store in confined spaces.

[0020] In a possible implementation, the rotating end is connected to the first fixed shaft, and the rotating end can rotate relative to the first fixed shaft, so that the swinging end switches between the retracted position and the outward swing position around the first fixed shaft.

[0021] By connecting the rotating end to the first fixed shaft and allowing it to rotate relative to the first fixed shaft, a stable fulcrum is provided. This can reduce displacement caused by vibration or external force during operation, thereby improving the stability and durability of the equipment. By rotating the swing arm to the first fixed shaft, the distance between the swing arm and the first drive mechanism can be shortened, making the structure more compact. In addition, this can optimize the movement path and position switching of the swing arm, reduce unnecessary movement and energy consumption, and improve the energy efficiency of the entire system. The design of the first fixed shaft simplifies the installation and disassembly process of the swing arm, making regular maintenance and overhaul more convenient, and reducing maintenance costs and time.

[0022] In one possible implementation, a second fixed shaft is fixedly connected to the mounting frame, the rotating end is connected to the second fixed shaft, and the rotating end can rotate relative to the second fixed shaft so that the swinging end can switch between the retracted position and the outward swing position around the second fixed shaft.

[0023] By providing a second fixed axis and securely connecting it to the mounting member, the second fixed axis's stability is enhanced, providing stable support for the swing arm mounted on it. The second fixed axis provides a stable pivot point for the swing arm's rotating end, ensuring the stability of the entire system during operation and reducing displacement or deviation caused by vibration or external forces. Furthermore, the second fixed axis allows the swing arm to operate at various angles and positions, increasing the flexibility and adaptability of the cleaning module, allowing it to better cope with different cleaning tasks and environments.

[0024] In one possible implementation, the transmission assembly includes a first gear and a second gear, the first gear and the second gear are in transmission connection, the first gear and the second gear are connected to the first fixed shaft along the axial direction of the first fixed shaft, and the first gear and the second gear can rotate relative to the first fixed shaft respectively.

[0025] By configuring the transmission assembly to include a first gear and a second gear, and by connecting the first gear to the second drive mechanism, the gear transmission achieves efficient force transmission, allowing the power of the second drive mechanism to be more efficiently transmitted to the cleaning assembly, thereby improving transmission efficiency. Gear transmission primarily relies on rolling friction, which reduces energy loss caused by sliding friction and improves the overall efficiency of the system. By connecting the first and second gears to the first fixed shaft along the axial direction of the first fixed shaft, space can be effectively utilized, making the entire cleaning module more compact and facilitating the miniaturization of cleaning modules.

[0026] In one possible implementation, the transmission assembly includes a first gear and a second gear, the first gear and the second gear are in transmission connection, the first gear and the second gear are connected to the second fixed shaft along the axial direction of the second fixed shaft, and the first gear and the second gear can rotate relative to the second fixed shaft respectively.

[0027] By configuring the transmission assembly to include a first gear and a second gear, and by connecting the first gear to the second drive mechanism, the gear transmission achieves efficient force transmission, allowing the power of the second drive mechanism to be more efficiently transmitted to the cleaning assembly, thereby improving transmission efficiency. Gear transmission primarily relies on rolling friction, which reduces energy loss caused by sliding friction and improves the overall efficiency of the system. By connecting the first and second gears to the second fixed shaft along the axial direction of the second fixed shaft, space can be effectively utilized, making the entire cleaning module more compact and simplifying the overall structure.

[0028] In one possible implementation, the first gear has a first connecting portion, the second gear has a second connecting portion, the first connecting portion and the second connecting portion are located between the first gear and the second gear, and the first connecting portion and the second connecting portion are connected to each other so that the first gear and the second gear are in transmission connection.

[0029] The direct connection between the first and second connecting parts ensures reliable power transmission between the first and second gears. This tight connection reduces potential energy loss during power transmission, improving system efficiency. The design of the first and second connecting parts reduces relative sliding between the gears, thereby reducing wear. This helps extend the service life of the gears and the entire system, reducing maintenance requirements. The design of the first and second connecting parts provides additional support and stability, reducing vibration and noise between the first and second gears during high-speed operation, improving system stability and user experience. In addition, this design reduces the use of bearings, thereby reducing costs.

[0030] In one possible implementation, a plug-in portion is provided on a side of the first connection portion facing the second connection portion, and a mating portion is provided on a side of the second connection portion facing the first connection portion. The plug-in portion is mated with the mating portion to achieve a transmission connection between the first gear and the second gear structure.

[0031] By providing a plug-in portion and a mating portion, the first gear and the second gear are plugged into each other to rotate synchronously. Compared to configuring the first and second gears as a single, longer gear shaft, this design makes it easier to assemble the transmission assembly into the cleaning module and reduces assembly difficulty. The relatively simple design of the plug-in mating of the first and second gears reduces the complexity of designing and manufacturing the long gear shaft, thereby lowering production costs.

[0032] In a possible implementation, the plug-in portion includes at least one protruding structure, and the mating portion includes at least one groove structure mating with the protruding structure.

[0033] In this arrangement, the cooperation between the protrusion structure and the groove structure provides a reliable mechanical connection, ensuring that the relative position between the first gear and the second gear remains stable. This design reduces the risk of misalignment of the first gear and the second gear during operation. The protrusion structure and the groove structure provide a self-positioning function, which simplifies the assembly process of the first gear and the second gear and can reduce the difficulty of assembly. This cooperation method makes the disassembly and replacement of the first gear and the second gear easier, reducing the complexity and time cost of maintenance. The design of the protrusion structure and the groove structure provides a mechanical locking mechanism to prevent the first gear and the second gear from accidentally falling off during operation, thereby improving the safety of the system. In addition, the cooperation of the protrusion structure and the groove structure can adopt a standardized design, which is convenient for design and manufacturing and reduces production costs. The cooperation design of the protrusion structure and the groove structure can be designed and manufactured as an independent module, enhancing the design flexibility of the system.

[0034] In a possible implementation, there are a plurality of the protrusion structures, and the plurality of the protrusion structures are distributed along the circumferential direction; there are a plurality of the groove structures, and the plurality of the groove structures are distributed along the circumferential direction.

[0035] Thus configured, the combination of multiple protrusions and grooves provides a larger contact area and more contact points, thereby enhancing the connection strength and stability between the first and second gears and reducing the risk of deformation or failure under high load conditions. Due to the presence of multiple mating points, the relative sliding between the first and second gears is reduced, thereby reducing wear, helping to extend the service life of the first and second gears and the entire system, and reducing maintenance requirements. The design of multiple protrusions and grooves provides a stronger mechanical locking mechanism, preventing the first and second gears from accidentally falling off during operation, thereby improving the safety of the system. The design of multiple protrusions and grooves provides a stronger mechanical locking mechanism, preventing the gears from accidentally falling off during operation, thereby improving the safety of the system.

[0036] In a possible implementation, when the plug-in portion is plugged into and mated with the mating portion, the outer sidewall of the protrusion structure fits against the inner sidewall of the groove structure.

[0037] By fitting the outer wall of the raised structure against the inner wall of the recessed structure, a stable mechanical connection is formed between the recessed and raised structures, reducing looseness and displacement between the first and second gears. This improves the overall stability of the system, enhances transmission accuracy, and reduces vibration and noise during operation. The tight fit reduces clearance and relative motion between the first and second gears, reducing transmission errors and improving the system's transmission accuracy.

[0038] In a possible implementation, the outer contour of the plug-in portion is a polygonal structure, and the mating portion is provided with an insertion groove on a side facing the plug-in portion, and the insertion groove is a polygonal groove that is plug-fitted with the plug-in portion.

[0039] By configuring the outer contour of the plug-in section to a polygonal structure, which provides multiple planes and angles, the plug-in section is given anti-rotation properties within the insertion slot. This effectively prevents rotational slippage caused by torque during transmission, improving the stability of the connection. The polygonal design increases the number of contact surfaces and points, enabling a more even distribution and transmission of torque, reducing stress concentration and improving transmission efficiency and reliability. Due to the geometric characteristics of the polygonal structure, the fit between the plug-in section and the insertion slot is more precise, reducing clearance and looseness, improving assembly accuracy and overall system performance. The multiple contact surfaces of the polygonal structure disperse the load, reducing wear on a single contact surface, and thus extending the service life of the component.

[0040] In a possible implementation, the transmission member is an elastic member, and the transmission member is arranged between the swing gear and the swing arm in a pre-tightened state.

[0041] This arrangement allows the transmission member to possess a certain rebound force in the opposite direction of the preload. This rebound force acts on the swing arm and the swing gear, respectively, thereby further stabilizing the connection between the swing arm and the swing gear. The preload eliminates play between the swing arm and the swing gear, thereby preventing loosening and ensuring close contact between the swing arm and the swing gear during operation, improving the stability and reliability of the system. It should be noted that the preload forces the transmission member into a tightened state, imparting a rebound force in the opposite direction of the preload. Thus, when the swing arm is in the outward swing position, if a cleaning assembly connected to the swing arm strikes an obstacle, the obstacle causes the swing arm to compress the transmission member, causing it to swing from the outward swing position to the inward swing position, preventing the swing arm from becoming stuck with the obstacle. At this point, the transmission member is further tightened, exerting a greater rebound force. When the movement of the cleaning device causes the swing arm to clear the obstacle, the resilience of the transmission member forces the swing arm back to the outward swing position. The transmission member also cushions the cleaning assembly at the lower end of the swing arm from external forces during cleaning operations, preventing damage to the cleaning assembly.

[0042] Furthermore, this allows the cleaning assembly connected to the swing arm to always be close to or in contact with the edge of the obstacle, effectively cleaning the edge of the obstacle, without retracting due to minor external forces (such as friction) and thus failing to cover the edge of the obstacle. Furthermore, the cleaning assembly connected to the swing arm rotates during the cleaning process, creating friction between it and the ground in the opposite direction of the swing arm's rotation. The rebound force of the transmission element can offset this friction, thereby improving stability during the cleaning process.

[0043] In one possible implementation, a propulsion portion is provided on the swing gear, and a pushed portion cooperating with the propulsion portion is provided on the swing arm. When the swing arm is in a non-moving state, or when the swing end of the swing arm switches from the outward swing position to the inward swing position, the propulsion portion abuts against the pushed portion.

[0044] With this arrangement, when the swing arm is in a non-moving state, the abutment between the propulsion part and the pushed part provides additional support and stability, preventing the swing arm from moving due to external force or vibration, ensuring the stability of the system, reducing wear, thereby extending the service life of the system and reducing maintenance requirements. During the swinging process, the cooperation between the propulsion part and the pushed part can help accurately locate the position of the swing arm, ensuring that it reaches the expected angle and position when switching to the outward swing position, thereby improving the accuracy of the operation. In addition, the abutment between the propulsion part and the pushed part can serve as a mechanical limiter to prevent the swing arm from swinging excessively and protect the system from damage. Because the mechanical structure provides natural limiting and positioning functions, the need for complex control systems is reduced, simplifying the design and control of the system. The abutment design between the propulsion part and the pushed part can buffer the impact and vibration during the swinging process, making the operation smoother and quieter, and improving the user experience.

[0045] In a possible implementation, a passive return swing limiter is provided on the swing gear, and a passive return swing abutment portion cooperating with the passive return swing limiter is provided on the swing arm. When the swing end of the swing arm is in the outward swing position or between the retracted position and the outward swing position, a passive return swing spacing is provided between the passive return swing limiter and the passive return swing abutment portion.

[0046] During the movement of the self-mobile cleaning device, when the swing arm or the cleaning component is obstructed by an obstacle, the passive swing distance gradually decreases; when the swing arm or the cleaning component is separated from the obstacle, the passive swing distance gradually recovers to the distance before the swing arm or the cleaning component was obstructed by the obstacle under the elastic action of the transmission member.

[0047] With this setup, when the swing arm or cleaning component is obstructed by an obstacle, the passive return swing design allows the system to absorb the impact, reducing damage to the swing arm and the swing element, thereby extending the life of the equipment. Once the obstruction is removed, the elastic action of the transmission element automatically restores the passive return swing distance, ensuring that the swing arm or cleaning component returns to its normal operating position. This automatic recovery function reduces manual intervention and improves the automation level of the equipment. Because the system can automatically return to normal operation, downtime caused by obstacles is reduced, and the equipment's operating efficiency and reliability are improved. The passive return swing design provides additional stability, reduces severe vibration and noise when the equipment encounters obstacles, and improves the user experience.

[0048] In a possible implementation, a first accommodating groove is provided on a side of the swing arm facing the swing gear, and at least a portion of the transmission member is accommodated in the first accommodating groove.

[0049] Partially housing the transmission component in the first receiving groove effectively protects it from external environmental influences such as dust, dirt, and other contaminants. This helps extend the service life and reliability of the transmission component. The design of the first receiving groove enables the transmission component to be compactly integrated into the swing arm structure, optimizing space utilization. This is particularly important for space-saving equipment designs. The first receiving groove provides additional support and fixation, making the transmission component more stable during operation and reducing the risk of failure due to looseness. The first receiving groove can help conceal the transmission component, giving the equipment a cleaner and more aesthetically pleasing appearance.

[0050] In a possible implementation, a second accommodating groove is provided on a side of the swing gear facing the swing arm, and at least a portion of the transmission member is accommodated in the second accommodating groove.

[0051] Partially housing the transmission component in the second receiving groove effectively protects it from external environmental influences such as dust, dirt, and other contaminants. This helps extend the service life and reliability of the transmission component. The design of the second receiving groove allows the transmission component to be compactly integrated into the swing gear, optimizing space utilization. This is particularly important for space-saving equipment designs. The second receiving groove provides additional support and fixation, making the transmission component more stable during operation and reducing the risk of failure due to looseness. The second receiving groove can help conceal the transmission component, giving the equipment a cleaner and more aesthetically pleasing appearance.

[0052] In a possible implementation, the mounting frame is provided with a first limiting portion, the swing gear is provided with a first blocking portion and a second blocking portion, and the first limiting portion is located between the first blocking portion and the second blocking portion;

[0053] When the swing end switches from the retracted position to the outward swing position, the first blocking portion abuts against the first limiting portion; when the swing end switches from the outward swing position to the retracted position, the second blocking portion abuts against the first limiting portion.

[0054] With this arrangement, the first limiter, in conjunction with the first and second stoppers, provides a clear mechanical limit, ensuring precise positioning of the swing end in both the retracted and outward swing positions. This accuracy is particularly important for systems requiring high-precision operation. The limiter design prevents the swing end from exceeding the predetermined range of motion, avoiding mechanical damage caused by excessive movement and improving the safety and durability of the system. The mechanical limiter design between the first limiter, the first and second stoppers reduces reliance on complex electronic control systems, simplifies equipment design and control, and improves system reliability.

[0055] In a possible implementation, a first matching hole is provided on the swing gear, and the first end of the transmission member passes through the first matching hole; a second matching hole is provided on the swing arm, and the second end of the transmission member passes through the second matching hole.

[0056] This arrangement ensures that the first and second ends of the transmission member are precisely aligned. This precise alignment helps improve the transmission accuracy and overall performance of the system, reduces relative movement and friction between the transmission member and other components, thereby reducing wear and extending the service life of the system. The first and second mating holes provide additional support, making the transmission member more stable during operation and reducing the risk of failure due to looseness or misalignment. In addition, it can also make the installation and removal of the transmission member simpler and faster, reducing assembly time and the possibility of error, improving production efficiency, and reducing the complexity and time cost of maintenance. By fixing both ends of the transmission member, the overall rigidity of the system is increased, vibration and noise are reduced, and the smoothness of operation is improved.

[0057] In one possible implementation, the cleaning module also includes a cover plate, at least part of the structure of the mounting frame is arranged around the outside of the swing gear, the cover plate is arranged on the side of the swing gear away from the swing arm, the cover plate is fixedly connected to the mounting frame, and the swing gear is located in the space between the cover plate and the swing arm.

[0058] The cover and mounting bracket together form an enclosed or semi-enclosed space, effectively protecting the swing gear and other internal components from external environmental influences such as dust, moisture, and other contaminants, thereby extending the service life of the equipment. By enclosing the swing gear in the space between the cover and the swing arm, the risk of operators coming into contact with moving parts is reduced, improving the safety of the equipment. The cover can provide a certain degree of sound insulation and vibration reduction, reducing noise and vibration during equipment operation and improving the user experience. The cover provides a neat appearance, making the equipment more aesthetically pleasing and enhancing the overall design quality of the product. The design of the cover makes it easier for maintenance personnel to access internal components, simplifying the equipment inspection and maintenance process. The fixed connection between the cover and the mounting bracket enhances the structural stability of the entire cleaning module and reduces the displacement or loosening of components due to vibration or impact.

[0059] In a possible implementation, a side of the cover plate facing the swing gear is provided with an avoidance groove adapted to the movement trajectory of the first end of the transmission member.

[0060] By arranging the avoidance groove on the cover plate, it is ensured that the first end of the transmission member does not interfere with the cover plate when following the movement of the swing gear, thereby ensuring the rotational stability of the swing gear.

[0061] In a possible implementation, a second limiting portion is provided on a side of the cover plate facing the swing gear, and a third blocking portion is provided on a side of the swing gear facing the cover plate.

[0062] When the swing end switches from the retracted position to the outward swing position, the third blocking portion abuts against the second limiting portion; in the process of the swing end switching from the outward swing position to the retracted position, the third blocking portion gradually moves away from the second limiting portion.

[0063] So arranged, the cooperation between the second limit part and the third stop part provides a clear mechanical limit, ensuring that the swing end can be accurately positioned when in the outward swing position to prevent excessive movement. When the swing end reaches the outward swing position, the contact between the second limit part and the third stop can absorb part of the impact force and protect the system from mechanical damage caused by excessive movement. By providing a clear limit point, the vibration and instability of the swing end in the extreme position are reduced, and the overall stability of the system is improved. It can also reduce wear caused by excessive movement and impact, thereby extending the service life of the system and reducing maintenance requirements. Mechanical limiting reduces dependence on complex electronic control systems, simplifies the design and control of the equipment, and improves the reliability of the system. In the process of the swing end returning from the outward swing position to the retracted position, the third stop part gradually moves away from the second limit part, ensuring a smooth transition of movement and reducing impact and vibration.

[0064] In a possible implementation, the swing arm includes an outer mounting frame, and a projection of the outer mounting frame in the height direction and a projection of the mounting frame in the height direction at least partially overlap.

[0065] By overlapping the outer mounting bracket and the projection of the mounting bracket, vertical space is effectively utilized, reducing the overall footprint of the equipment. This allows for tighter integration of other functional components, improves the overall functionality and performance of the equipment, and promotes the miniaturization of cleaning modules. Furthermore, this reduces material usage, thereby lowering production costs and equipment weight. The compactness and stability of the structure make assembly and maintenance processes simpler and more efficient, reducing their complexity and time costs. The overlapping design increases the overall stability and rigidity of the structure, reduces deformation or displacement due to vibration or external forces, and improves the durability of the system.

[0066] In a possible implementation, the first drive assembly includes a first drive motor and a first driving gear. The first drive motor is mounted on the mounting frame. The first driving gear is fixed on the driving end of the first drive motor. The first driving gear is engaged with the swing gear.

[0067] By fixedly connecting the first drive motor to the mounting bracket, the stability of the first drive motor can be improved. By directly securing the first driving gear to the drive end of the first drive motor, the motor's power can be efficiently transmitted to the swing gear, reducing energy loss in the intermediate links and improving transmission efficiency. Integrating the first drive motor and the first driving gear and mounting them on the mounting bracket makes the entire first drive assembly more compact and space-saving. Furthermore, by driving the first driving gear with the first drive motor, flexible control of the gear system can be achieved, making it easy to adjust the speed and direction to meet different operational requirements.

[0068] In a possible implementation, the second drive assembly includes a second drive motor and a second driving gear. The second drive motor is mounted on the mounting bracket. The second driving gear is fixed on the driving end of the second drive motor. The second driving gear is engaged with the first gear or the second gear.

[0069] By fixedly connecting the second drive motor to the mounting bracket, the stability of the second drive motor can be improved. By directly fixing the second driving gear to the drive end of the second drive motor, the motor's power can be efficiently transmitted to the first gear or the second gear, reducing energy loss in the intermediate links and improving transmission efficiency. Integrating the second drive motor and the second driving gear and mounting them on the mounting bracket makes the entire second drive assembly more compact and saves space. In addition, by driving the second driving gear with the second drive motor, flexible control of the gear system can be achieved, making it easy to adjust the speed and direction to meet different operational requirements.

[0070] In a possible implementation, the transmission assembly further includes a transmission gear train, and when the second driving gear is engaged with the first gear, the transmission gear train is engaged with the second gear; when the second driving gear is engaged with the second gear, the transmission gear train is engaged with the first gear.

[0071] By including a transmission gear train within the transmission assembly, power can be transmitted to the cleaning assembly via a multi-stage transmission. This optimizes the force transmission path, allowing the power of the second drive mechanism to be more efficiently transferred to the cleaning assembly, improving transmission efficiency. This also ensures uniform force distribution between the second drive assembly and the cleaning assembly, avoiding localized stress concentration and extending the system's service life. This optimized force distribution reduces vibration and impact during system operation, improving operational smoothness. Furthermore, the number and structure of gears in the transmission gear train can be customized, increasing the design flexibility of the cleaning module.

[0072] A second aspect of an embodiment of the present application provides a self-moving cleaning device, comprising a device body, wherein the device body comprises the cleaning module described in any one of the first aspects above.

[0073] The self-moving cleaning device provided in the embodiment of the present application can be provided with a cleaning function by providing the above-mentioned cleaning module. By providing the cleaning module to include a first fixed shaft, and the fixed shaft is fixedly connected to the mounting member, the fixed connection between the first fixed shaft and the mounting frame provides a sturdy support structure, which reduces the displacement or deviation caused by vibration or external force during operation, and improves the stability and reliability of the system. The connection between the fixed mounting frame and the first fixed shaft can optimize the power transmission path, reduce energy loss, and improve driving efficiency. By providing the swing arm to be able to move between a retracted position and an outward swing position, the cleaning component can flexibly adjust its working range to adapt to different cleaning needs and environments, such as cleaning in a narrow space or covering a larger area. The mobility of the swing arm enables the cleaning module to optimize its cleaning path, reduce repeated cleaning and missed areas, thereby improving the overall cleaning effect.

[0074] In one possible implementation, when the swing end of the swing arm is in the retracted position, at least a portion of the edge of the cleaning assembly is located outside the edge of the device body;

[0075] When the driving end of the swing arm is in the outward swing position, at least part of the edge of the cleaning component is flush with or protrudes from the first width area of ​​the device body, and the first width area is the maximum width area of ​​the self-moving cleaning device perpendicular to the forward direction.

[0076] Such a setting allows the self-moving cleaning device to clean areas outside the device body through the cleaning module, thereby expanding the cleaning range, reducing the problem of edge areas not being cleaned properly, improving the cleaning effect, and enhancing user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0078] Figure 1 A schematic structural diagram of a cleaning device provided in an embodiment of the present application;

[0079] Figure 2 A schematic structural diagram of a cleaning module of a cleaning device provided in an embodiment of the present application when the swing arm is in an outward swing position;

[0080] Figure 3 Schematic diagram of the explosion structure of a cleaning module provided in an embodiment of the present application Figure 1 ;

[0081] Figure 4 Schematic diagram of the explosion structure of a cleaning module provided in an embodiment of the present application Figure 2 ;

[0082] Figure 5 A schematic cross-sectional view of a partial structure of a cleaning module provided in an embodiment of the present application;

[0083] Figure 6 A schematic cross-sectional view of a cleaning module provided in an embodiment of the present application from another angle;

[0084] Figure 7 A schematic structural diagram of a transmission assembly of a cleaning module provided in an embodiment of the present application;

[0085] Figure 8 A schematic structural diagram of a swing gear and an elastic member of a cleaning module provided in an embodiment of the present application;

[0086] Figure 9 A schematic diagram of a partial structure of a cleaning module provided in an embodiment of the present application;

[0087] Figure 9A A schematic diagram of a partial structure of a cleaning module provided in an embodiment of the present application;

[0088] Figure 10 A schematic cross-sectional view of a cleaning module provided in an embodiment of the present application;

[0089] Figure 11 A schematic diagram of a partial structure of a cleaning module provided in an embodiment of the present application;

[0090] Figure 12 A schematic structural diagram of a cleaning module provided in an embodiment of the present application;

[0091] Figure 13 A schematic structural diagram of a cover plate of a cleaning module provided in an embodiment of the present application;

[0092] Figure 14 A schematic cross-sectional view of a cleaning module provided in an embodiment of the present application;

[0093] Figure 15 A schematic structural diagram of another cleaning module provided in an embodiment of the present application;

[0094] Figure 16 for Figure 15 A structural diagram of another angle of the embodiment shown in FIG. Figure 1 ;

[0095] Figure 17 for Figure 15 A structural diagram of another angle of the embodiment shown in FIG. Figure 2 ;

[0096] Figure 18 for Figure 15 A schematic cross-sectional view of the embodiment shown in FIG.

[0097] Figure 19 A schematic diagram of a portion of the structure of another cleaning module provided by an embodiment of the present application when the swing arm is in the retracted position;

[0098] Figure 20 A schematic diagram of a portion of the structure of another cleaning module provided in an embodiment of the present application when the swing arm is in the outward swing position;

[0099] Figure 21 for Figure 19 Schematic diagram of the cross-sectional structure of the embodiment shown in FIG.

[0100] Description of reference numerals:

[0101] 100-cleaning module; 10-mounting frame; 11-first limiting portion;

[0102] 11a-first surface; 11b-second surface; 12-third limiting portion;

[0103] 20-swing arm; 20a-rotation end; 20b-swing end;

[0104] 21- Pushing part; 22- External mounting frame;

[0105] 23 - second matching hole; 24 - accommodating cavity; 25 - first accommodating groove;

[0106] 26- fourth resisting part;

[0107] 28-cleaning assembly; 29-passive swing abutment portion;

[0108] 30-first drive mechanism; 31-first drive assembly; 311-first drive motor;

[0109] 312-first driving gear;

[0110] 40 - second drive mechanism; 41 - second drive assembly; 411 - second drive motor;

[0111] 412 - second driving gear; 50 - swing gear; 51 - second resisting portion;

[0112] 52-first stopper; 53-third stopper; 54-passive swing limiter;

[0113] 55 - propulsion unit; 56 - second receiving slot; 561 - engaging column;

[0114] 562-first matching hole; 60-transmission member;

[0115] 61-elastic portion; 62-first stop arm; 63-second stop arm;

[0116] 71-first fixed shaft; 72-second fixed shaft; 73-transmission gear set;

[0117] 731-first transmission gear; 732-second transmission gear;

[0118] 80 - cover plate; 81 - second limiting portion; 82 - avoidance groove;

[0119] 90-transmission assembly; 91-first gear; 911-first connecting portion;

[0120] 912 - plug-in portion; 92 - second gear; 921 - second connecting portion;

[0121] 922-Mating portion; 93-Transmission gear train;

[0122] 1000-cleaning equipment; 200-equipment body. DETAILED DESCRIPTION

[0123] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0124] The cleaning module and cleaning equipment provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0125] The present application also provides a cleaning device 1000, such as Figure 1 As shown, the cleaning device 1000 may include a device body 200 and a cleaning module 100 disposed on the device body 200. The cleaning module 100 is provided with a cleaning component 28 (see Figure 3 As shown), the cleaning component 28 can be a mop component.

[0126] For example, the cleaning module 100 has a swing function and can be moved from a retracted position to an outward swing position (e.g. Figure 2When performing a cleaning operation using the cleaning device 1000, the cleaning module 100 can be adjusted to the outward swing position to increase the cleaning range and thereby improve the cleaning efficiency.

[0127] The cleaning device 1000 provided in the embodiment of the present application can have good stability by providing the above-mentioned cleaning module 100, and is less likely to malfunction during use, thereby extending the service life of the cleaning device 1000 and improving user experience.

[0128] In one possible implementation, when the cleaning module 100 is in the retracted position, at least a portion of the edge of the cleaning component 28 is located outside the edge of the device body 200 and within the first width region A of the device body 200. When the cleaning module 100 is in the swing-out position, at least a portion of the edge of the cleaning component 28 is flush with or protrudes from the first width region A of the device body 200. The first width region A is the maximum width region of the self-propelled cleaning device 1000 perpendicular to the forward direction (s direction), that is, Figure 1 The area between the dotted lines in .

[0129] Such a configuration allows the self-moving cleaning device 1000 to pass through the cleaning module 100 and clean areas outside the device body 200, thereby expanding the cleaning range, reducing the problem of edge areas not being cleaned properly, improving the cleaning effect, and enhancing the user experience.

[0130] It should be noted that the cleaning device 1000 provided in the embodiment of the present application can be a sweeping robot, a floor cleaning machine, a mopping robot, a window cleaning robot, a carpet cleaning machine, a car cleaning device, a disinfecting cleaning device, etc. In the embodiment of the present application, there is no further limitation on the type of the cleaning device 1000, as long as it has an externally swinging cleaning module 100.

[0131] The cleaning module 100 in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0132] The embodiment of the present application provides a cleaning module 100. Figure 3 Schematic diagram of the explosion structure of a cleaning module provided in an embodiment of the present application Figure 1 . Figure 4 Schematic diagram of the explosion structure of a cleaning module provided in an embodiment of the present application Figure 2 . Figure 3 and Figure 4 The middle ones are schematic diagrams showing the swing arm 20 in the outward swing position.

[0133] It should be noted that, for the convenience of description, the first direction is defined as the direction from the retracted position to the outward swing position, and the second direction is defined as the direction from the outward swing position to the retracted position. Direction a in the figure is the first direction, and direction b in the figure is the second direction.

[0134] Combine Figure 3 and Figure 4 As shown, the cleaning module 100 may include a mounting frame 10 , a swing arm 20 , a first driving mechanism 30 , a second driving mechanism 40 , a transmission member 60 , a first fixed shaft 71 , a cover plate 80 , and a cleaning assembly 28 .

[0135] Exemplarily, the first fixed shaft 71 is fixedly connected to the mounting frame 10. The first driving mechanism 30 includes a first driving assembly 31 and a swing gear 50. The first driving assembly 31 is mounted on the mounting frame 10 and is used to drive the swing gear 50 to rotate. The swing gear 50 is sleeved on the first fixed shaft 71 and can rotate relative to the first fixed shaft 71.

[0136] In some embodiments, as Figure 3 As shown, the first driving assembly 31 may include a first driving motor 311 and a first driving gear 312 . The first driving motor 311 is mounted on the mounting frame 10 . The first driving gear 312 is fixed on the driving end of the first driving motor 311 . The first driving gear 312 is engaged with the swing gear 50 .

[0137] By fixedly connecting the first drive motor 311 to the mounting bracket 10, the stability of the first drive motor 311 can be improved. By directly fixing the first driving gear 312 to the driving end of the first drive motor 311, the power of the motor can be efficiently transmitted to the swing gear 50, reducing energy loss in the intermediate links and improving transmission efficiency. Integrating the first drive motor 311 and the first driving gear 312 together and mounting them on the mounting bracket 10 makes the entire first drive assembly 31 more compact and saves space. In addition, by driving the first driving gear 312 with the first drive motor 311, flexible control of the gear system can be achieved, and the speed and direction can be easily adjusted to meet different operational requirements.

[0138] like Figure 4 As shown, the swing arm 20 has a rotating end 20a and a swinging end 20b. The rotating end 20a is connected to the mounting frame 10 and can rotate relative to the mounting frame 10. The swinging end 20b is located away from the rotating end 20a. The swinging end 20b has a retracted position and an outward swing position. The transmission member 60 is disposed between the swing gear 50 and the swing arm 20. The transmission member 60 has a first end and a second end. The first end is connected to the swing gear 50 and the second end is connected to the swing arm 20. The swing gear 50 and the transmission member 60 cooperate to drive the swinging end 20b of the swing arm 20 to switch between the retracted position and the outward swing position.

[0139] like Figure 5 As shown, the second drive mechanism 40 may include a second drive component 41 and a transmission component 90. The second drive component 41 is installed on the mounting frame 10. The second drive component 41 is used to drive the transmission component 90 to move. The output end of the transmission component 90 is provided at the swing end 20b of the swing arm 20, and the cleaning component 28 is connected to the output end of the transmission component 90.

[0140] The cleaning module 100 provided in the embodiment of the present application is configured to perform cleaning operations on the surface to be cleaned by setting a cleaning component 28, and to provide an installation position for the first fixed shaft 71, the first drive mechanism 30, the swing arm 20, the second drive mechanism 40, etc. by setting a mounting frame 10, so as to facilitate the assembly of the first fixed shaft 71, the first drive mechanism 30, the swing arm 20, the second drive mechanism 40, etc. into a module, which is convenient for assembly with the cleaning equipment 1000.

[0141] The provision of first fixed shaft 71 and its fixed connection to mounting bracket 10 provide a sturdy support structure, reducing displacement or deviation caused by vibration or external forces during operation, thereby improving system stability and reliability. The fixed connection between mounting bracket 10 and first fixed shaft 71 optimizes the power transmission path, reduces energy loss, and improves drive efficiency.

[0142] By providing a first drive mechanism 30 and a swing arm 20 to drive the swing arm 20 to switch between a retracted position and an outward swing position, and by enabling the swing arm 20 to move between the retracted position and the outward swing position, the cleaning assembly 28 can flexibly adjust its operating range to accommodate different cleaning needs and environments, such as cleaning within a narrow space or covering a larger area. The mobility of the swing arm 20 enables the cleaning module 100 to optimize its cleaning path, reduce repeated cleaning and missed areas, and thus improve the overall cleaning effect.

[0143] By providing a transmission member 60 and interlocking the swing gear 50 with the transmission member 60, the swing end 20b of the swing arm 20 is driven to switch between the retracted position and the outward swing position. In other words, the swing arm 20 is driven by the transmission member 60 between the first drive mechanism 30 and the swing arm 20. Compared with directly driving the swing arm 20 to swing through the first drive mechanism 30, the use of the transmission member 60 can effectively disperse and transmit the stress during movement, reduce the wear of the swing arm 20 and other mechanical components, and extend the service life of the equipment. Through the interlocking cooperation between the swing gear 50 and the transmission member 60, the movement of the swing arm 20 can be precisely controlled. This transmission mechanism ensures the smooth and efficient movement of the swing arm 20, improving the cleaning efficiency.

[0144] Driven by the first driving mechanism 30 , the transmission member 60 can accurately control the movement of the swing arm 20 , thereby achieving precise adjustment of the position and angle of the cleaning assembly 28 , which helps to improve cleaning efficiency and effectiveness.

[0145] By mounting both the first drive assembly 31 and the second drive assembly 41 on the mounting frame 10, the first drive assembly 31 and the second drive assembly 41 can operate in a synchronized and coordinated manner, thereby better controlling the swinging movement of the swing arm 20 and the rotation of the cleaning assembly 28, thereby ensuring an efficient and consistent cleaning process. Furthermore, integrating the first drive assembly 31 and the second drive assembly 41 on the same mounting frame 10 can effectively reduce the overall size of the device, making the cleaning module 100 more compact and convenient for operation and storage in confined spaces.

[0146] In the embodiment of the present application, the rotating end 20a is connected to the first fixed shaft 71, and the rotating end 20a can rotate relative to the first fixed shaft 71 so that the swinging end 20b switches between the retracted position and the outward swing position around the first fixed shaft 71.

[0147] By connecting the rotating end 20a to the first fixed shaft 71 and allowing it to rotate relative to the first fixed shaft, a stable fulcrum is provided. This can reduce the displacement caused by vibration or external force during operation and improve the stability and durability of the equipment. By rotating the swing arm 20 to the first fixed shaft 71, the distance between the swing arm 20 and the first drive mechanism 30 can be shortened, making the structure more compact. In addition, this can optimize the movement path and position switching of the swing arm 20, reduce unnecessary movement and energy consumption, and improve the energy efficiency of the entire system. The design of the first fixed shaft 71 simplifies the installation and disassembly process of the swing arm 20, making regular maintenance and overhaul more convenient, and reducing maintenance costs and time.

[0148] In one possible implementation, Figure 5 As shown, the transmission assembly 90 may include a first gear 91 and a second gear 92. The first gear 91 and the second gear 92 are in transmission connection with each other. The first gear 91 and the second gear 92 are connected to the first fixed shaft 71 along the axial direction of the first fixed shaft 71, and the first gear 91 and the second gear 92 are respectively rotatable relative to the first fixed shaft 71. Exemplarily, the first gear 91 and the second gear 92 are both sleeved on the outside of the first fixed shaft 71 and are rotationally connected to the first fixed shaft 71.

[0149] By providing the transmission assembly 90 with a first gear 91 and a second gear 92, and by connecting the first gear 91 to the second drive mechanism 40, the gear transmission can achieve efficient force transmission, so that the power of the second drive mechanism 40 can be more efficiently transmitted to the cleaning assembly 28, thereby improving transmission efficiency. The gear transmission is mainly based on rolling friction, which reduces the energy loss caused by sliding friction and improves the overall efficiency of the system. By connecting the first gear 91 and the second gear 92 to the first fixed shaft 71 along the axial direction of the first fixed shaft 71, space can be effectively utilized, making the entire cleaning module 100 more compact, which is conducive to the miniaturization of the cleaning module 100.

[0150] In one possible implementation, Figure 6 As shown, the second drive assembly 41 may include a second drive motor 411 and a second driving gear 412. The second drive motor 411 is installed on the mounting frame 10. The second driving gear 412 is fixed on the driving end of the second drive motor 411. The second driving gear 412 is engaged with the first gear 91 or the second gear 92.

[0151] By fixing the second drive motor 411 to the mounting bracket 10, the stability of the second drive motor 411 can be improved. By directly fixing the second driving gear 412 to the driving end of the second drive motor 411, the power of the motor can be efficiently transmitted to the first gear 91 or the second gear 92, reducing energy loss in the intermediate links and improving transmission efficiency. The second drive motor 411 and the second driving gear 412 are integrated together and mounted on the mounting bracket 10, making the entire second drive assembly 41 more compact and space-saving. In addition, by driving the second driving gear 412 by the second drive motor 411, flexible control of the gear system can be achieved, and the speed and direction can be easily adjusted to meet different operating requirements.

[0152] The first drive motor 311 and the second drive motor 411 are respectively installed on the mounting frame 10. Since the mounting frame 10 is a fixed and inactive structure, the first drive motor 311 and the second drive motor 411 are in a fixed and inactive state during the process of the cleaning component 28 expanding or contracting. After this arrangement, the conductive cables and signal transmission cables on the first drive motor 311 and the second drive motor 411 will not move during the process of the cleaning component 28 expanding or contracting, thereby avoiding the possibility of the conductive cables and the signal transmission cables being pulled and broken, and improving the connection stability of the conductive cables and the signal transmission cables.

[0153] In one possible implementation, Figure 6As shown, the first gear 91 is connected to the output end of the second driving assembly 41 . Specifically, the second driving gear 412 is engaged with the first gear 91 . Of course, in other embodiments, the second driving gear 412 may also be engaged with the second gear 92 .

[0154] Illustratively, the second driving gear 412 may be a worm structure, the output end of the second driving motor 411 is connected to the worm, and the worm is meshed with the first gear 91 .

[0155] By configuring the second driving gear 412 as a worm gear, the worm mechanism offers a large transmission ratio, converting the high-speed, low-torque output of the second drive motor 411 into low-speed, high-torque output, making it suitable for driving cleaning components 28 (e.g., mops) that require high torque. This high transmission ratio enables precise speed and position control, improving transmission accuracy. The worm gear structure also features a self-locking function. When the second drive motor 411 stops, it prevents reverse movement of the cleaning component 28 (e.g., a mop), ensuring system stability. This self-locking function prevents accidental movement caused by external forces during the cleaning process, enhancing device safety. The worm gear structure offers a compact transmission structure and takes up little space, making it suitable for space-sensitive cleaning devices such as cleaning robots 1000 (e.g., sweeping robots). This compact design allows for flexible system layout and facilitates integration into a variety of robotic designs.

[0156] Continue to see Figure 5 As shown, the transmission assembly 90 further includes a transmission gear train 93 , the second driving gear 412 is engaged with the first gear 91 , and the transmission gear train 93 is engaged with the second gear 92 .

[0157] It should be noted that the output end of the transmission gear system 93 is the output end of the transmission assembly 90, thereby transmitting power to the cleaning assembly 28, thereby driving the cleaning assembly 28 to rotate and clean the surface to be cleaned.

[0158] Of course, other connection methods may be used in other embodiments. For example, when the second driving gear 412 is engaged with the second gear 92, the transmission gear system 93 is engaged with the first gear 91. In the embodiment of the present application, the positional relationship between the first gear 91 and the second gear 92 is not further limited.

[0159] It should be noted that the transmission relationship between the second drive mechanism 40 and the cleaning component 28 can be that the second drive motor 411 transmits power to the second driving gear 412, the second driving gear 412 is meshed and connected with the first gear 91 of the transmission component 90, and then the power is transmitted to the first gear 91, the first gear 91 is transmission-connected with the second gear 92, and then the power is transmitted from the first gear 91 to the second gear 92, the second gear 92 is meshed and connected with the transmission gear train 93, and then the power is transmitted to the transmission gear train 93, the output end of the transmission gear train 93 is connected with the cleaning component 28, and then the power is transmitted to the cleaning component 28, and then the cleaning component 28 is driven to rotate and clean the surface to be cleaned.

[0160] By including a transmission gear train 93 in the transmission assembly 90, power can be transmitted to the cleaning assembly 28 via a multi-stage transmission. This optimizes the force transmission path, allowing the power of the second drive mechanism 40 to be more efficiently transmitted to the cleaning assembly 28, thereby improving transmission efficiency. Furthermore, it ensures that the force distribution between the second drive assembly 41 and the cleaning assembly 28 is uniform, avoiding local stress concentration and extending the service life of the system. By optimizing the force distribution, vibration and impact during system operation are reduced, improving operational stability. In addition, the number and structure of the gears in the transmission gear train 93 can be set as needed, thereby increasing the design flexibility of the cleaning module 100.

[0161] It should be noted that, see Figure 5 As shown, the transmission gear train 93 may include at least one third gear, wherein one third gear is in transmission connection with the second gear 92 , and the second gear 92 is in transmission connection with the cleaning assembly 28 via the at least one third gear.

[0162] For example, there may be two third gears, which are meshed and connected. The third gear closest to the second gear 92 is meshed and connected to the second gear 92. The third gear closest to the cleaning assembly 28 can serve as a driving gear for the cleaning assembly 28. In the embodiment of the present application, the number of third gears is not further limited.

[0163] The first gear 91 and the second gear 92 will be described in detail below with reference to the accompanying drawings.

[0164] like Figure 7 As shown, the first gear 91 has a first connecting portion 911, and the second gear 92 has a second connecting portion 921. The first connecting portion 911 and the second connecting portion 921 are located between the first gear 91 and the second gear 92. The first connecting portion 911 and the second connecting portion 921 are connected to each other so that the first gear 91 and the second gear 92 are connected in transmission.

[0165] For example, when the first gear 91 and the second gear 92 are assembled to the first fixed shaft 71, the first connecting portion 911 is arranged toward the second connecting portion 921, and the first gear 91 and the second gear 92 are transmission-connected via the first connecting portion 911 and the second connecting portion 921. The transmission connection between the first connecting portion 911 and the second connecting portion 921 can be achieved by plug-fitting, snap-fitting, locking connection, or welding. In the embodiment of the present application, the connection method of the first connecting portion 911 and the second connecting portion 921 is not further limited.

[0166] The direct connection between the first connecting part 911 and the second connecting part 921 ensures reliable power transmission between the first gear 91 and the second gear 92. This close connection reduces possible energy loss during power transmission and improves the efficiency of the system. The design of the first connecting part 911 and the second connecting part 921 can reduce the relative sliding between the gears, thereby reducing wear. This helps to extend the service life of the gears and the entire system and reduce maintenance requirements. The design of the first connecting part 911 and the second connecting part 921 provides additional support and stability, reduces the vibration and noise of the first gear 91 and the second gear 92 when running at high speed, and improves the stability of the system and user experience. In addition, this design can reduce the use of bearings, thereby reducing costs.

[0167] In some embodiments, a plug-in portion 912 is provided on a side of the first connection portion 911 facing the second connection portion 921, and a mating portion 922 is provided on a side of the second connection portion 921 facing the first connection portion 911. The plug-in portion 912 and the mating portion 922 are plugged into and mated with each other to achieve a transmission connection between the first gear 91 and the second gear 92.

[0168] By providing the plug-in portion 912 and the mating portion 922, the first gear 91 and the second gear 92 are plugged and mated together, so that the first gear 91 and the second gear 92 rotate synchronously. Compared with providing the first gear 91 and the second gear 92 as a longer gear shaft, this design makes it easier to assemble the transmission assembly 90 in the cleaning module 100 and reduces the assembly difficulty. The plug-in mating design of the first gear 91 and the second gear 92 is relatively simple, reducing the complexity of the design and manufacturing of the long gear shaft and reducing production costs.

[0169] Illustratively, the plug-in portion 912 includes at least one protruding structure, and the mating portion 922 includes at least one groove structure mating with the protruding structure.

[0170] In this arrangement, the cooperation between the protrusion structure and the groove structure provides a reliable mechanical connection, ensuring that the relative position between the first gear 91 and the second gear 92 remains stable. This design reduces the risk of misalignment of the first gear 91 and the second gear 92 during operation. The protrusion structure and the groove structure provide a self-positioning function, which simplifies the assembly process of the first gear 91 and the second gear 92 and reduces the difficulty of assembly. This cooperation makes the disassembly and replacement of the first gear 91 and the second gear 92 easier, reducing the complexity and time cost of maintenance. The design of the protrusion structure and the groove structure provides a mechanical locking mechanism to prevent the first gear 91 and the second gear 92 from accidentally falling off during operation, thereby improving the safety of the system. In addition, the cooperation of the protrusion structure and the groove structure can adopt a standardized design, which is convenient for design and manufacturing and reduces production costs. The cooperation design of the protrusion structure and the groove structure can be designed and manufactured as an independent module, enhancing the design flexibility of the system.

[0171] In some embodiments, there are multiple protrusion structures, and the multiple protrusion structures are distributed along the circumference; there are multiple groove structures, and the multiple groove structures are distributed along the circumference.

[0172] It should be noted that multiple protrusions can be spaced apart along the circumference, and multiple grooves can also be spaced apart along the circumference. During assembly, a protrusion can be plugged into a groove, and the alternating protrusions and grooves can improve the connection stability.

[0173] In this way, the combination of multiple protrusions and grooves provides a larger contact area and more contact points, thereby enhancing the connection strength and stability between the first gear 91 and the second gear 92, and reducing the risk of deformation or failure under high load conditions. Due to the presence of multiple mating points, the relative sliding between the first gear 91 and the second gear 92 is reduced, thereby reducing wear, helping to extend the service life of the first gear 91 and the second gear 92 and the entire system, and reducing maintenance requirements. The design of multiple protrusions and grooves provides a stronger mechanical locking mechanism, preventing the first gear 91 and the second gear 92 from accidentally falling off during operation, thereby improving the safety of the system. The design of multiple protrusions and grooves provides a stronger mechanical locking mechanism, preventing the gears from accidentally falling off during operation, thereby improving the safety of the system.

[0174] For example, when the plug-in portion 912 is plugged into and mated with the mating portion 922 , the outer sidewall of the protrusion structure fits against the inner sidewall of the groove structure.

[0175] By fitting the outer wall of the raised structure against the inner wall of the recessed structure, a stable mechanical connection is formed between the recessed and raised structures, reducing looseness and displacement between the first gear 91 and the second gear 92. This improves the overall stability of the system, enhances transmission accuracy, and reduces vibration and noise during operation. The tight fit reduces clearance and relative motion between the first gear 91 and the second gear 92, reducing transmission errors and improving the transmission accuracy of the system.

[0176] It should be noted that in the embodiments of the present application, the outer contour of the protrusion structure is not further limited. The outer contour of the protrusion structure can be set to a prism shape, etc. according to the specific processing conditions. The shape of the groove structure matches the outer contour of the protrusion structure. In the embodiments of the present application, the shape of the groove structure is not further limited.

[0177] In some other embodiments, the outer contour of the plug-in portion 912 can also be a polygonal structure, and the mating portion 922 is provided with an insertion groove (not shown in the figure) on the side facing the plug-in portion 912, and the insertion groove is a polygonal groove that is plugged into and mated with the plug-in portion 912.

[0178] Exemplarily, the outer contour of the plug-in portion 912 can be a rectangular parallelepiped, a cube, a triangular prism, a quadrangular prism, a pentagonal prism or other structures, and the shape of the insertion groove can match the plug-in portion 912. In the embodiment of the present application, the shape of the outer contour of the plug-in portion 912 and the shape of the insertion groove are not further limited.

[0179] By setting the outer contour of the plug-in portion 912 to a polygonal structure, wherein the polygonal structure provides multiple planes and angles, the plug-in portion 912 has anti-rotation properties in the insertion slot. It can effectively prevent rotational sliding caused by torque during the transmission process and improve the stability of the connection. The polygonal design increases the contact surface and contact points, can more evenly distribute and transmit torque, reduce stress concentration, and improve transmission efficiency and reliability. Due to the geometric characteristics of the polygonal structure, the fit between the plug-in portion 912 and the insertion slot is more precise, reducing clearance and looseness, improving assembly accuracy and overall system performance. The multiple contact surfaces of the polygonal structure disperse the load, reduce wear on a single contact surface, and thus extend the service life of the component.

[0180] Of course, in other embodiments, the plug-in portion 912 and the mating portion 922 can also be set as other structures. For example, the plug-in portion 912 and the mating portion 922 are connected by threaded connection, snap connection, etc. In the embodiment of the present application, the structure of the plug-in portion 912 and the mating portion 922 is not further limited.

[0181] Combine Figure 3 and Figure 8As shown, the transmission member 60 can be an elastic member, and the transmission member 60 is arranged between the swing gear 50 and the swing arm 20 in a pre-tightened state.

[0182] Exemplarily, the transmission member 60 may include an elastic portion 61 and a first blocking arm 62 and a second blocking arm 63 connected to the elastic portion 61, the first blocking arm 62 being engaged with the swing gear 50, and the second blocking arm 63 being engaged with the rotating end 20a of the swing arm 20, so that the pre-tightened state is set between the swing gear 50 and the swing arm 20.

[0183] It should be noted that the pre-tightening state means that the elastic part has a certain pre-tightening force, and the pre-tightening force refers to the force applied to the transmission part 60 to tighten or compress the elasticity, which can put the transmission part 60 in a tightened state so that the first stop arm 62 and the second stop arm 63 of the transmission part 60 both have a rebound force in the opposite direction of the pre-tightening force.

[0184] In some embodiments, when the swing gear 50 rotates along the first direction (direction a in the figure) or the second direction (direction b in the figure), it can squeeze or relax the first stop arm 62 so that the rebound force of the transmission member 60 drives the swing arm 20 to rotate, so that the swing end 20b of the swing arm 20 moves between the retracted position and the outward swing position.

[0185] For ease of description, in the embodiment of the present application, the first direction is defined as the direction from the retracted position to the outward swing position, and the second direction is defined as the direction from the outward swing position to the retracted position. The first direction is the same as the direction of the preload force, and the second direction is opposite to the direction of the preload force.

[0186] For example, when the swing gear 50 rotates in the first direction, it can drive the first stop arm 62 to move in the same direction as the preload force. The end of the transmission member 60 where the first stop arm 62 is located is further tightened. Under the action of the rebound force of the transmission member 60, the second stop arm 63 of the transmission member 60 drives the swing arm 20 to rotate in the first direction, thereby driving the swing end 20b of the swing arm 20 to move from the retracted position to the outward swing position.

[0187] This arrangement allows the transmission member 60 to possess a certain rebound force in the opposite direction of the preload. These rebound forces act on the swing arm 20 and the swing gear 50, respectively, thereby making the connection between the swing arm 20 and the swing gear 50 more stable. The preload can eliminate the gap between the swing arm 20 and the swing gear 50, thereby preventing loosening, ensuring that the swing arm 20 and the swing gear 50 maintain close contact during operation, and improving the stability and reliability of the system. It should be noted that the preload can put the transmission member 60 in a tightened state, so that the transmission member 60 has a rebound force in the opposite direction of the preload. Thus, when the swing arm 20 is in the outward swing position, if the cleaning assembly 28 connected to the swing arm 20 hits an obstacle, the obstacle will cause the swing arm 20 to compress the transmission member 60, and then swing from the outward swing position to the inward position to prevent the swing arm 20 from getting stuck with the obstacle. At this time, the transmission member 60 is further tightened, with a greater rebound force. When the movement of the cleaning device 1000 causes the swing arm 20 to leave the obstacle, the rebound force of the transmission member 60 causes the swing arm 20 to return to the outward swing position. The transmission member 60 can also buffer the cleaning assembly 28 at the lower end of the swing arm 20 from external forces when the cleaning device 1000 is performing a cleaning operation, thereby preventing damage to the cleaning assembly 28.

[0188] Furthermore, this allows the cleaning assembly 28 connected to the swing arm 20 to always be close to or in contact with the edge of the obstacle, effectively cleaning the edge of the obstacle, without retracting due to minor external forces (such as friction) and thus failing to cover the edge of the obstacle. Furthermore, the cleaning assembly 28 connected to the swing arm 20 rotates during the cleaning process. This rotation creates friction between it and the ground in the opposite direction of the swing arm 20's rotation. The rebound force of the transmission member 60 can offset this friction, thereby improving stability during the cleaning process.

[0189] For example, the transmission member 60 can be a torsion spring. By configuring the transmission member 60 as a torsion spring, the torsion spring can provide a constant torsional torque, ensuring that the mechanical system maintains a stable force output during operation. The torsion spring can absorb and cushion shock and vibration in the mechanical system, reducing damage to other components and extending the system's service life. Torsion spring designs are flexible and diverse, allowing customization to specific application requirements, providing optimal performance and effectiveness. Torsion springs have a relatively simple manufacturing process and low material costs, making them suitable for mass production and highly cost-effective.

[0190] Of course, in other embodiments, the transmission member 60 can also be other structures, such as gears, belts, chains, sprockets and other structures. In the embodiment of the present application, the structure of the transmission member 60 is not further limited, as long as the transmission member 60 can transmit the power of the swing gear 50 to the swing arm 20. In addition, the transmission member 60 can be elastic, so that it can have a certain buffering effect to prevent the cleaning component 28 from colliding with the swing gear 50 and the swing arm 20 when encountering obstacles.

[0191] like Figure 8 and Figure 9 As shown, a first receiving groove 25 is provided on the side of the swing arm 20 facing the swing gear 50, and at least a portion of the transmission member 60 is received in the first receiving groove 25. A second receiving groove 56 is provided on the side of the swing gear 50 facing the swing arm 20, and at least a portion of the transmission member 60 is received in the second receiving groove 56.

[0192] For example, when assembling, Figure 9A As shown, the second receiving groove 56 and the first receiving groove 25 are arranged opposite each other in the axial direction of the swing gear 50, and the receiving chamber 24 is formed between the second receiving groove 56 and the first receiving groove 25. The elastic portion 61 of the transmission member 60 is movably disposed in the receiving chamber 24. The first retaining arm 62 is engaged with the first receiving groove 25, and the second retaining arm 63 is engaged with the second receiving groove 56.

[0193] Exemplarily, the first receiving groove 25 may have the same structure as the second receiving groove 56 , or may be a card slot structure. In the embodiment of the present application, the structures of the first receiving groove 25 and the second receiving groove 56 are not further limited.

[0194] Of course, in other embodiments, the accommodating cavity 24 may be set to other structures. A second accommodating groove 56 is provided on the side of the swing gear 50 facing the swing arm 20 , and the accommodating cavity 24 is formed between the second accommodating groove 56 and the swing arm 20 .

[0195] This arrangement allows the transmission member 60 to be embedded between the swing gear 50 and the swing arm 20, saving the overall space of the cleaning module 100, especially reducing the space occupied by the cleaning module 100 in the axial direction of the swing gear 50, which is conducive to the miniaturization of the cleaning module 100. In addition, this can reduce the space occupied by the cleaning device 1000 in the vertical direction, so that the cleaning device 1000 can enter some low spaces, improving applicability.

[0196] Accommodating the transmission member 60 partially in the first receiving groove 25 and partially in the second receiving groove 56 can effectively protect it from the influence of the external environment, such as dust, dirt and other pollutants. This helps to extend the service life and reliability of the transmission member 60. The design of the first receiving groove 25 and the second receiving groove 56 enables the transmission member 60 to be compactly integrated into the swing arm 20 structure, optimizing space utilization. This is particularly important for equipment design that needs to save space. The first receiving groove 25 and the second receiving groove 56 provide additional support and fixation, making the transmission member 60 more stable during operation and reducing the risk of failure due to looseness. The first receiving groove 25 and the second receiving groove 56 can help hide the transmission member 60, making the appearance of the equipment more neat and beautiful.

[0197] In some embodiments, as Figure 8 As shown, the swing gear 50 is provided with a first matching hole 562, and the first end of the transmission member 60 passes through the first matching hole 562. Figure 9 As shown, a second matching hole 23 is provided on the swing arm 20 , and the second end of the transmission member 60 passes through the second matching hole 23 .

[0198] For example, the first end of the transmission member 60 is the end of the first retaining arm 62 facing away from the elastic portion 61. One end of the first retaining arm 62 passes through the first matching hole 562 and is engaged in the first matching hole 562. The second end of the transmission member 60 is the end of the second retaining arm 63 facing away from the elastic portion 61. One end of the second retaining arm 63 passes through the second matching hole 23 and is engaged in the second matching hole 23.

[0199] Continue to see Figure 8 As shown, the swing gear 50 may further include an engaging column 561, which may be located in the second accommodating groove 56, and the end of the first blocking arm 62 facing away from the elastic portion 61 is engaged in the first matching hole 562, and the engaging column 561 is located on the side that blocks the transmission member 60 from being tightened, so that when the transmission member 60 is twisted and tightened, support can be provided to the first blocking arm 62 to prevent the first blocking arm 62 from bending.

[0200] Of course, in other embodiments, the second receiving groove 56 may also be configured as other structures. In the embodiment of the present application, the structure of the second receiving groove 56 is not further limited.

[0201] Such an arrangement ensures that the first end and the second end of the transmission member 60 can be precisely aligned. This precise alignment helps to improve the transmission accuracy and overall performance of the system, reduce the relative movement and friction between the transmission member 60 and other components, thereby reducing wear and extending the service life of the system. The first mating hole 562 and the second mating hole 23 provide additional support, making the transmission member 60 more stable during operation and reducing the risk of failure due to looseness or misalignment. In addition, it can also make the installation and disassembly of the transmission member 60 simpler and faster, reducing assembly time and the possibility of errors, improving production efficiency, and reducing the complexity and time cost of maintenance. By fixing the two ends of the transmission member 60, the overall rigidity of the system is increased, vibration and noise are reduced, and the smoothness of operation is improved.

[0202] Continue to see Figure 8 As shown, the swing gear 50 is provided with a propulsion portion 55. Figure 9 As shown, the swing arm 20 is provided with a pushed portion 21 that cooperates with the propulsion portion 55 .

[0203] like Figure 10 As shown, when the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 switches from the outward swing position to the inward retracted position, the pushing portion 55 abuts against the pushed portion 21. The pushed portion 21 is disposed on the side of the swing arm 20 facing the swing gear 50, and the pushing portion 55 is disposed on the side of the swing gear 50 facing the pushed portion 21, so that the pushed portion 21 and the pushing portion 55 can abut against each other when the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 switches from the outward swing position to the inward retracted position.

[0204] For example, Figure 10 The swinging end 20b of the swing arm 20 of the cleaning module 100 shown in the figure is in the outward swing position. When the swinging end 20b of the swing arm 20 switches from the outward swing position to the retracted position, the swinging gear 50 rotates along the second direction (direction b in the figure), and the propulsion part 55 pushes the pushed part 21 along the second direction (direction b in the figure) to move the swinging end 20b of the swing arm 20 from the outward swing position to the retracted position, and finally to the retracted position.

[0205] Of course, in some embodiments, the pushed portion 21 may also be disposed at other positions. In the embodiment of the present application, the position of the pushed portion 21 is not further limited.

[0206] With this arrangement, when the swing arm 20 is in a non-moving state, the abutment between the propulsion part 55 and the pushed part 21 provides additional support and stability, preventing the swing arm 20 from moving due to external force or vibration, ensuring the stability of the system, reducing wear, thereby extending the service life of the system and reducing maintenance requirements. During the swinging process, the cooperation between the propulsion part 55 and the pushed part 21 can help accurately locate the position of the swing arm 20, ensuring that it reaches the expected angle and position when switching to the outward swing position, thereby improving the accuracy of the operation. In addition, the abutment between the propulsion part 55 and the pushed part 21 can serve as a mechanical limiter to prevent the swing arm 20 from swinging excessively and protect the system from damage. Because the mechanical structure provides a natural limiter and positioning function, the need for complex control systems is reduced, simplifying the design and control of the system. The abutment design between the propulsion part 55 and the pushed part 21 can buffer the impact and vibration during the swinging process, making the operation smoother and quieter, and improving the user experience.

[0207] like Figure 10 As shown, the swing gear 50 is provided with a passive swing limiter 54, and the swing arm 20 is provided with a passive swing abutment 29 that cooperates with the passive swing limiter 54. When the swing end 20b of the swing arm 20 is in the outward swing position or between the retracted position and the outward swing position, a passive swing distance is defined between the passive swing limiter 54 and the passive swing abutment 29. During the movement of the self-mobile cleaning device 1000, when the swing arm 20 or the cleaning assembly 28 is obstructed by an obstacle, the passive swing distance gradually decreases. When the swing arm 20 or the cleaning assembly 28 is disengaged from the obstacle, the passive swing distance gradually returns to the distance before the swing arm 20 or the cleaning assembly 28 was obstructed by the obstacle under the elastic action of the transmission member 60.

[0208] Illustratively, in the circumferential direction of the swing gear 50, the pushed portion 21 is located between the propulsion portion 55 and the passive swing back limit portion 54, and the passive swing back abutment portion 29 is located between the pushed portion 21 and the passive swing back limit portion 54. When the swing arm 20 is in the outward swing position, the passive swing back limit portion 54 and the passive swing back abutment portion 29 are spaced apart, and the interval between the passive swing back limit portion 54 and the passive swing back abutment portion 29 is the passive swing spacing.

[0209] In this way, when the swing arm 20 or the cleaning component 28 is blocked by an obstacle, the passive swing back design allows the system to absorb the impact force, reducing damage to the swing arm 20 and the swing, thereby extending the service life of the equipment. After the obstacle is removed, the elastic action of the transmission member 60 automatically restores the passive swing back spacing, ensuring that the swing arm 20 or the cleaning component 28 returns to its normal working position. This automatic recovery function reduces manual intervention and improves the degree of automation of the equipment. Because the system can automatically return to normal state, downtime caused by obstacles is reduced, and the working efficiency and reliability of the equipment are improved. The passive swing back design provides additional stability, reduces the severe vibration and noise of the equipment when encountering obstacles, and improves the user experience.

[0210] In some embodiments, as Figure 10 As shown, the passive return swing abutment 29 and the pushed part 21 can be an integrated structure. For example, the passive return swing abutment 29 and the pushed part 21 are block structures integrally formed on the swing arm 20. This can improve the structural strength of the passive return swing abutment 29 and the pushed part 21 and improve stability.

[0211] Of course, in other embodiments, the passive swing-back abutment portion 29 and the pushed portion 21 may also be provided as two spaced-apart components. In the embodiment of the present application, the structures of the passive swing-back abutment portion 29 and the pushed portion 21 are not further limited.

[0212] In one possible implementation, combining Figure 3 and Figure 11 As shown, the mounting frame 10 is provided with a first stopper 11, and the swing gear 50 is provided with a first stopper 52 and a second stopper 51. The first stopper 11 is located between the first stopper 52 and the second stopper 51. When the swing end 20b switches from the retracted position to the outward swing position, the first stopper 52 abuts against the first stopper 11. When the swing end 20b switches from the outward swing position to the retracted position, the second stopper 51 abuts against the first stopper 11.

[0213] With this arrangement, the cooperation between the first limiter 11 and the first and second stoppers 52, 51 provides a clear mechanical limit, ensuring that the swing end 20b can be precisely positioned in both the retracted and outward swing positions. This accuracy is particularly important for systems that require high-precision operation. The limit design prevents the swing end 20b from exceeding the predetermined range of motion, avoiding mechanical damage caused by excessive movement, and improving the safety and durability of the system. The mechanical limit between the first limiter 11 and the first and second stoppers 52, 51 reduces reliance on complex electronic control systems, simplifies the design and control of the equipment, and improves the reliability of the system.

[0214] like Figure 11As shown, in the radial direction of the swing gear 50, the first limiting portion 11 can protrude toward the swing gear 50, and the first limiting portion 11 includes two surfaces arranged along the circumference of the swing gear 50, namely a first surface 11a and a second surface 11b. In the circumferential direction of the swing assembly, the first surface 11a and the second surface 11b are separated from each other. Specifically, when the swing end 20b switches from the retracted position to the outward swing position, the first stop portion 52 abuts against the first surface 11a of the first limiting portion 11 to limit the swing gear 50 from continuing to rotate. When the swing end 20b switches from the outward swing position to the retracted position, the second stop portion 51 abuts against the second surface 11b of the first limiting portion 11 to limit the swing gear 50 from continuing to rotate.

[0215] It should be noted that “mutually diverge” refers to mutual divergence in a broad sense, and is not limited to mutually diverging in opposite directions but can also be mutually diverging in an oblique direction. As long as they are facing different directions, they can be considered to be mutually diverging.

[0216] By setting the first limit portion 11, the swing arm 20 can be prevented from excessively retracting and swinging outward, thereby preventing the swing gear 50 and the first drive mechanism 30 from being damaged due to excessive movement, thereby extending the service life of the system.

[0217] It should be noted that in some other embodiments, the first stopper 11 can be used as a positioning structure during assembly. For example, the swing gear 50, the swing arm 20, and the first drive mechanism 30 can only be properly assembled when the second stopper 51 abuts the first surface 11a of the first stopper 11, or when the first stopper 52 abuts the second surface 11b of the first stopper 11.

[0218] like Figure 12 As shown, the cleaning module 100 further includes a cover plate 80, and at least part of the structure of the mounting frame 10 is arranged on the outside of the swing gear 50 (see Figure 3 As shown), the cover plate 80 is arranged on the side of the swing gear 50 away from the swing arm 20, the cover plate 80 is fixedly connected to the mounting frame 10, and the swing gear 50 is located in the space between the cover plate 80 and the swing arm 20.

[0219] The cover plate 80 and the mounting frame 10 together form a closed or semi-enclosed space, which can effectively protect the swing gear 50 and other internal components from the influence of the external environment, such as dust, moisture and other pollutants, thereby extending the service life of the equipment. By enclosing the swing gear 50 in the space between the cover plate 80 and the swing arm 20, the risk of the operator coming into contact with the moving parts is reduced, and the safety of the equipment is improved. The cover plate 80 can play a certain role in sound insulation and vibration reduction, reducing the noise and vibration of the equipment during operation and improving the user experience. The cover plate 80 provides a neat appearance, making the equipment more beautiful and improving the overall design quality of the product. The design of the cover plate 80 makes it easier for maintenance personnel to access the internal components, simplifying the inspection and maintenance process of the equipment. The fixed connection between the cover plate 80 and the mounting frame 10 enhances the structural stability of the entire cleaning module 100 and reduces the displacement or loosening of components due to vibration or impact.

[0220] Continue to see Figure 4 、 Figure 13 and Figure 14 As shown, the cover plate 80 is provided with a second stopper 81 on the side facing the swing gear 50, and the swing gear 50 is provided with a third stopper 53 on the side facing the cover plate 80. When the swing end 20b switches from the retracted position to the outward swing position, the third stopper 53 abuts the second stopper 81. During the process of switching from the outward swing position to the retracted position, the third stopper 53 gradually moves away from the second stopper 81.

[0221] With this arrangement, the cooperation between the second limit portion 81 and the third stop portion 53 provides a clear mechanical limit, ensuring that the swing end 20b can be accurately positioned when in the outward swing position to prevent excessive movement. When the swing end 20b reaches the outward swing position, the contact between the second limit portion 81 and the third stop portion 53 can absorb part of the impact force and protect the system from mechanical damage caused by excessive movement. By providing a clear limit point, the vibration and instability of the swing end 20b in the extreme position are reduced, and the overall stability of the system is improved. It can also reduce wear caused by excessive movement and impact, thereby extending the service life of the system and reducing maintenance requirements. Mechanical limiting reduces dependence on complex electronic control systems, simplifies the design and control of the equipment, and improves the reliability of the system. In the process of the swing end 20b returning from the outward swing position to the retracted position, the third stop portion 53 gradually moves away from the second limit portion 81, ensuring a smooth transition of movement and reducing impact and vibration.

[0222] Continue to see Figure 13As shown, the side of the cover plate 80 facing the swing gear 50 is provided with an escape groove 82 that matches the movement trajectory of the first end of the transmission member 60. The escape groove 82 is located on the side of the cover plate 80 facing the swing gear 50, and the first end of the transmission member 60 is movably disposed within the escape groove 82. The provision of the escape groove 82 on the cover plate 80 ensures that the first end of the transmission member 60 does not interfere with the cover plate 80 when moving with the swing gear 50, thereby ensuring the rotational stability of the swing gear 50.

[0223] In one possible implementation, the swing arm 20 may further include an external mounting frame 22. The height projection of the external mounting frame 22 at least partially overlaps the height projection of the mounting frame 10 (i.e., the axial direction of the first fixed axis 71). The external mounting frame 22 can protect the internal structure of the swing arm 20, thereby extending the service life of the cleaning module 100.

[0224] By overlapping the projections of the outer mounting frame 22 and the mounting frame 10, vertical space can be effectively utilized, reducing the overall footprint of the equipment, allowing for tighter integration of other functional components, improving the overall functionality and performance of the equipment, and facilitating the miniaturization of the cleaning module 100. In addition, the use of materials can be reduced, thereby reducing production costs and equipment weight. Due to the compactness and stability of the structure, the assembly and maintenance process becomes simpler and more efficient, reducing the complexity and time cost of assembly and maintenance. The overlapping design increases the overall stability and rigidity of the structure, reduces deformation or displacement due to vibration or external force, and improves the durability of the system.

[0225] It should be noted that the structure of the external mounting frame 22 can be set according to the structure of the swing arm 20. In the embodiment of the present application, the structure of the external mounting frame 22 is not further limited.

[0226] In one possible implementation, Figure 14 As shown, the mounting bracket 10 may include a third limiting portion 12. When the swing arm 20 moves from the outward swing position to the inward retracted position, the third limiting portion 12 abuts against the swing arm 20 to limit the swing arm 20 from continuing to rotate toward the inward retracted position.

[0227] It should be noted that the third position-limiting portion 12 may directly abut against the outer wall of the swing arm 20, or a fourth stopper 26 may be provided on a side of the swing arm 20 facing the third position-limiting portion 12. When the swing arm 20 moves from the outward swing position to the inward swing position, the fourth stopper 26 abuts against the third position-limiting portion 12. In the embodiment of the present application, the structure abutting against the third position-limiting portion 12 is not further limited.

[0228] By providing the third limiting portion 12 on the mounting frame 10, the swing arm 20 can be prevented from excessively retracting, thereby ensuring that the cleaning module 100 remains stable in the retracted position and avoiding loosening or shaking caused by excessive retraction. The third limiting portion 12 can prevent the swing arm 20 and other parts of the cleaning module 100 from being damaged due to excessive retraction, thereby protecting the overall structure and function of the cleaning module 100 and the cleaning device 1000. By providing the third limiting portion 12 on the mounting frame 10, the difficulty of providing the third limiting portion 12 can be reduced. For example, the side wall on the mounting frame 10 can be directly used as the third limiting portion 12. Similarly, the fourth retaining portion 26 can be directly provided on the side wall of the swing arm 20. This can reduce the difficulty of providing the fourth retaining portion 26, simplify the structure of the swing arm 20, and reduce the difficulty of processing the swing arm 20.

[0229] It should be noted that Figures 1-14 It is only a structural diagram of a cleaning module 100 in the embodiment of the present application, and Figures 1-14 The swing gear 50 in the embodiment shown in FIG is located on the side of the swing arm 20 facing away from the ground. Of course, in other embodiments, the cleaning module 100 can also be in other forms, for example, the swing gear 50 can be located on the side of the rotating end 20a of the swing arm 20 facing the ground.

[0230] like Figure 15 As shown, part of the mounting frame 10 is located on the ground-facing side of the swing gear 50. The swing gear 50 is axially located between the mounting frame 10 and the rotating end 20a of the swing arm 20, along the first fixed shaft 71. The first fixed shaft 71 is fixedly connected to the mounting frame 10. The swing gear 50, the transmission member 60, and the rotating end 20a of the swing arm 20 are all sleeved on the first fixed shaft 71 and rotationally connected to the first fixed shaft 71. The transmission member 60 is located between the rotating end 20a of the swing arm 20 and the swing gear 50. The rotating end 20a of the swing arm 20 is located on the ground-facing side of the swing gear 50.

[0231] In this way, the swing gear 50 and the transmission member 60 can be clamped between the mounting frame 10 and the rotating end 20a of the swing arm 20 in the axial direction of the first fixed shaft 71 to protect the swing gear 50 and the transmission member 60. Figure 16 As shown, the distance between the first driving mechanism 30 and the second driving mechanism 40 can be shortened, which is beneficial to the compact design of the module.

[0232] It should be noted that, due to the different locations of the swing gear 50, the structures of the first limiter 11, the second stopper 51, the first stopper 52, the propulsion unit 55, the pushed portion 21, etc. are also different. However, the relative locations of the first limiter 11, the second stopper 51, the first stopper 52, the propulsion unit 55, the pushed portion 21, and the working principles are the same. Figures 1-14 The embodiment shown in FIG is the same as that in FIG. 1 . In the embodiment of the present application, the positional relationship and the working principle of the first limiting portion 11, the second resisting portion 51, the first resisting portion 52, the propulsion portion 55, and the pushed portion 21 can be referred to. Figures 1-14 The description in the embodiments of this application will not be repeated here.

[0233] In the embodiment of this application, combined with Figure 15 and Figure 17 As shown, the first stopper 11 on the mounting frame 10 can be formed on the side wall of the mounting frame 10 surrounding the swing gear 50. The swing gear 50 is provided with a first stopper 52 and a second stopper 51 that cooperate with the first stopper 11, thereby preventing the swing arm 20 from excessively retracting or swinging outward.

[0234] It should be noted that Figure 15 and Figure 17 Both are structural schematic diagrams when the swing arm 20 is in the retracted position.

[0235] like Figure 15 As shown, a propulsion portion 55 is provided on the swing gear 50. Correspondingly, a pushed portion 21 cooperating with the propulsion portion 55 is provided on the swing arm 20. When the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 is switched from the outward swing position to the inward retracted position, the propulsion portion 55 abuts against the pushed portion 21. The pushed portion 21 is provided on the side of the swing arm 20 facing the swing gear 50, and the propulsion portion 55 is provided on the side of the swing gear 50 facing the pushed portion 21, so that the pushed portion 21 and the propulsion portion 55 can abut against each other when the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 is switched from the outward swing position to the inward retracted position.

[0236] like Figure 18 As shown, the swing gear 50 is provided with a passive swing limiter 54, and the swing arm 20 is provided with a passive swing abutment 29 that cooperates with the passive swing limiter 54. When the swing end 20b of the swing arm 20 is in the outward swing position or between the retracted position and the outward swing position, a passive swing distance is defined between the passive swing limiter 54 and the passive swing abutment 29. During the movement of the self-mobile cleaning device 1000, when the swing arm 20 or the cleaning assembly 28 is obstructed by an obstacle, the passive swing distance gradually decreases. When the swing arm 20 or the cleaning assembly 28 is disengaged from the obstacle, the passive swing distance gradually returns to the distance before the swing arm 20 or the cleaning assembly 28 was obstructed by the obstacle under the elastic action of the transmission member 60.

[0237] like Figure 18 As shown, the pushed portion 21 is located on the side wall of the swing arm 20 arranged axially along the first fixed axis 71, relative to Figure 9The arrangement position and structure of the pushed portion 21 shown in FIG. 1 are different. One side of the side wall in the circumferential direction of the swing gear 50 is configured as the pushed portion 21, and the other side is configured as the passive swing back abutment portion 29.

[0238] The side of the swing gear 50 facing away from the ground is provided with a convex wall structure arranged axially along the first fixed axis 71. The convex wall structure is configured as a propulsion part 55 on one side of the swing gear 50 and a passive swing limiter 54 on the other side.

[0239] It should be noted that, in the embodiment of the present application, the structure and principle of the second driving mechanism 40 are the same as those of Figures 1-14 Therefore, in the embodiment of the present application, the structure and principle of the second driving mechanism 40 will not be described in detail.

[0240] It should be noted that in Figures 15-18 In the embodiment shown in FIG, except for the different positional relationships among the mounting frame 10, the first drive mechanism 30, the second drive mechanism 40, the swing gear 50, the transmission member 60 and the swing arm 20, and the difference between the passive return swing abutment portion 29 and the passive return swing limit portion 54, the positional relationships and structural principles of other structures are the same as those of FIG. Figures 1-14 Therefore, except for the positional relationship among the mounting frame 10, the first driving mechanism 30, the second driving mechanism 40, the swing gear 50, the transmission member 60 and the swing arm 20, and the structure of the passive return swing abutment portion 29 and the passive return swing limit portion 54, the structure, principle and positional relationship of the embodiment of the present application can be referred to. Figures 1-14 The description of the embodiments in the examples will not be further explained in the examples of this application.

[0241] Figures 1-18 The embodiments shown in the figures are all embodiments in which the swing gear 50 is directly connected to the swing arm 20 through the transmission member 60, and the rotating end 20a of the swing arm 20 is connected to the first fixed shaft 71. Of course, in other embodiments, the rotating end 20a can also be set at other positions.

[0242] like Figure 19 As shown, a second fixed shaft 72 is fixedly connected to the mounting frame 10, and the rotating end 20a is connected to the second fixed shaft 72. The rotating end 20a can rotate relative to the second fixed shaft 72 so that the swinging end 20b can switch between the retracted position and the outward swing position around the second fixed shaft 72.

[0243] By providing a second fixed shaft 72 and securely connecting it to the mounting member, the stability of the second fixed shaft 72 is enhanced, thereby providing stable support for the swing arm 20 mounted thereon. The second fixed shaft 72 provides a stable rotational fulcrum for the pivoting end 20a of the swing arm 20, thereby maintaining stability throughout the entire system and reducing displacement or deviation caused by vibration or external forces. Furthermore, the provision of the second fixed shaft 72 allows the swing arm 20 to operate at various angles and positions, increasing the flexibility and adaptability of the cleaning module 100 and enabling it to better cope with diverse cleaning tasks and environments.

[0244] like Figure 19 As shown, a transmission gear set 73 is further provided between the rotating end 20a of the swing arm 20 and the swing gear 50. The transmission gear set 73 includes a first transmission gear 731 and a second transmission gear 732. The first transmission gear 731 is in transmission connection with the swing gear 50, and the transmission member 60 is disposed between the swing gear 50 and the first transmission gear 731. The first transmission gear 731 is in transmission connection with the second transmission gear 732, and the second transmission gear 732 is fixedly connected to the swing end 20b of the swing arm 20. This allows the swing gear 50 and the swing arm 20 to cooperate with each other through the transmission member 60 and the transmission gear set 73 to drive the swing end 20b of the swing arm 20 to switch between the retracted position and the described outward swing position.

[0245] For example, the second transmission gear 732 can be integrally formed with the rotating end 20a of the swing arm 20. The rotating end 20a of the swing arm 20 is sleeved on the outside of the second fixed shaft 72 and is rotationally connected to the second fixed shaft 72. When the swing end 20b of the swing arm 20 moves between the outward swing position and the inward retracted position, the rotating end 20a of the swing arm 20 rotates around the second fixed shaft 72.

[0246] By providing a transmission gear set 73 between the rotating end 20a of the swing arm 20 and the swing gear 50, that is, transmitting the driving force of the swing gear 50 to the rotating end 20a of the swing arm 20 through multiple transmission members 60, the transmission gear set 73 can be designed and manufactured as an independent module, thereby enhancing the design flexibility of the system. When the system parameters need to be adjusted, this can be achieved by replacing or adjusting the transmission gear set 73 to meet different application requirements. Through the coordinated action of multiple transmission members 60, the rotation angle of the swing arm 20 can be precisely controlled to ensure the consistency and accuracy of the operation. Multiple transmission members 60 can disperse the wear during the transmission process, avoid excessive wear of a single transmission member 60, and extend the service life of the system.

[0247] In the embodiment of the present application, the first transmission gear 731 and the swing gear 50 can be stacked, and the size of the outer teeth portion of the swing gear 50 is less than one circumference. For example, the size of the outer teeth portion of the swing gear 50 can cover about half of the circumference of the swing gear 50. This can reduce the production cost of the swing gear 50.

[0248] For example, both the first transmission gear 731 and the second transmission gear 732 are provided with external teeth, and the first transmission gear 731 is meshedly connected with the second transmission gear 732. The swing gear 50 is in transmission connection with the first transmission gear 731.

[0249] Exemplarily, a propulsion portion 55 is provided at one end of the swing gear 50, and a pushed portion 21 abutting against the propulsion portion 55 is provided on the first transmission gear 731. When the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 switches from an outward swing position to an inward retracted position, the propulsion portion 55 abuts against the pushed portion 21.

[0250] The swing gear 50 is provided with a passive swing limiter 54, and the first transmission gear 731 is provided with a passive swing abutment 29 that cooperates with the passive swing limiter 54. When the swing end 20b of the swing arm 20 is in the outward swing position or between the retracted position and the outward swing position, a passive swing distance is defined between the passive swing limiter 54 and the passive swing abutment 29. During movement of the self-mobile cleaning device 1000, when the swing arm 20 or the cleaning assembly 28 is obstructed by an obstacle, the passive swing distance gradually decreases. When the swing arm 20 or the cleaning assembly 28 is free from the obstacle, the passive swing distance gradually returns to the distance before the swing arm 20 or the cleaning assembly 28 was obstructed by the obstacle due to the elastic action of the transmission member 60.

[0251] For example, the outer teeth of the first transmission gear 731 are positioned opposite the outer teeth of the swing gear 50 so that they can cover different circumferential positions of the swing gear 50, thereby providing a transmission connection between the first transmission gear 731 and the second transmission gear 732. In this embodiment of the present application, the size ratio of the outer teeth of the swing gear 50 to the outer teeth of the first transmission gear 731 is not further limited.

[0252] Of course, in other embodiments, the first transmission gear 731 and the second transmission gear 732 can also be other transmission structures, such as conveyor belts, etc. In the embodiment of the present application, the structure of the first transmission gear 731 and the second transmission gear 732 is not further limited.

[0253] By configuring the first transmission gear 731 and the second transmission gear 732 to include a structure including external teeth, a transmission connection is achieved through a meshing connection. The external tooth meshing connection can achieve efficient force transmission, so that the loss is relatively small when power is transmitted from the first transmission gear 731 to the second transmission gear 732, thereby improving the overall transmission efficiency. Gear meshing transmission is mainly rolling friction, which reduces the energy loss caused by sliding friction and improves transmission efficiency. The gear meshing connection provides a stable mechanical connection, reduces the looseness and displacement that may occur during the transmission process, and ensures the stable operation of the system. The gear meshing transmission has high precision and can ensure the relative position between the swing gear 50, the first transmission gear 731 and the second transmission gear 732, thereby improving transmission accuracy.

[0254] like Figure 19 As shown, the mounting frame 10 is provided with a first limiting portion 11 and a fourth limiting portion 2713, the swing gear 50 is provided with a second blocking portion 51, the first transmission gear 731 includes a first blocking portion 52, and the first limiting portion 11 and the fourth limiting portion 2713 are located between the first blocking portion 52 and the second blocking portion 51.

[0255] like Figure 19 As shown, when the swing end 20b switches from the retracted position to the outward swing position, the second stopper 51 abuts against the first limiter 11. Figure 20 As shown, when the swing end 20 b switches from the outward swing position to the inward retracted position, the first blocking portion 52 abuts against the fourth limiting portion 2713 .

[0256] For example, the second stopper 51 can be located on a side of the propulsion portion 55 facing away from the pushed portion 21, and the second stopper 51 extends radially outwardly of the swing gear 50. When the swing end 20b switches from the retracted position to the outward swing position, the second stopper 51 abuts against the first limiter 11. By providing the second stopper 51 and the propulsion portion 55 as an integral part, the structure of the swing gear 50 can be simplified, thereby reducing costs.

[0257] Of course, in other embodiments, the second blocking portion 51 and the propulsion portion 55 may also be configured as a split structure. In the embodiment of the present application, the structures of the first limiting portion 11 and the propulsion portion 55 are not further limited.

[0258] like Figure 20 As shown, when the swing end 20 b switches from the outward swing position to the inward retracted position, the first blocking portion 52 abuts against the fourth limiting portion 2713 .

[0259] Such an arrangement can prevent the swing arm 20 and the swing gear 50 from being mechanically damaged due to excessive movement, thereby improving the safety and durability of the system.

[0260] Exemplarily, the first limiting portion 11 and the fourth limiting portion 2713 are both fixedly arranged on the mounting frame 10, and the first limiting portion 11 and the fourth limiting portion 2713 are spaced apart and can be formed on the same side wall of the mounting frame 10. In the embodiment of the present application, no further limitation is made to the structure of the first limiting portion 11 and the fourth limiting portion 2713.

[0261] By providing a first stop portion 52 on the first transmission gear 731 and abutting the fourth limit portion 2713 through the first stop portion 52, a clear limit position can be provided to ensure that the swing gear 50 is accurately positioned when the swing arm 20 is in the outward swing position, reduce position errors, and improve the positioning accuracy of the system. Each time the swing gear 50 drives the swing arm 20 to the outward swing position, it can stop precisely at the same position, ensuring consistency and repeatability of the operation. The first stop portion 52 can limit the maximum swing angle of the swing gear 50, prevent excessive swinging, and protect other components of the system from damage. The first stop portion 52 can reduce the wear of the swing gear 50 when it is in direct contact with the mounting frame 10, thereby extending the service life of the swing gear 50 and the mounting frame 10.

[0262] like Figure 21 As shown, the transmission assembly 90 may include a first gear 91 and a second gear 92. The first gear 91 and the second gear 92 are transmission connected. The first gear 91 and the second gear 92 are connected to the second fixed shaft 72 along the axial direction of the second fixed shaft 72, and the first gear 91 and the second gear 92 can rotate relative to the second fixed shaft 72 respectively.

[0263] By providing the transmission assembly 90 with a first gear 91 and a second gear 92, and by connecting the first gear 91 to the second drive mechanism 40, the gear transmission can achieve efficient force transmission, so that the power of the second drive mechanism 40 can be more efficiently transmitted to the cleaning assembly 28, thereby improving transmission efficiency. The gear transmission is mainly based on rolling friction, which reduces the energy loss caused by sliding friction and improves the overall efficiency of the system. By connecting the first gear 91 and the second gear 92 to the second fixed shaft 72 along the axial direction of the second fixed shaft 72, space can be effectively utilized, making the entire cleaning module 100 more compact and simplifying the overall structure.

[0264] It should be noted that, in the embodiment of the present application, the structure and principle of the second driving mechanism 40 are the same as those of Figures 1-14 Therefore, in the embodiment of the present application, the structure and principle of the second driving mechanism 40 will not be described in detail.

[0265] In the description of this 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", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this 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 cannot be understood as a limitation on this application.

[0266] In the description of this application, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products or apparatuses.

[0267] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," "fixed," etc. should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integration. They can be directly connected or indirectly connected through an intermediate medium. They can also refer to internal connections between two elements or interactions between two elements. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances. In addition, the terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated.

[0268] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning module, used in self-moving cleaning equipment, characterized in that: include: Clean components; Mounting rack; a first fixed shaft, fixedly connected to the mounting frame; a first drive mechanism comprising a first drive assembly and a swing gear, wherein the first drive assembly is mounted on the mounting frame and is used to drive the swing gear to rotate, and the swing gear is sleeved on the first fixed shaft and can rotate relative to the first fixed shaft; a swing arm having a rotating end and a swinging end, wherein the rotating end is connected to the mounting frame and can rotate relative to the mounting frame, and the swinging end is arranged away from the rotating end, and the swinging end has an inward-retracted position and an outward-swinged position; a transmission member disposed between the swing gear and the swing arm, the transmission member having a first end and a second end, the first end being connected to the swing gear, the second end being connected to the swing arm, the swing gear and the transmission member being linked to drive the swing end of the swing arm to switch between the retracted position and the outward swing position; The second driving mechanism includes a second driving component and a transmission component. The second driving component is installed on the mounting frame. The second driving component is used to drive the transmission component to move. The output end of the transmission component is arranged at the swing end of the swing arm, and the cleaning component is connected to the output end of the transmission component.

2. The cleaning module according to claim 1, characterized in that: The rotating end is connected to the first fixed shaft, and the rotating end can rotate relative to the first fixed shaft, so that the swinging end switches between the retracted position and the outward swing position around the first fixed shaft.

3. The cleaning module according to claim 1, wherein: A second fixed shaft is fixedly connected to the mounting frame, and the rotating end is connected to the second fixed shaft. The rotating end can rotate relative to the second fixed shaft so that the swinging end switches between the retracted position and the outward swing position around the second fixed shaft.

4. The cleaning module according to claim 2, characterized in that: The transmission assembly includes a first gear and a second gear. The first gear and the second gear are in transmission connection. The first gear and the second gear are connected to the first fixed shaft along the axial direction of the first fixed shaft, and the first gear and the second gear can rotate relative to the first fixed shaft respectively.

5. The cleaning module according to claim 3, characterized in that: The transmission assembly includes a first gear and a second gear. The first gear and the second gear are in transmission connection. The first gear and the second gear are connected to the second fixed shaft along the axial direction of the second fixed shaft, and the first gear and the second gear can rotate relative to the second fixed shaft respectively.

6. The cleaning module according to claim 4 or 5, characterized in that: The first gear has a first connecting portion, the second gear has a second connecting portion, the first connecting portion and the second connecting portion are located between the first gear and the second gear, and the first connecting portion and the second connecting portion are connected to each other so that the first gear and the second gear are in transmission connection.

7. The cleaning module according to claim 6, characterized in that: A plug-in portion is provided on one side of the first connection portion facing the second connection portion, and a matching portion is provided on one side of the second connection portion facing the first connection portion. The plug-in portion is plugged into and matched with the matching portion to achieve transmission connection between the first gear and the second gear structure.

8. The cleaning module according to claim 7, characterized in that: The plug-in portion includes at least one protruding structure, and the matching portion includes at least one groove structure matching with the protruding structure.

9. The cleaning module according to claim 8, characterized in that: There are multiple protrusion structures, and the multiple protrusion structures are distributed along the circumferential direction. There are multiple groove structures, and the multiple groove structures are distributed along the circumferential direction.

10. The cleaning module according to claim 7, wherein: The outer contour of the plug-in portion is a polygonal structure, and the mating portion is provided with an insertion groove on a side facing the plug-in portion. The insertion groove is a polygonal groove that is plugged and mated with the plug-in portion.

11. The cleaning module according to claim 9 or 10, characterized in that: When the plug-in portion is plugged into and mated with the mating portion, the outer side wall of the plug-in portion is in contact with the inner side wall of the mating portion.

12. The cleaning module according to claim 1, wherein: The transmission member is an elastic member, and is arranged between the swing gear and the swing arm in a pre-tightened state.

13. The cleaning module according to claim 12, wherein: The swing gear is provided with a propulsion part, and the swing arm is provided with a pushed part that cooperates with the propulsion part. When the swing arm is in a non-moving state, or when the swing end of the swing arm switches from the outward swing position to the inward retracted position, the propulsion part abuts against the pushed part.

14. The cleaning module according to claim 12, wherein: The swing gear is provided with a passive return swing limiter, and the swing arm is provided with a passive return swing abutment portion cooperating with the passive return swing limiter. When the swing end of the swing arm is in the outward swing position or between the retracted position and the outward swing position, a passive return swing spacing is provided between the passive return swing limiter and the passive return swing abutment portion. During the movement of the self-mobile cleaning device, when the swing arm or the cleaning component is obstructed by an obstacle, the passive swing distance gradually decreases; when the swing arm or the cleaning component is separated from the obstacle, the passive swing distance gradually recovers to the distance before the swing arm or the cleaning component was obstructed by the obstacle under the elastic action of the transmission member.

15. The cleaning module according to claim 12, wherein: A first accommodating groove is provided on a side of the swing arm facing the swing gear, and at least a portion of the transmission member is accommodated in the first accommodating groove.

16. The cleaning module according to claim 12, wherein: A second accommodating groove is provided on a side of the swing gear facing the swing arm, and at least a portion of the transmission member is accommodated in the second accommodating groove.

17. The cleaning module according to claim 12, wherein: The mounting frame is provided with a first limiting portion, the swing gear is provided with a first blocking portion and a second blocking portion, and the first limiting portion is located between the first blocking portion and the second blocking portion; When the swing end switches from the retracted position to the outward swing position, the first blocking portion abuts against the first limiting portion; when the swing end switches from the outward swing position to the retracted position, the second blocking portion abuts against the first limiting portion.

18. The cleaning module according to claim 1, wherein: The swing gear is provided with a first matching hole, and the first end of the transmission member passes through the first matching hole. The swing arm is provided with a second matching hole, and the second end of the transmission member passes through the second matching hole.

19. The cleaning module according to claim 1, wherein: The cleaning module also includes a cover plate, at least part of the structure of the mounting frame is surrounded by the outside of the swing gear, the cover plate is arranged on the side of the swing gear away from the swing arm, the cover plate is fixedly connected to the mounting frame, and the swing gear is located in the space between the cover plate and the swing arm.

20. The cleaning module according to claim 19, wherein: A side of the cover plate facing the swing gear is provided with an avoidance groove adapted to the moving track of the first end of the transmission member.

21. The cleaning module according to claim 19, wherein: A second limiting portion is provided on a side of the cover plate facing the swing gear, and a third blocking portion is provided on a side of the swing gear facing the cover plate; When the swing end switches from the retracted position to the outward swing position, the third blocking portion abuts against the second limiting portion; in the process of the swing end switching from the outward swing position to the retracted position, the third blocking portion gradually moves away from the second limiting portion.

22. The cleaning module according to claim 1, wherein: The swing arm includes an outer mounting frame, and a projection of the outer mounting frame in the height direction and a projection of the mounting frame in the height direction at least partially overlap.

23. The cleaning module according to claim 1, wherein: The first driving assembly includes a first driving motor and a first driving gear. The first driving motor is mounted on the mounting frame. The first driving gear is fixed on the driving end of the first driving motor. The first driving gear is engaged with the swing gear.

24. The cleaning module according to claim 4 or 5, characterized in that: The second drive assembly includes a second drive motor and a second driving gear. The second drive motor is mounted on the mounting frame. The second driving gear is fixed on the driving end of the second drive motor. The second driving gear is engaged with the first gear or the second gear.

25. The cleaning module according to claim 24, characterized in that: The transmission assembly further includes a transmission gear train, which is engaged with the second gear when the second driving gear is engaged with the first gear; and is engaged with the first gear when the second driving gear is engaged with the second gear.

26. A self-propelled cleaning device, characterized in that: The device comprises a main body, wherein the main body comprises the cleaning module according to any one of claims 1 to 25.

27. The self-moving cleaning device according to claim 26, characterized in that When the swing end of the swing arm is in the retracted position, at least a portion of the edge of the cleaning assembly is located outside the edge of the device body; When the driving end of the swing arm is in the outward swing position, at least part of the edge of the cleaning component is flush with or protrudes from the first width area of ​​the device body, and the first width area is the maximum width area of ​​the self-moving cleaning device perpendicular to the forward direction.

Images