Side sweeping swing arm device and sweeping robot

Abstract

The utility model provides a side sweeping swing arm device and a sweeping robot, which relates to the technical field of sweeping robots and comprises a swing arm component, an elastic piece and an angle control component. One end of the swing arm assembly is rotatably arranged on a chassis of the cleaning equipment, and the other end is provided with a cleaning head; the other end of the elastic piece is connected with a chassis of the cleaning equipment; the angle control assembly comprises a driving piece and a limiting piece in transmission connection with the driving piece. The driving piece drives the limiting piece to act or loosen the swing arm assembly, so that the swing arm assembly can be switched between the state that the elastic piece is in the elastic deformation state, the swing arm assembly is kept at the retracting position and the state that the elastic piece is in the reset state, and the swing arm assembly is located at the extending limit position. Therefore, the cleaning device has the advantages of being adjustable in cleaning range and good in cleaning effect.

Description

Technical Field

[0001] The utility model relates to the technical field of sweeping robots, in particular to a side-sweeping swing arm device and a sweeping robot. Background Art

[0002] With the development of technology, sweeping robots are becoming increasingly popular in households. Typically, a sweeping robot consists of a sweeping robot body, a rotating roller brush mounted on the chassis of the sweeping robot body, and a side-sweeping swing arm mechanism. The roller brush and side-sweeping swing arm mechanism effectively clean the floor.

[0003] However, in the prior art, due to the limitations of the sweeping machine's shape, it is often impossible to clean at corners, resulting in blind spots in cleaning, causing poor cleaning effects and affecting the user experience.

[0004] Therefore, a side-sweeping swing arm device and a sweeping robot with an adjustable cleaning range and good cleaning effect need to be designed. Utility Model Content

[0005] The purpose of the present invention is to provide a side sweeping swing arm device and a sweeping robot to address the defects and shortcomings of the existing technology, and to solve at least one of the above technical problems. The device has the advantages of adjustable cleaning range and good cleaning effect.

[0006] To achieve the above objectives, the present invention provides a side sweeping swing arm device, comprising:

[0007] A swing arm assembly, one end of which is rotatably disposed on the chassis of the cleaning device and the other end of which is provided with a cleaning head;

[0008] an elastic member, one end of which is connected to the swing arm assembly and the other end of which is connected to the chassis of the cleaning equipment;

[0009] An angle control assembly, comprising a driving member and a limiting member in transmission connection with the driving member;

[0010] The driving member drives the limiting member to act or release the swing arm assembly, so that the swing arm assembly can switch between the retracted position when the elastic member is in the elastic deformation state and the extended limit position when the elastic member is in the reset state.

[0011] Optionally, one end of the swing arm assembly has a first rotating shaft, and its outer periphery has an arc-shaped groove concentrically arranged with the first rotating shaft; the driving member is a first driving motor, and the limiting member is a rotation angle limiting member connected to the first driving motor through a worm; the worm and the first driving motor are arranged on one side of the swing arm assembly; one end of the rotation angle limiting member is rotatably connected to the first rotating shaft, and the other end has a swing arm limiting column that cooperates with the arc-shaped groove, and has an arc-shaped circumferential wall that meshes with the worm.

[0012] Optionally, the rotation angle limiter includes a connecting portion cooperating with the first rotating shaft, an engaging portion having an arc-shaped peripheral wall, and a fan-shaped extension portion connecting the connecting portion and the engaging portion; the swing arm limit column is arranged at one end of the extension portion away from the connecting portion.

[0013] Optionally, the side sweeping swing arm device further includes an upper shell and a lower shell, wherein the upper shell and the lower shell cover the interior to form an assembly cavity; the swing arm assembly is rotatably configured in the assembly cavity; and the first drive motor is fixedly mounted on one side of the upper shell.

[0014] Optionally, the upper shell or the lower shell is configured with a first blocking member that limits the rotation angle limit member from exceeding a first limit angle position when the swing arm assembly reaches the retracted limit position; and / or a second blocking member that limits the rotation angle limit member from exceeding a second limit angle position when the swing arm assembly reaches the extended limit position.

[0015] Optionally, the first blocking member is an elastic blocking block arranged in the lower shell.

[0016] Optionally, the outer wall of the lower shell is located on one side of the first rotating shaft and has a stud, a retaining rib, and an arc-shaped hole concentrically arranged with the stud; the second blocking member is a torsion spring sleeved on the stud, one end of the torsion spring abuts the retaining rib, and the other end passes through the arc-shaped hole, so as to abut and block the rotation angle limit member when the swing arm assembly exceeds the extension limit position.

[0017] Optionally, the elastic member is a tension spring, and when the tension spring is in a pulled state, the corresponding swing arm assembly is in a retracted position, and when the tension spring is in a reset state, the corresponding swing arm assembly is in an extended position; or, the elastic member is a compression spring, and when the compression spring is in a compressed state, the corresponding swing arm assembly is in a retracted position, and when the compression spring is in a reset state, the corresponding swing arm assembly is in an extended position.

[0018] Optionally, the swing arm assembly further includes a swing arm housing, a gear set disposed in the swing arm housing and connected to the output shaft of the second drive motor; the cleaning head is in transmission connection with the gear set.

[0019] On the other hand, the present invention provides a sweeping robot, comprising a robot body, wherein the chassis of the robot body is provided with the side sweeping swing arm device as described above.

[0020] Compared with the prior art, the advantages of this application are:

[0021] Because the swing arm assembly of the side-sweeping swing arm device can rotate and limit the swing arm assembly under the cooperation of the elastic member and the angle control member, when the swing arm assembly is maintained in the retracted position, the elastic member is in an elastically deformed state, and when the swing arm assembly is in the extended limit position, the elastic member is in a reset state; thereby achieving the extension or retraction of the swing arm assembly. In this way, when cleaning blind spots such as corners, the swing arm assembly of the sweeping swing arm device can be extended to increase the cleaning area and achieve cleaning of blind spots in corners; and when cleaning non-corner areas, the swing arm assembly of the sweeping swing arm device can be retracted for cleaning to reduce the size of the sweeping robot. This gives the side-sweeping swing arm device the advantages of an adjustable cleaning range and good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0023] Figure 1 This is a bottom view of the assembly of the side sweeping swing arm device and the chassis according to an embodiment of the utility model, wherein the side sweeping swing arm device is in the retracted position;

[0024] Figure 2 This is a top view of the assembly of the side sweeping swing arm device and the chassis according to an embodiment of the utility model, wherein the side sweeping swing arm device is in the retracted position;

[0025] Figure 3 for Figure 2 A partial enlarged view of point A in the middle;

[0026] Figure 4 This is a bottom view of the assembly of the side-sweeping swing arm device and the chassis according to an embodiment of the utility model, wherein the side-sweeping swing arm device is in the extended extreme position;

[0027] Figure 5 This is a top view of the assembly of the side-sweeping swing arm device and the chassis according to an embodiment of the utility model, wherein the side-sweeping swing arm device is in the extended limit position;

[0028] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0029] Figure 7 This is a schematic structural diagram of a side sweeping swing arm device according to an embodiment of the present utility model;

[0030] Figure 8 This is a partial structural exploded diagram of the side sweeping swing arm device according to an embodiment of the present utility model;

[0031] Figure 9 This is a partial structural exploded diagram of the side sweeping swing arm device according to an embodiment of the present invention, wherein the rotation angle limiter is at the first extreme angle position;

[0032] Figure 10 This is a partial structural exploded diagram of the side sweeping swing arm device according to an embodiment of the present invention, wherein the rotation angle limiter is at the first extreme angle position;

[0033] Figure 11 This is a partial structural exploded diagram of the side sweeping swing arm device from another perspective of an embodiment of the utility model, wherein the rotation angle limiter is at the first extreme angle position;

[0034] Figure 12 This is a partial structural exploded diagram of the side sweeping swing arm device according to an embodiment of the present invention, wherein the rotation angle limiter is at the second extreme angle position;

[0035] Figure 13 This is a partial structural exploded schematic diagram of the swing arm assembly according to an embodiment of the present invention.

[0036] Description of Reference Numerals

[0037] 100-side sweeping swing arm device;

[0038] 1-swing arm assembly; 11-swing arm housing; 111-first rotating shaft; 12-second drive motor; 13-gear set; a-arc groove; 14-cleaning head; 141-rotating shaft; 142-side brush holder; 143-side brush arm;

[0039] 2-tension spring;

[0040] 3-angle control assembly; 31-first drive motor; 32-worm; 33-rotation angle limiter; 331-connecting portion; o1-shaft hole; 332-extension portion; 333-engaging portion; 334-swing arm limiter; 335-arc-shaped peripheral wall;

[0041] 41-upper shell; 42-lower shell; c-assembly slot; 421-stud; 422-retaining rib; o2-arc hole;

[0042] 5-Elastic blocking block;

[0043] 6-torsion spring;

[0044] 7-screws;

[0045] 8-Hanging column;

[0046] 200-Chassis. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only 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.

[0048] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "top," "bottom," "inner," "outer," "back," "side," and "circumferential" used in the present invention to indicate positions or positional relationships are based on the positions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific position, be constructed, or operate in a specific position. Therefore, they should not be construed as limiting the present invention. In addition, terms such as first and second are used only to distinguish multiple components or structures having the same or similar structures and do not represent any special limitation on the arrangement order or connection relationship.

[0049] Example 1

[0050] Please refer to Figures 1 to 13 The present invention provides a side-sweeping swing arm device 100 for assembly onto a chassis 200 of a robot vacuum cleaner (not shown) to remove dust, debris, and other debris from the floor. The side-sweeping swing arm device 100 includes a swing arm assembly 1, an elastic member, and an angle control assembly 3.

[0051] One end of the swing arm assembly 1 is rotatably mounted on the chassis 200 of the cleaning device, and the other end is equipped with a cleaning head 14. The cleaning head 14 generally includes a rotating shaft 141, a side brush holder 142 fixedly connected to the rotating shaft 141, and a side brush arm 143 located around the side brush holder 142. The rotation of the rotating shaft 141 drives the side brush arm 143 to rotate, thereby cleaning the cleaning area.

[0052] One end of the elastic member is connected to the swing arm assembly 1, and the other end is connected to the chassis 200 of the cleaning device; specifically, one end of the elastic member is hung on the swing arm assembly 1, and the other end is hung on the chassis 200 of the cleaning device.

[0053] The angle control assembly 3 includes a driving member and a limiting member, which is connected to the driving member in a transmission manner; it is used to control the rotation of the swing arm assembly 1 and limit the swing arm assembly 1 with the cooperation of the elastic member, so as to realize the extension or retraction of the swing arm assembly 1.

[0054] The driving member drives the limiting member to act or release the swing arm assembly 1, so that the swing arm assembly 1 can switch between the retracted position when the elastic member is in the elastic deformation state and the extended limit position when the elastic member is in the reset state.

[0055] It can be understood that when the elastic part is in the elastic deformation state, the driving part of the angle control assembly 3 overcomes the force of the elastic part on the swing arm assembly 1 through the force of the limit part on the swing arm assembly 1, so that it remains in the retracted position; when the elastic part is in the reset state, the angle control assembly 3 only plays a limiting role on the swing arm assembly 1; and in the process of the swing arm assembly 1 being swung out or retracted, the angle control assembly 3 gradually adjusts the limiting position and force of the swing arm assembly 1, thereby releasing or pushing the swing arm assembly 1 to rotate relative to the chassis 200.

[0056] Since the swing arm assembly 1 of the side-sweeping swing arm device 100 can rotate and limit the swing arm assembly 1 under the cooperation of the elastic member and the angle control member 3, when the swing arm assembly 1 is kept in the retracted position, the elastic member is in an elastic deformation state, and when the swing arm assembly 1 is in the extended limit position, the elastic member is in a reset state; thereby, the swing arm assembly 1 can be extended or retracted. In this way, when cleaning blind spots such as corners, the swing arm assembly 1 of the sweeping swing arm device can be extended to increase the cleaning area and realize the cleaning of blind spots such as corners; and when cleaning non-corner areas, the swing arm assembly 1 of the sweeping swing arm device can be retracted for cleaning to reduce the size of the sweeping robot. In this way, the side-sweeping swing arm device 100 has the advantages of adjustable cleaning range and good cleaning effect.

[0057] In order to achieve the angle adjustment of the swing arm assembly 1 and to have an anti-collision buffering effect when the swing arm assembly 1 is in the extended state, optionally, please refer to Figures 8 to 12 In this embodiment, the swing arm assembly 1 has a first rotating shaft 111 at one end, and an arcuate groove a is formed on the outer periphery of the swing arm assembly 1, which is concentric with the first rotating shaft 111. The driving member is a first driving motor 31. The limiting member is a rotation angle limiting member 33 connected to the first driving motor 31 via a worm 32. The first driving motor 31 and the worm 32 are both disposed on one side of the swing arm assembly 1; the worm 32 is in driving connection with the first driving motor 31. The rotation angle limiting member 33 has one end rotationally connected to the first rotating shaft 111, and the other end has a swing arm limiting column 334 that cooperates with the arcuate groove a, and an arcuate peripheral wall 335 that meshes with the worm 32 for transmission.

[0058] In this way, the first drive motor 31 drives the rotation angle limiter 33 to rotate via the worm 32. The rotation angle limiter 33, through the cooperation between the swing arm limiter post 334 and the arc-shaped slot a of the swing arm assembly 1, limits the swing arm assembly 1 and adjusts the magnitude of the applied force, thereby overcoming the force applied by the elastic member on the swing arm assembly 1 or eliminating the applied force on the swing arm assembly 1. This allows the swing arm assembly 1 to be extended or retracted.

[0059] In this embodiment, the extension and retraction principle and movement process of the swing arm assembly 1 are roughly as follows:

[0060] When the swing arm assembly 1 is maintained at the retracted limit position, the elastic member is in an elastically deformed state, and the rotation angle limit member 33 is maintained at the first limit angle position under the action of the first drive motor 31 and the worm 32. At this time, the swing arm limit column 334 of the rotation angle limit member 33 provides a reaction force on the wall of the arc groove a to overcome the elastic member's reaction force on the swing arm assembly 1, so that it is maintained at the retracted limit position. When the swing arm assembly 1 needs to be extended, the first drive motor 31 rotates forward, driving the rotation angle limit member 33 to rotate clockwise. Since the swing arm limit column 334 of the rotation angle limit member 33 releases the force on the wall of the arc groove a, the elastic member releases its elastic potential energy, pushing the swing arm assembly 1 to rotate clockwise and thus extend. When reaching the second limit angle position, the first drive motor 31 stops moving, thereby causing the rotation angle limit member 33 to remain at the second limit angle position. At this time, the elastic member is in a reset state. When the swing arm assembly 1 is in the extended limit position, if it is hit by an external force, due to the presence of the arc-shaped groove a, the swing arm assembly 1 can rotate counterclockwise a certain distance. At this time, the swing arm assembly 1 causes the elastic member to elastically deform. When the external force is released, the elastic member recovers and the swing arm assembly 1 is extended. In the process of the swing arm assembly 1 moving from the extended limit position to the retracted limit position, the first drive motor 31 rotates in the opposite direction, thereby driving the rotation angle limit member 33 to rotate counterclockwise. The swing arm limit column 334 of the rotation angle limit member 33 provides the groove wall of the arc-shaped groove a with a force to overcome the reaction force of the elastic member on the swing arm assembly 1, thereby driving the swing arm assembly 1 to rotate counterclockwise, thereby retracting the swing arm assembly 1. The first extreme angular position of the above-mentioned rotation angle limit member 33 corresponds to the swing arm assembly 1 being in the retracted limit position, and the second extreme angular position corresponds to the swing arm assembly 1 being in the extended limit position. It can be understood that the above-mentioned forward rotation, reverse rotation, clockwise rotation, and counterclockwise rotation are only explanations with reference to the accompanying drawings for the convenience of public understanding, and are not limitations of the present technical solution.

[0061] Alternatively, see Figure 10 and Figure 11In this embodiment, the rotation angle limiter 33 comprises a connecting portion 331, an extension portion 332, and an engaging portion 333. The connecting portion 331 has an axial hole o1 that engages with the first rotating shaft 111. The engaging portion 333 has an arcuate peripheral wall 335. The extension portion 332 connects the connecting portion 331 and the engaging portion 333 and is fan-shaped. A swing arm limiter 334 is disposed at the end of the extension portion 332 away from the connecting portion 331.

[0062] Alternatively, see Figure 8 In this embodiment, the side sweeping swing arm device 100 further includes an upper shell 41 and a lower shell 42; the upper shell 41 and the lower shell 42 cover the interior to form an assembly cavity (not shown in the figure). Specifically, the upper shell 41 and the lower shell 42 can be fixed by screws 7. The swing arm assembly 1 is rotatably configured in the assembly cavity. The first drive motor 31 is fixed on one side of the upper shell 41. In this way, the sweeping swing arm device is fixed on the chassis 200 of the cleaning equipment through the upper shell 41 and the lower shell 42. The swing arm assembly 1 is rotationally connected to the chassis 200 of the cleaning equipment by being rotationally connected to the assembly cavity.

[0063] In order to prevent the swing arm assembly 1 from continuing to rotate when it reaches the retracted limit position and / or the extended limit position, thereby separating from the worm 32 or damaging the swing arm assembly 1. Figure 8 、 Figure 9 and Figure 12 In this embodiment, the upper shell 41 or the lower shell 42 is configured with a first stopper that limits the rotation angle limiter 33 from exceeding a first limit angular position when the corresponding swing arm assembly 1 reaches the retracted limit position; and / or a second stopper that limits the rotation angle limiter 33 from exceeding a second limit angular position when the corresponding swing arm assembly 1 reaches the extended limit position. Furthermore, the first drive motor 31 of the side-sweeping swing arm device 100 is also electrically connected to a controller (not shown). When the rotation angle limiter 33 encounters the first stopper and / or the second stopper, the controller controls the first drive motor 31 to stop.

[0064] Alternatively, referring to FIG. 9 , in this embodiment, the first blocking member is an elastic blocking block 5 disposed in the lower shell 42 . Specifically, the elastic blocking block 5 is inserted and fixed in the assembly groove c in the lower shell 42 .

[0065] Alternatively, see Figure 8 and Figure 12In this embodiment, the outer wall of the lower shell 42 is located on one side of the first rotating shaft 111 and has a stud 421, a retaining rib 422, and an arc-shaped hole o2 arranged concentrically with the stud 421. The second blocking member is a torsion spring 6 that is sleeved on the stud 421. One end of the torsion spring 6 abuts the retaining rib 422, and the other end passes through the arc-shaped hole o2, so as to abut and block the rotation angle limiter 33 when the swing arm assembly 1 exceeds the extended limit position. In this way, when the rotation angle limiter 33 hits one end of the torsion spring 6, the torsion spring 6 can buffer a certain angle along the arc-shaped hole o2, thereby avoiding rigidly blocking the rotation angle limiter 33 and damaging the rotation angle limiter 33, the first drive motor 31 or the worm 32.

[0066] Alternatively, see Figure 3 and Figure 6 In this embodiment, the elastic member is a tension spring 2, one end of which is attached to the hanging post 8 of the swing arm assembly 1, and the other end is attached to the hanging post 8 of the chassis 200 of the cleaning device. When the tension spring 2 is in the extended state, the corresponding swing arm assembly 1 is in the retracted position; when the tension spring 2 is in the reset state, the corresponding swing arm assembly 1 is in the extended position. Specifically, if the distance between the hanging post 8 of the chassis 200 and the center of the cleaning device is greater than the distance between the hanging post 8 of the swing arm assembly 1 and the center of the cleaning device, the tension spring 2 can be in the extended position when the tension spring 2 is in the extended state, and the swing arm assembly 1 can be in the retracted position when the tension spring 2 is in the reset state.

[0067] In order to realize the rotation of the cleaning head 14 of the swing arm assembly 1. Figure 13 In this embodiment, the swing arm assembly 1 further includes a swing arm housing 11, a second drive motor 12, and a gear set 13. The second drive motor 12 and the gear set 13 are both disposed within the swing arm housing 11. The gear set 13 is connected to the output shaft of the second drive motor 12 and is in transmission connection with the cleaning head 14.

[0068] Example 2

[0069] This embodiment is essentially the same as the first embodiment, differing only in the type of elastic member. Specifically, the elastic member is a compression spring (not shown). When the compression spring is in a compressed state, the corresponding swing arm assembly 1 is in a retracted position. When the compression spring is in a reset state, the corresponding swing arm assembly 1 is in an extended position. At this point, the connection positions of the two ends of the compression spring also need to be adjusted accordingly. That is, the distance between the position of the hanging column 8 of the chassis 200 and the center of the cleaning device is set to be smaller than the distance between the position of the hanging column 8 of the swing arm assembly 1 and the center of the cleaning device. This ensures that when the tension spring 2 is in a compressed state, the corresponding swing arm assembly 1 is in a retracted position, and when the compression spring is in a reset state, the corresponding swing arm assembly 1 is in an extended position.

[0070] Another aspect of the present invention provides a sweeping robot (not shown), comprising a robot body, the chassis 200 of which is equipped with the aforementioned side-sweeping swing arm device 100. Since the sweeping robot has all the structures and connections of the side-sweeping swing arm device 100, it has all the advantages of the side-sweeping swing arm device 100, which will not be described in detail here.

[0071] 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A side sweeping swing arm device, characterized in that: include: A swing arm assembly (1) is rotatably mounted on a chassis (200) of a cleaning device at one end and is provided with a cleaning head (14) at the other end; An elastic member, one end of which is connected to the swing arm assembly (1) and the other end of which is connected to the chassis (200) of the cleaning equipment; An angle control assembly (3) comprising a driving member and a limiting member in transmission connection with the driving member; The driving member drives the limiting member to act on or release the swing arm assembly (1), so that the swing arm assembly (1) can switch between the position where the swing arm assembly (1) remains in the retracted position when the elastic member is in the elastic deformation state and the position where the swing arm assembly (1) is in the extended limit position when the elastic member is in the reset state.

2. The side sweeping swing arm device according to claim 1, characterized in that: One end of the swing arm assembly (1) has a first rotating shaft (111), and the outer periphery of the swing arm assembly (1) has an arc groove (a) arranged concentrically with the first rotating shaft (111); the driving member is a first driving motor (31), and the limiting member is a rotation angle limiting member (33) connected to the first driving motor (31) through a worm (32); the worm (32) and the first driving motor (31) are arranged on one side of the swing arm assembly (1); one end of the rotation angle limiting member (33) is rotatably connected to the first rotating shaft (111), and the other end has a swing arm limiting column (334) matched with the arc groove (a), and has an arc circumferential wall (335) meshing with the worm (32) for transmission.

3. The side sweeping swing arm device according to claim 2, characterized in that: The rotation angle limiting member (33) includes a connecting portion (331) matched with the first rotating shaft (111), an engaging portion (333) having the arc-shaped peripheral wall (335), and a fan-shaped extending portion (332) connecting the connecting portion (331) and the engaging portion (333); the swing arm limiting column (334) is arranged at one end of the extending portion (332) away from the connecting portion (331).

4. The side sweeping swing arm device according to claim 2, characterized in that: It also includes an upper shell (41) and a lower shell (42), wherein the upper shell (41) and the lower shell (42) cover the interior to form an assembly cavity; the swing arm assembly (1) is rotatably arranged in the assembly cavity; and the first drive motor (31) is fixedly arranged on one side of the upper shell (41).

5. The side sweeping swing arm device according to claim 4, characterized in that: The upper shell (41) or the lower shell (42) is provided with a first blocking member for limiting the rotation angle limiting member (33) from exceeding a first limit angle position when the swing arm assembly (1) reaches a retracted limit position; and / or a second blocking member for limiting the rotation angle limiting member (33) from exceeding a second limit angle position when the swing arm assembly (1) reaches an extended limit position.

6. The side sweeping swing arm device according to claim 5, characterized in that: The first blocking member is an elastic blocking block (5) disposed in the lower shell (42).

7. The side sweeping swing arm device according to claim 5, characterized in that: The outer wall of the lower shell (42) is located on one side of the first rotating shaft (111) and has a stud (421), a retaining rib (422), and an arc-shaped hole (o2) arranged concentrically with the stud (421); the second blocking member is a torsion spring (6) sleeved on the stud (421), one end of the torsion spring (6) abuts against the retaining rib (422), and the other end passes through the arc-shaped hole (o2), so as to abut and block the rotation angle limit member (33) when the swing arm assembly (1) exceeds the extension limit position.

8. The side sweeping swing arm device according to claim 1, characterized in that: The elastic member is a tension spring (2), and when the tension spring (2) is in a pulled-up state, the corresponding swing arm assembly (1) is in a retracted position; when the tension spring (2) is in a reset state, the corresponding swing arm assembly (1) is in an extended position; or, the elastic member is a compression spring, and when the compression spring is in a compressed state, the corresponding swing arm assembly (1) is in a retracted position; when the compression spring is in a reset state, the corresponding swing arm assembly (1) is in an extended position.

9. The side sweeping swing arm device according to claim 1, characterized in that: The swing arm assembly (1) further comprises a swing arm housing (11), a second drive motor (12) disposed in the swing arm housing (11), and a gear set (13) disposed in the swing arm housing (11) and connected to an output shaft of the second drive motor (12); the cleaning head (14) is in transmission connection with the gear set (13).

10. A sweeping robot, characterized in that: The invention comprises a robot body, wherein a chassis (200) of the robot body is provided with a side sweeping swing arm device as claimed in any one of claims 1 to 9.

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