Cleaning mechanism, cleaning equipment, cleaning base station and cleaning system

Abstract

The utility model provides a cleaning mechanism, cleaning equipment, a cleaning base station and a cleaning system. The cleaning mechanism comprises an adjustable cleaning assembly and a driving assembly. The adjustable cleaning assembly comprises a first cleaning piece module and a first rotation driving piece for driving the first cleaning piece module to rotate around the rotation axis of the first cleaning piece module. The driving assembly comprises a power mechanism, a first output assembly and a second output assembly. The driving assembly has a first working state and a second working state. In the first working state, the first cleaning piece module can move between a first position and a second position along the rotating axis of the first cleaning piece module under the action of power transmitted by the first output assembly. And in the second working state, the first cleaning piece module can move between the external expansion position and the retracting position under the action of the power transmitted by the second output assembly. In this way, cleaning can be achieved through rotation of the cleaning piece module, and lifting and external expansion of the cleaning piece module are achieved through the driving mechanism.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning equipment, and in particular to a cleaning mechanism, cleaning equipment, a cleaning base station and a cleaning system. Background Art

[0002] With technological advancements, mobile cleaning devices are becoming increasingly common in our daily lives. However, due to limitations in edge sensor accuracy and collision avoidance, these devices typically maintain a certain distance from the wall edge during movement. This can prevent areas close to the wall from being cleaned, potentially requiring a secondary cleaning operation, resulting in a poor user experience.

[0003] Some cleaning devices feature a mopping mechanism that's movable relative to the main body. Specifically, the mopping mechanism can be moved relative to the main body to an area closer to the wall for better cleaning. A lifting member is connected to the mopping mechanism, allowing it to move up and down relative to the main body. When cleaning is required, the mopping mechanism lowers and engages the surface. When cleaning is no longer necessary, the lifting member raises the mopping mechanism, clearing it.

[0004] However, the lifting member and the mop assembly of the mopping mechanism usually share a driving member. When the driving member rotates in a first rotational direction, the mop assembly rotates and works, and when the driving member rotates in a second rotational direction, the lifting member works. As a result, the mop assembly can only rotate in the first rotational direction during use, which affects the ability of the mop to get out of entanglement or obstruction. Utility Model Content

[0005] In order to at least partially solve the problems existing in the prior art, according to the first aspect of the present disclosure, a cleaning mechanism is provided, which is applied to a cleaning device, the cleaning device comprising a housing, a cleaning mechanism arranged below the housing, the cleaning mechanism being used to clean the surface to be cleaned when the cleaning device performs a cleaning task, and the cleaning mechanism comprising an adjustable cleaning assembly and a drive assembly. The adjustable cleaning assembly comprises a first cleaning member module and a first rotating drive member that drives the first cleaning member module to rotate around its own rotation axis, the first cleaning member module comprising a first body, and a first cleaning member arranged at the lower portion of the first body. The drive assembly comprises a power mechanism, a first output assembly and a second output assembly, the power mechanism being mechanically coupled to the first output assembly and the second output assembly respectively, and the drive assembly having a first working state and a second working state. In the first working state, the power of the power mechanism is transmitted to the first cleaning member module via the first output assembly, and the first cleaning member module is movable between a first position and a second position along the rotation axis of the first cleaning member module itself under the action of the power transmitted by the first output assembly. In the second working state, the power of the power mechanism is transmitted to the first cleaning member module via the second output component. The first cleaning member module can move between the expanded position and the retracted position under the action of the power transmitted by the second output component. When the first cleaning member module is in the expanded position, the first cleaning member cleans at the expanded position to clean the blind spots that the first cleaning member cannot reach at the retracted position.

[0006] The cleaning mechanism provided by the present disclosure, by providing a drive assembly, enables the cleaning component module to move between a first position and a second position, as well as between an outward-expanding position and a retracted position, thereby achieving the lifting, lowering, outward-expanding, and retracting of the cleaning component module. When it is necessary to clean the surface to be cleaned, by lowering the cleaning component module, the cleaning component module can be brought into contact with the surface to be cleaned and rotated for cleaning. At this time, the cleaning mechanism can be in a normal cleaning state for the surface to be cleaned. When the cleaning device faces an obstacle such as a threshold and needs to overcome it, the obstacle can be overcome by lifting the cleaning component module. Alternatively, when the cleaning device faces a carpet, the cleaning component module can be lifted so that the corresponding cleaning component does not contact the carpet, thereby avoiding contamination of the carpet. When the cleaning mechanism is located near obstacles that need to be moved along the edge, such as the edge of a wall, a cardboard box, or a table leg, or near difficult-to-clean areas such as narrow gaps, the cleaning mechanism can cause the cleaning module to expand outward (i.e., the cleaning module moves outward toward the side of the cleaning device), thereby allowing the cleaning module to be closer to these difficult-to-clean areas to clean the difficult-to-clean areas, thereby increasing the total cleaning coverage area and improving the cleaning effect. In other words, the configuration of the drive assembly can better ensure that the cleaning module of the cleaning mechanism switches between the expanded state, the retracted state, the raised state, and the lowered state, and improve the cleaning effect of the cleaning module of the cleaning mechanism in areas near obstacles that need to be moved along the edge.

[0007] Cleaning is achieved by rotating the cleaning member module itself through a rotating drive member, and the lifting, lowering, expansion, and retraction of the cleaning member module are achieved by adjusting the drive assembly. In other words, the rotation of the cleaning member module itself and its lifting, expansion, or retraction are achieved by different drive devices, and the two are independent of each other. In this way, since there is no need to use the forward and reverse rotation of a drive device to switch the cleaning member module between the normal cleaning state and the raised state, the cleaning member module can be operated forward and reverse when the cleaning device is in the normal cleaning state, reducing the entanglement of the cleaning member module with external dirt (such as hair, wires, etc.) and improving the cleaning device's ability to escape. Moreover, during normal cleaning, the first cleaning member of the cleaning member module can maintain contact with the surface to be cleaned and can also rotate forward and reverse to clean stubborn stains. Even when the cleaning member corresponding to the cleaning member module is a mop, the cleaning device returns to the cleaning base station to clean the mop, and the mop can be reversed while maintaining contact with the cleaning ribs in the base station to achieve forward and reverse washing of the mop, thereby improving the cleaning effect of the mop.

[0008] Illustratively, the trajectory of the first cleaning member module moving between the extended position and the retracted position is a curve or a straight line in the same plane.

[0009] Exemplarily, the trajectory of the first cleaning member module moving between the extended position and the retracted position is a curve in the same plane. When the driving assembly of the first cleaning member module is in the second working state, the first cleaning member module swings around an axis parallel to the rotation axis of the first cleaning member module itself to swing between the extended position and the retracted position.

[0010] Exemplarily, the trajectory of movement between the extended position and the retracted position is a straight line in the same plane. When the driving assembly is in the second working state, the first cleaning member module moves along the width direction of the cleaning device to move between the extended position and the retracted position.

[0011] Exemplarily, the first output assembly includes a first gear, a first transmission gear for engaging with the first gear, and a lifting assembly, the first gear is connected to the power mechanism; the input end of the lifting assembly is connected to the first transmission gear, and the output end of the lifting assembly is connected to the first cleaning member module, and the lifting assembly is used to convert the rotational power of the first transmission gear into power for the output end of the lifting assembly to move linearly in the height direction of the cleaning equipment.

[0012] Illustratively, when the first gear is engaged with the first transmission gear, when the first gear rotates along the first rotation direction, the lifting assembly is driven to descend through the first transmission gear, and the lifting assembly drives the first cleaning component module to descend; when the first gear rotates along the second rotation direction, the lifting assembly is driven to ascend through the first transmission gear, and the lifting assembly drives the first cleaning component module to ascend, wherein the first rotation direction is opposite to the second rotation direction.

[0013] Exemplarily, the first output component includes a connecting portion, which is arranged on one of the lifting component and the first cleaning component module, and a first matching portion that matches the connecting portion is provided on the other of the lifting component and the first cleaning component module, and the connecting portion cooperates with the first matching portion so that the lifting component drives the first cleaning component module to move up and down; the connecting portion includes at least one of the following: a limiting portion, a magnetic portion, and a clamping portion.

[0014] Exemplarily, the first body of the first cleaning member module is provided with a first connecting portion connected to the output end of the lifting assembly. The first connecting portion and the output end of the lifting assembly can be connected to or disconnected from each other, so that the first cleaning member module has a connected state and a first separated state relative to the lifting assembly. When the drive assembly is in the first working state, the first cleaning member module is in the connected state, the first gear rotates to drive the first transmission gear to rotate, and the rotation of the first transmission gear drives the output end of the lifting assembly to move in the height direction of the cleaning device, thereby driving the first cleaning member module to move in the height direction of the cleaning device. When the drive assembly is in the second working state, the first cleaning member module is in the first separated state. Exemplarily, the output end of the lifting assembly is provided with a bayonet. The output end of the lifting assembly is movable between a lowering position and a lifting position relative to the first gear. When the output end of the lifting assembly is in the lowering position, the first connecting part can be withdrawn from the bayonet by swinging or moving the first cleaning member module along the first direction, so that the first cleaning member module and the lifting assembly are in a first separated state; or, the first connecting part can be moved into the bayonet by swinging or moving the first cleaning member module along the second direction, so that the first cleaning member module and the lifting assembly are in a connected state, wherein the first direction is opposite to the second direction.

[0015] Illustratively, the lifting assembly includes a transmission rod and a lifting frame. The transmission rod rotates coaxially with the first transmission gear, and the lifting frame is threadedly connected to the transmission rod. The lifting frame includes a first portion and a second portion. The first portion is threadedly connected to the transmission rod, and the second portion is connected to at least the first cleaning member module. The bayonet is provided on the second portion.

[0016] Exemplarily, the second part includes a first sub-part and a second sub-part, and the first sub-part and the second sub-part are respectively connected to the opposite ends of the first part. The cleaning mechanism also includes a second cleaning member module, and the second cleaning member module is provided with a second connecting part. The first cleaning member module is connected to the first sub-part through the first connecting part, and the second cleaning member module is connected to the second sub-part through the second connecting part.

[0017] Exemplarily, the first gear is provided with convex teeth arranged around its outer circumference, and when the driving assembly is in the first working state and the second working state, the convex teeth remain engaged with the first transmission gear.

[0018] Exemplarily, the first cleaning member module has a connected state and a second, separated state relative to the lifting assembly. The output end of the lifting assembly is provided with a lower limit portion that limits the first connection portion in a vertical downward direction. When the drive assembly is in the second operating state, the first cleaning member contacts the surface to be cleaned, and the lifting assembly, driven by the power mechanism, can move relative to the first connection portion in a height direction of the cleaning device, thereby placing the first cleaning member module and the lifting assembly in the second separated state.

[0019] Illustratively, when the first gear is in a first angular range relative to the first transmission gear, the first gear is engaged with the first transmission gear so that the power of the power mechanism can be transmitted to the lifting assembly through the first gear and the first transmission gear; when the first gear is in a second angular range relative to the first transmission gear, the first gear is disengaged from the first transmission gear.

[0020] Exemplarily, the outer periphery of the first gear includes a first area and a second area, a convex tooth is arranged within the first area, the first area forms the first angle range, and the second area forms the second angle range. When the drive assembly is in the first working state, the first area faces the first transmission gear so that the convex tooth engages with the first transmission gear. When the drive assembly is in the second working state, the second area faces the first transmission gear so that the first gear disengages from the first transmission gear.

[0021] Exemplarily, the limiting portion includes an upper limiting portion and a lower limiting portion, and the upper limiting portion and the lower limiting portion are used to limit the first connecting portion along the height direction of the cleaning device. When the first gear is engaged with the first transmission gear, when the first gear rotates in a first rotation direction, the first transmission gear drives the lifting assembly to descend, and the lifting assembly drives the first cleaning component module to descend via the upper limiting portion. When the first gear rotates in a second rotation direction, the first transmission gear drives the lifting assembly to ascend, and the lifting assembly drives the first cleaning component module to ascend via the lower limiting portion, wherein the first rotation direction is opposite to the second rotation direction.

[0022] Exemplarily, the second output assembly comprises a second gear, a second transmission gear and a transmission assembly connected with the second transmission gear, the second gear is connected with the first gear, the first gear drives the second gear to rotate, and the second gear and the second transmission gear have a meshing state and a disengaging state. When the second gear and the second transmission gear are in the meshing state, the driving assembly is in the second working state, and the power mechanism drives the first cleaning component module to move between the outward expansion position and the retracted position through the transmission assembly.

[0023] Exemplarily, the second gear drives the second transmission gear to rotate from the first angle position to the second angle position in the third direction and / or from the second angle position to the first angle position in the fourth direction opposite to the third direction, and the second transmission gear is in the disengaging state when rotating to the first angle position in the fourth direction; the second output assembly further comprises a force acting assembly, which provides an acting force to the second transmission gear when the second transmission gear rotates to the first angle position in the fourth direction, so as to keep the second transmission gear in the first angle position or drive the second transmission gear to rotate from the first angle position to the third angle position in the fourth direction; wherein the second transmission gear rotates in the fourth direction from the second angle position to the first angle position or the third angle position to retract the cleaning component; the second transmission gear rotates in the third direction from the first angle position to the second angle position to expand the cleaning component.

[0024] Exemplarily, at least part of the force acting assembly contacts the second transmission gear to provide the acting force to the second transmission gear when the second transmission gear rotates to the first angle position in the fourth direction.

[0025] Exemplarily, the second gear and the second transmission gear are both sector gears.

[0026] Exemplarily, the force acting assembly comprises a driving part located at one end of the force acting assembly close to the second transmission gear, for contacting the second transmission gear; the driving part is arranged beside the second gear and has a first state and a second state relative to the second gear, the driving part in the first state is closer to the second gear than the driving part in the second state.

[0027] Exemplarily, the force acting assembly is rotatably arranged beside the second gear, and the force acting assembly switches between the first state and the second state by swinging relative to the second gear.

[0028] Exemplarily, after the driving assembly drives the second gear to rotate and drives the second transmission gear to rotate in the fourth direction to the disengaging state of the second gear and the second transmission gear, the driving assembly continues to drive the force acting assembly to rotate to drive the second transmission gear to rotate from the first angle position to the third angle position.

[0029] Exemplarily, the power mechanism includes a drive motor, a first output shaft of the drive motor is connected to the first gear; the second gear is connected to the first gear, and the first gear and the second gear rotate synchronously, and the force application component is rotatably connected to the first gear through the first rotating shaft.

[0030] Exemplarily, when the driving motor drives the first gear and the second gear to rotate along the third direction, when the second gear rotates along the third direction to drive the second transmission gear to rotate along the fourth direction to the first angular position, the second gear and the second transmission gear are in a disengaged state, and the driving motor continues to drive the first gear to rotate along the third direction through the first output shaft to drive the force action component to continue to rotate along the third direction, so that the force action component drives the second transmission gear to rotate from the first angular position along the fourth direction to the third angular position.

[0031] Exemplarily, the force application assembly further includes a first elastic member, and when the driving portion is in a first state relative to the second gear, the first elastic member has an elastic force that causes the driving portion to switch from the first state to the second state relative to the second gear.

[0032] Exemplarily, the driving part has a first tooth side and a second tooth side. Before the second gear rotates along the fourth direction to engage with the second transmission gear, the second transmission gear and the second tooth side abut against each other to put the driving part in the first state; when the second transmission gear is in the first angular position, the driving part is in the second state relative to the second gear due to the action of elastic force, and the first tooth side abuts against the second transmission gear to provide a force to the second transmission gear.

[0033] Exemplarily, the second gear and the second transmission gear are both sector gears; the second gear includes a first wheel body and a first tooth portion, the first wheel body has a first arcuate outer edge segment, the first tooth portion protrudes outward from the first arcuate outer edge segment, and the central angle of the first arcuate outer edge segment is 60°-95°; the second transmission gear includes a second wheel body and a second tooth portion, the second wheel body has a second arcuate outer edge segment, the second tooth portion protrudes outward from the second arcuate outer edge segment, and the central angle of the second arcuate outer edge segment is 60°-95°, and in the engaged state, the second tooth portion is engaged with the first tooth portion.

[0034] Exemplarily, the first wheel body has a convex portion on a side away from the first tooth portion, and the force application component has a second matching portion on a side away from the driving portion. When the second gear rotates along the third direction and the second transmission gear is at a first angular position, the convex portion and the second matching portion abut against each other to drive the driving portion to rotate along the third direction.

[0035] Illustratively, the first wheel body is provided with a receiving cavity, and at least a portion of the first elastic member is disposed in the receiving cavity.

[0036] Exemplarily, a first boss is provided on one side of the accommodating cavity away from the driving part, and the other side is an opening; one end of the first elastic member is connected to the first boss, and the other end of the first elastic member is a free end, or the other end of the first elastic member is connected to the driving part.

[0037] Exemplarily, the force application component also includes a reset member, which is a first magnetic member, and at least a portion of the driving part is configured as a second magnetic member. After the second gear rotates in the fourth direction and engages with the second transmission gear, the first magnetic member provides a magnetic force to the second magnetic member so that the driving part is in the second state relative to the second gear.

[0038] Exemplarily, the force application component also includes a second elastic member. When the second transmission gear rotates to the first angular position along the fourth direction, the second transmission gear and the second elastic member offset each other, so that when the second transmission gear continues to rotate along the fourth direction, the second elastic member deforms and has a restoring force that causes the second transmission gear to rotate along the third direction.

[0039] Exemplarily, the second transmission gear has a pressing portion extending from an end of the second wheel body away from the second tooth portion. When the second transmission gear rotates along the fourth direction to the first angular position, the pressing portion abuts against the second elastic member.

[0040] Exemplarily, the force application component includes a third magnetic component, and a fourth magnetic component compatible with the third magnetic component is provided on the second transmission gear. When the second transmission gear rotates along the fourth direction to the first angular position, the third magnetic component and the fourth magnetic component are attracted to each other, so that the second transmission gear remains at the first angular position or the second transmission gear rotates from the first angular position along the fourth direction to the third angular position.

[0041] Exemplarily, when the driving assembly is in the first working state, the first gear is engaged with the first transmission gear, and the second gear is disengaged from the second transmission gear.

[0042] Exemplarily, the second gear has a half-tooth structure.

[0043] Exemplarily, the second transmission gear has a half-tooth structure.

[0044] Exemplarily, when the first gear is in a first angular range relative to the first transmission gear, the second gear is disengaged from the second transmission gear; when the first gear is in a second angular range relative to the first transmission gear, the second gear is engaged with the second transmission gear, so that the power of the power mechanism can be transmitted to the first cleaning member module through the second gear and the second transmission gear.

[0045] Illustratively, when the second gear is engaged with the second transmission gear, when the first gear and the second gear rotate along the first rotation direction, the first cleaning member module is driven to move from the retracted position to the outward-expanded position through the second transmission gear; when the first gear and the second gear rotate along the second rotation direction, the first cleaning member module is driven to move from the outward-expanded position to the retracted position through the second transmission gear.

[0046] Exemplarily, the transmission assembly includes a first rod, a second rod, and a third rod connected between the first rod and the second rod, the third rod is pivotally connected to the first rod, the third rod is pivotally connected to the second rod, the first rod is connected to the second transmission gear, the second rod is connected to the first cleaning member module, the first rod rotates with the second transmission gear and drives the second rod through the third rod to drive the first cleaning member module to swing.

[0047] Illustratively, a second shaft is further provided at the second rod, the second rod is sleeved on the outside of the second shaft, the second shaft is eccentrically arranged with respect to the rotation axis of the first cleaning member module itself, and the first cleaning member module swings around the second shaft.

[0048] For example, the transmission assembly includes a push block that is sleeved on the outside of the second rotating shaft and is capable of synchronously rotating with the second rod. The push block and the second rod are both configured to laterally abut the first body of the first cleaning member module. When the drive assembly is in the second operating state, one of the second rod and the push block is configured to push the first cleaning member module to exert a force causing it to swing outward, and the other of the second rod and the push block is configured to push the first cleaning member module to exert a force causing it to swing inward.

[0049] Exemplarily, a third elastic member is provided between the push block and the second rod, one end of the third elastic member is connected to the second rod, and the other end of the third elastic member is connected to the push block. The push block transmits power through the third elastic member so that it rotates synchronously with the second rod.

[0050] Exemplarily, the cleaning mechanism further includes a locking member, and the first body of the first cleaning member module is provided with a third mating portion corresponding to the locking member. The first cleaning member module is movable between an extended position and a retracted position. When the first cleaning member module is in the retracted position, the locking member engages with the third mating portion. When the first cleaning member module is in the extended position and during the switching process between the extended position and the retracted position, the locking member disengages from the third mating portion.

[0051] Exemplarily, the locking member is connected to the transmission assembly. When the drive assembly is in the second working state, the power mechanism drives the transmission assembly to move and drives the first cleaning member module to move toward the outward expanded position. Through the movement of the transmission assembly, the locking member is driven to engage with the third mating part.

[0052] Exemplarily, a fourth elastic member is arranged between the locking member and the casing, and is configured to drive the locking member to move in order to recover the elastic deformation during the movement of the first cleaning member module to the retracted position by the transmission assembly.

[0053] Exemplarily, the transmission assembly comprises a first rod, a second rod, and a third rod connected between the first rod and the second rod, the third rod is pivotally connected with the first rod and the second rod, the first rod is connected with the second transmission gear, and the second rod is connected with the first cleaning member module, the first rod rotates with the second transmission gear and drives the second rod to swing the first cleaning member module through the third rod. The first end of the locking member abuts against the first rod, and the second end of the locking member is clamped with the third matching part. When the driving assembly moves outwardly in the first swinging direction in the second working state, the first end of the locking member is driven to rotate around the rotation axis of the locking member, and the second end of the locking member is driven to move away from the third matching part, so that the locking member is separated from the third matching part.

[0054] Exemplarily, the cleaning mechanism further comprises a position detection device and a control device. The position detection device is configured to detect the position of the first cleaning member module relative to the casing. The control device is connected with the position detection device and the locking member, and is configured to control the movement of the locking member to clamp with the third matching part when the position detection device detects that the first cleaning member module is in the retracted position relative to the casing.

[0055] Exemplarily, the second transmission gear comprises a rack, and the transmission assembly comprises first and second abutting walls arranged oppositely on the rack, and at least part of the body of the first cleaning member module is located between the first and second abutting walls, so that the rack can push the first cleaning member module through the first and second abutting walls to move the first cleaning member module between the expanded position and the retracted position.

[0056] Exemplarily, the transmission assembly comprises a transmission belt, one end of the transmission belt is connected with the second gear and the other end is connected with the first cleaning member module, and the first cleaning member module moves between the expanded position and the retracted position under the driving of the transmission belt.

[0057] Exemplarily, the cleaning mechanism further comprises a second cleaning member module, the second cleaning member module is connected with a second rotation driving member configured to drive the second cleaning member module to rotate around its rotation axis, or the second cleaning member module is connected with the first rotation driving member and rotates around its rotation axis under the driving of the first rotation driving member.

[0058] Exemplarily, the cleaning mechanism further comprises a second cleaning element module, the second cleaning element module comprises a second body and a second cleaning element arranged at a lower portion of the second body, the first cleaning element module and the second cleaning element module clean the surface to be cleaned in a rotating manner, and the rotating axes of the first cleaning element module and the second cleaning element module are substantially perpendicular to the surface to be cleaned when the first cleaning element module and the second cleaning element module clean the surface to be cleaned.

[0059] Exemplarily, when the first cleaning element module is in the extended position, the area of the first cleaning element outside the housing is larger than the area of the first cleaning element outside the housing when the first cleaning element module is in the retracted position.

[0060] Exemplarily, when the first cleaning element module is in the extended position, the area of the first cleaning element outside the housing is larger than the area of the first cleaning element outside the housing when the first cleaning element module is in the retracted position.

[0061] Exemplarily, when the first cleaning element module is in the extended position, the distance of the first cleaning element extending out of the housing is greater than the distance of the first cleaning element extending out of the housing when the first cleaning element module is in the retracted position.

[0062] Exemplarily, when the cleaning device is in the obstacle-surmounting mode, the first cleaning element and the second cleaning element are controlled to move along the rotating axes thereof away from the surface to be cleaned; and / or, when the cleaning device is about to move onto a carpet or the cleaning robot is located on the carpet, the first cleaning element and the second cleaning element are controlled to move along the rotating axes thereof away from the surface to be cleaned; and / or, during the docking of the cleaning device to the cleaning base station, the first cleaning element and the second cleaning element are controlled to move along the rotating axes thereof away from the surface to be cleaned; and / or, during the movement of the cleaning device along an obstacle, the first cleaning element module is controlled to move to the extended position; and / or, when the cleaning device moves to along a preset gap, the first cleaning element module is controlled to move to the extended position, wherein the preset gap is a region that the cleaning device cannot enter but the first cleaning element can enter.

[0063] Exemplarily, the cleaning device controls the position of the first cleaning element module moving along the rotating axis thereof according to the state information of the surface to be cleaned, so as to adjust the pressure of the first cleaning element and the second cleaning element on the surface to be cleaned, wherein the state information of the surface to be cleaned comprises at least one of the material of the surface to be cleaned, the type of dirt on the surface to be cleaned, and the degree of dirt on the surface to be cleaned.

[0064] Exemplarily, the power mechanism that controls the first cleaning element module to move along the rotating axis thereof between the first position and the second position is the same motor as the power mechanism that controls the first cleaning element module to move between the extended position and the retracted position.

[0065] Exemplarily, the first body includes a movable gear box and a rotation input gear disposed in the movable gear box, and the first cleaning member is coaxially connected to the rotation input gear;

[0066] The cleaning mechanism further includes a rotary transmission mechanism, which includes a fixed gear box and a rotary transmission gear set disposed in the fixed gear box, wherein an input gear in the rotary transmission gear set is connected to the first rotary driving member, and an output gear in the rotary transmission gear set is meshed with the rotary input gear;

[0067] Among them, under the drive of the first rotary driving member, the rotary transmission gear set transmits the rotational power of the first rotary driving member to the rotary input gear, thereby rotating the first cleaning member; during the movement of the first cleaning member module between the extended position and the retracted position, the first rotary driving member and the fixed gear box remain stationary relative to the housing of the cleaning equipment, and the movable gear box of the first cleaning member module rotates around the fixed gear box of the rotary transmission mechanism.

[0068] According to a second aspect of the present disclosure, there is further provided a cleaning mechanism, which is applied to a cleaning device, the cleaning device comprising a housing, the cleaning mechanism being disposed below the housing, the cleaning mechanism being configured to clean a surface to be cleaned when the cleaning device performs a cleaning task, the cleaning mechanism comprising an adjustable cleaning assembly and a drive assembly;

[0069] The adjustable cleaning assembly includes a first cleaning member module and a first rotating driving member for driving the first cleaning member module to rotate around its own rotation axis, the first cleaning member module includes a first body and a first cleaning member provided at the lower portion of the first body;

[0070] The drive assembly includes a power mechanism, a first output assembly and a second output assembly, the power mechanism is mechanically coupled to the first output assembly and the second output assembly respectively, and the drive assembly has a first working state and a second working state;

[0071] In the first working state, the power of the power mechanism is transmitted to the first cleaning member module via the first output assembly, and the first cleaning member module is movable along the rotation axis of the first cleaning member module between a first position and a second position under the action of the power transmitted by the first output assembly;

[0072] In the second working state, the power of the power mechanism is transmitted to the first cleaning member module via the second output component, and the first cleaning member module can move between an expanded position and a retracted position under the action of the power transmitted by the second output component. When the first cleaning member module is in the expanded position, the area of ​​the first cleaning member outside the casing is larger than the area of ​​the first cleaning member outside the casing when the first cleaning member module is in the retracted position.

[0073] According to a third aspect of the present disclosure, there is further provided a cleaning mechanism, which is applied to a cleaning device, the cleaning device comprising a housing, the cleaning mechanism being disposed below the housing, the cleaning mechanism being configured to clean a surface to be cleaned when the cleaning device performs a cleaning task, the cleaning mechanism comprising an adjustable cleaning assembly and a drive assembly;

[0074] The adjustable cleaning assembly includes a first cleaning member module and a first rotating driving member for driving the first cleaning member module to rotate around its own rotation axis, the first cleaning member module includes a first body and a first cleaning member provided at the lower portion of the first body;

[0075] The drive assembly includes a power mechanism, a first output assembly and a second output assembly, the power mechanism is mechanically coupled to the first output assembly and the second output assembly respectively, and the drive assembly has a first working state and a second working state;

[0076] In the first working state, the power of the power mechanism is transmitted to the first cleaning member module via the first output assembly, and the first cleaning member module is movable along the rotation axis of the first cleaning member module between a first position and a second position under the action of the power transmitted by the first output assembly;

[0077] In the second working state, the power of the power mechanism is transmitted to the first cleaning member module via the second output component. The first cleaning member module can move between an expanded position and a retracted position under the action of the power transmitted by the second output component. When the first cleaning member module is in the expanded position, the area outside the casing that can be cleaned by the first cleaning member is S1. When the first cleaning member module is in the retracted position, the area outside the casing that can be cleaned by the first cleaning member is S2, and S1 is greater than S2.

[0078] According to a fourth aspect of the present disclosure, there is further provided a cleaning mechanism, which is applied to a cleaning device, the cleaning device comprising a housing, the cleaning mechanism being disposed below the housing, the cleaning mechanism being configured to clean a surface to be cleaned when the cleaning device performs a cleaning task, the cleaning mechanism comprising an adjustable cleaning assembly and a drive assembly;

[0079] The adjustable cleaning assembly includes a first cleaning member module and a first rotating driving member for driving the first cleaning member module to rotate around its own rotation axis, the first cleaning member module includes a first body and a first cleaning member provided at the lower portion of the first body;

[0080] The drive assembly includes a power mechanism, a first output assembly and a second output assembly, the power mechanism is mechanically coupled to the first output assembly and the second output assembly respectively, and the drive assembly has a first working state and a second working state;

[0081] In the first working state, the power of the power mechanism is transmitted to the first cleaning member module via the first output assembly, and the first cleaning member module is movable along the rotation axis of the first cleaning member module between a first position and a second position under the action of the power transmitted by the first output assembly;

[0082] In the second working state, the power of the power mechanism is transmitted to the first cleaning member module via the second output component, and the first cleaning member module can move between an extended position and a retracted position under the action of the power transmitted by the second output component. When the first cleaning member module is in the extended position, the distance that the first cleaning member extends out of the housing is greater than the distance that the first cleaning member extends out of the housing when the first cleaning member module is in the retracted position.

[0083] According to a fifth aspect of the present disclosure, a cleaning device is further provided, comprising a housing and the above-mentioned cleaning mechanism, wherein the cleaning mechanism is arranged on the housing.

[0084] Exemplarily, the casing has a widest outer edge, which is the two tangents of the projection of the cleaning device on the surface to be cleaned along the normal travel direction of the cleaning device. When the drive assembly is in the second working state, the first cleaning member module can move to at least partially outside the widest outer edge of the casing.

[0085] According to a sixth aspect of the present disclosure, a cleaning base station is further provided, which has a docking position for the above-mentioned cleaning equipment to dock.

[0086] According to a seventh aspect of the present disclosure, a cleaning system is further provided, comprising the above-mentioned cleaning device and the above-mentioned cleaning base station, wherein the cleaning device can be selectively docked with the cleaning base station.

[0087] The application introduces a series of simplified concepts, which will be further described in detail in the detailed description. This disclosure does not attempt to define the key features and essential technical features of the claimed technical solution, nor does it attempt to determine the scope of protection of the claimed technical solution.

[0088] The advantages and features of the present disclosure are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] The following drawings of the present disclosure are hereby incorporated into the present disclosure for the purpose of understanding the present application. The drawings show the embodiments of the present disclosure and their descriptions, and are used to explain the principles of the present disclosure. In the drawings,

[0090] Figure 1a A schematic structural diagram of a cleaning mechanism without a cleaning member installed according to an exemplary embodiment of the present disclosure is shown at a first viewing angle;

[0091] Figure 1b A schematic structural diagram of a cleaning mechanism without a cleaning member installed according to an exemplary embodiment of the present disclosure is shown at a second viewing angle;

[0092] Figure 1c Shown Figure 1b The enlarged view of point I in FIG.

[0093] Figure 2a 1. A schematic structural diagram of a cleaning mechanism according to another exemplary embodiment of the present disclosure is shown (the first cleaning member module is in a retracted position);

[0094] Figure 2b A schematic structural diagram of a cleaning mechanism according to another exemplary embodiment of the present disclosure is shown (the first cleaning member module is in an expanded position);

[0095] Figure 2c shows a cross-sectional view of a cleaning mechanism according to another exemplary embodiment of the present disclosure;

[0096] Figure 3 shows a schematic structural diagram of a drive assembly according to an exemplary embodiment of the present disclosure;

[0097] Figure 4 Shows a rear view of the drive assembly in FIG1 after being turned from top to bottom;

[0098] Figure 5 shows a schematic structural diagram of a driving unit in a first state according to an exemplary embodiment of the present disclosure;

[0099] Figure 6 shows a schematic structural diagram of a driving portion in a second state according to an exemplary embodiment of the present disclosure;

[0100] Figure 7a shows a state diagram of a drive assembly according to an exemplary embodiment of the present disclosure (I);

[0101] Figure 7b shows a state diagram of a drive assembly according to an exemplary embodiment of the present disclosure (II);

[0102] Figure 7cshows a state diagram of a drive assembly according to an exemplary embodiment of the present disclosure (III);

[0103] Figure 7d FIG4 shows a state diagram of a drive assembly according to an exemplary embodiment of the present disclosure;

[0104] Figure 7e shows a state diagram of a drive assembly according to an exemplary embodiment of the present disclosure (V);

[0105] Figure 7f shows a state diagram of a drive assembly according to an exemplary embodiment of the present disclosure (VI);

[0106] Figure 8 shows a structural schematic diagram of a drive assembly according to another exemplary embodiment of the present disclosure;

[0107] Figure 9 Shown Figure 8 The back view of the mid-drive assembly after flipping it over;

[0108] Figure 10 shows a structural block diagram of a cleaning mechanism according to yet another exemplary embodiment of the present disclosure;

[0109] Figure 11 A schematic structural diagram of a cleaning device according to an exemplary embodiment of the present disclosure is shown (the cleaning member module is in a first position);

[0110] Figure 12 A schematic structural diagram of a cleaning device according to an exemplary embodiment of the present disclosure is shown (the cleaning member module is in the second position);

[0111] Figure 13 A schematic structural diagram of a cleaning device according to an exemplary embodiment of the present disclosure is shown (the cleaning member module is in an expanded position);

[0112] Figure 14 A schematic structural diagram of a cleaning base station according to an exemplary embodiment of the present disclosure is shown;

[0113] Figure 15 A schematic diagram shows the cleaning device according to an embodiment of the present disclosure switching to an outward-expanding position in an edge scenario.

[0114] The above drawings include the following reference numerals:

[0115] 1. Adjustable cleaning component; 11. First cleaning component module; 11a. First body; 11b. First cleaning component; 111. First connecting portion; 1111a. Rotation input gear; 112. Third matching portion; 113. Output end; 1131. Upper limit portion; 1132. Lower limit portion; 12. First rotary drive component; 2. Drive component; 21. Power mechanism; 211. Drive motor; 212. First output shaft; 22. First output component; 221. First gear; 2211. First region; 2212. Second region; 222. First transmission component; 223, lifting assembly; 2231, transmission rod; 2232, lifting frame; 2232a, first part; 2232b, first sub-section; 2232c, second sub-section; 2236, bayonet; 2236a, groove; 23, second output assembly; 231, second gear; 2311, first wheel body; 2312, first arc-shaped outer edge segment; 2313, accommodating cavity; 2314, first protrusion; 2315, protrusion; 2316, first tooth portion; 2317, second edge tooth; 232, second transmission gear; 2321, rack; 2 322, first abutting wall; 2323, second abutting wall; 2324, second wheel body; 2325, second arc-shaped outer edge segment; 2326, second tooth portion; 2327, first edge tooth; 2328, pressing portion; 2329, fourth magnetic member; 233, transmission assembly; 2331, first rod; 2332, second rod; 2332a, second rotating shaft; 2333, third rod; 2334, push block; 3, locking member; 4, third elastic member; 5, second cleaning member module; 51, second rotary drive member; 52, rotating assembly; 53, pressure regulating assembly ;6. Second connecting part;7. Casing;8. Cleaning base station;81. Docking position;9. Force application component;91. Driving part;911. First tooth side;912. Second tooth side;92. First rotating shaft;93. First elastic member;94. Second matching part;95. Third magnetic member;10. Second elastic member;A1. First rotation direction;A2. Second rotation direction;A3. Third direction;A4. Fourth direction;C. Mounting shell;P1. Movable gearbox;P2. Fixed gearbox;T. Second boss;X. Protruding tooth;M1. Rotation axis;M2. Axis. DETAILED DESCRIPTION

[0116] In the following description, a large amount of detail is provided to facilitate a thorough understanding of the present disclosure. However, it will be appreciated by those skilled in the art that the following description merely illustrates preferred embodiments of the present disclosure, and the present disclosure may be implemented without one or more of these details. Furthermore, to avoid confusion with the present disclosure, some technical features well known in the art are not described in detail.

[0117] To thoroughly understand the embodiments of the present disclosure, detailed structures will be provided in the following description. It should be understood that the implementation of the embodiments of the present disclosure is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present disclosure are described in detail below, but in addition to these detailed descriptions, the present disclosure may also have other embodiments.

[0118] A cleaning robot, etc., is a cleaning device that can clean a surface to be cleaned. It can wipe the surface to be cleaned using a cleaning component module provided on the housing 7 of the cleaning robot. The cleaning component module can include a mop that can contact the surface to be cleaned and, illustratively, can rotate relative to the surface to be cleaned to wipe the surface. To facilitate the maintenance of the cleaning device, a cleaning base station 8 is also provided that is compatible with the cleaning robot. The cleaning base station 8 can be used to perform at least one of the following functions on the cleaning device: charging, dust collection, cleaning components, etc. The cleaning robot and the cleaning base station 8 can form a cleaning system. The inventors have discovered through creative work that the cleaning robot in the related art is provided with a cleaning member module that is movable relative to the housing 7. The cleaning member module can move relative to the housing 7 toward the outer side of the housing 7 to better clean the edge area or gap area of ​​the wall, and the cleaning member module is connected to a lifting member so that the cleaning member module can be raised and lowered relative to the main body. When cleaning the surface to be cleaned is required, the cleaning member module is lowered and contacts the surface to be cleaned. When cleaning is not required, the lifting member lifts the cleaning member module so that it does not contact the surface to be cleaned. However, in the related art, the rotation and lifting functions of the cleaning member of the cleaning member module usually share a driving member. When the driving member rotates in a first rotation direction, the cleaning member rotates to clean the ground. When the driving member rotates in a second rotation direction, the cleaning member is lifted off the ground. In this way, the cleaning member module can only rotate in the first rotation direction during use, affecting the cleaning member module's ability to escape entanglement and the self-cleaning ability of the cleaning device when cleaning the cleaning member at the cleaning base station 8.

[0119] In order to solve the above technical problems, the inventors have conducted in-depth research and proposed a cleaning mechanism in which the rotation of the cleaning component module itself and its lifting and expansion are independent of each other, so that the rotation and cleaning of the cleaning component module itself are not affected by other structures, and operations such as forward and reverse rotation can be realized, thereby reducing the entanglement of the cleaning component module with external dirt (such as hair, etc.), and making the cleaning mechanism have better anti-entanglement and self-cleaning capabilities. In one embodiment of the present disclosure, a cleaning mechanism is provided, which can be used in the field of household appliances, etc. More specifically, it can be used in cleaning robots, sweeping and mopping robots, or electric mops, etc. The cleaning component module provided in the embodiment of the present disclosure can be a cleaning component module, such as a side brush module, or a mopping component module. The cleaning mechanism of the embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0120] See also Figure 1a 、 Figure 1b 、 Figure 2a and Figure 2b 、 Figures 11 to 13 The cleaning mechanism of the embodiment of the present disclosure is applied to a cleaning device. The cleaning device includes a housing 7. The cleaning mechanism is provided below the housing 7. The cleaning mechanism is used to clean the surface to be cleaned when the cleaning device performs a cleaning task. The cleaning mechanism includes an adjustable cleaning component 1 and a driving component 2. The adjustable cleaning component 1 includes a first cleaning member module 11 and a first rotating driving member 12 that drives the first cleaning member module 11 to rotate around its own rotation axis M1. The first cleaning member module 11 includes a first body 11a and a first cleaning member 11b provided at the lower part of the first body 11a. The driving component 2 includes a power mechanism 21 (such as Figure 1a As shown), the first output assembly 22 and the second output assembly 23, the power mechanism 21 is mechanically coupled to the first output assembly 22 and the second output assembly 23 respectively.

[0121] It should be noted that in the disclosed embodiment, when the first cleaning member module 11 is a mopping member module, when the cleaning device moves across the surface to be cleaned, the rotation axis M1 of the first cleaning member module 11 can be perpendicular to the surface to be cleaned. When the first cleaning member module 11 is a side brush module, when the cleaning device moves across the surface to be cleaned, the rotation axis M1 of the first cleaning member module 11 can be slightly inclined or perpendicular to the surface to be cleaned.

[0122] In addition, in the embodiment of the present disclosure, the mechanical coupling between the power mechanism 21 and the first output assembly 22 means that the power mechanism 21 and the first output assembly 22 are connected, so that the power mechanism 21 can transmit power to the first output assembly 22. The mechanical coupling between the power mechanism 21 and the second output assembly 23 means that the power mechanism 21 and the second output assembly 23 are connected, so that the power mechanism 21 can transmit power to the second output assembly 23.

[0123] The drive assembly 2 has a first operating state and a second operating state. In the first operating state, power from the power mechanism 21 is transmitted to the first cleaning member module 11 via the first output assembly 22. Under the action of the power transmitted by the first output assembly 22, the first cleaning member module 11 is movable along its own rotation axis M1 between a first position and a second position. The direction of movement of the first cleaning member module 11 along its own rotation axis M1 is the ascending and descending direction, that is, the first cleaning member module 11 can rise and fall relative to the surface to be cleaned.

[0124] In the second working state, the power of the power mechanism 21 is transmitted to the first cleaning member module 11 via the second output component 23. The first cleaning member module 11 can move between the expanded position and the retracted position under the action of the power transmitted by the second output component 23. When the first cleaning member module 11 is in the expanded position, the first cleaning member 11b cleans at the expanded position to clean the blind spots that the first cleaning member 11b cannot reach at the retracted position.

[0125] The first cleaning member module 11 can include a first cleaning member 11b and a first body 11a connected thereto. The first cleaning member module 11 can rotate around its own rotation axis M1 under the action of the first rotary drive member 12 to clean the surface to be cleaned. The first cleaning member 11b can be represented as a tool for cleaning and maintaining the surface to be cleaned. The first body 11a can be a gearbox, which includes a housing and a gear set located in the housing. The first body 11a is connected to a power output shaft, and the gear set in the gearbox at least includes an output gear connected to the power output shaft. The gear set in the gearbox is used to connect with other gear sets and the first rotary drive member 12 (such as a motor, for ease of description, referred to as "first motor" in this article), so as to transmit the power of the first rotary drive member 12 to the first cleaning member 11b through the gear set, so that the first cleaning member 11b can rotate and clean the surface to be cleaned. Exemplarily, the first cleaning member 11b can be a mopping member, a side brush, a roller brush, a roller or other parts that can be used for cleaning.

[0126] When the drive assembly 2 is in the first operating state, the power mechanism 21 can drive the first cleaning member module 11 to switch between the first position and the second position via the first output assembly 22. When the drive assembly 2 is in the second operating state, the power mechanism 21 can drive the first cleaning member module 11 to switch between the extended position and the retracted position via the second output assembly 23. In the disclosed embodiment, the power mechanism 21 that controls the movement of the first cleaning member module 11 along its rotation axis M1 between the first position and the second position and the power mechanism 21 that controls the movement of the first cleaning member module 11 between the extended position and the retracted position are the same motor.

[0127] See also Figure 11 and Figure 12 , the first position and the second position can respectively represent different height positions of the first cleaning member module 11. For example, the first position represents the height position of the first cleaning member module 11 when the first cleaning member module 11 is in contact with the surface to be cleaned (e.g. Figure 11 The second position is the height position when the first cleaning member module 11 is lifted (as shown in FIG. Figure 12 shown).

[0128] In some other embodiments, the first cleaning element module 11 is movably connected to the housing 7, and can be moved between the first position and the second position according to different use scenarios and actual needs. The higher the lifting height of the first cleaning element module 11, the smaller the pressure of the first cleaning element module 11 on the surface to be cleaned. Conversely, the lower the lifting height of the first cleaning element module 11, the greater the pressure of the first cleaning element module 11 on the surface to be cleaned. The cleaning mechanism can adjust the lifting or lowering height of the first cleaning element module 11 to achieve different forces on the surface to be cleaned.

[0129] In the embodiments of the present disclosure, when the first cleaning element module 11 is in the retracted position and in the first position (lowered position), it can be considered that the first cleaning element module 11 is in a normal working position relative to the housing 7. At this time, the cleaning device can travel in a non-along-edge scenario, for example, according to an arcuate path, and the first cleaning element module 11 can be rotated to wipe or clean the surface to be cleaned under the driving of the first rotary driving member 12. When encountering scenarios such as an along-edge scenario or a gap scenario, the first cleaning element module 11 can be moved from the retracted position to the expanded position, i.e., the first cleaning element module 11 is moved outward to the expanded position in the left-right direction of the cleaning device, so that the first cleaning element module 11 can clean the blind area that cannot be cleaned in the retracted position. For example, the blind area can be an area that cannot be cleaned between the first cleaning element 11b and the wall when the cleaning device travels along the wall and the first cleaning element 11b is in the retracted position. Alternatively, when the cleaning device encounters a hanging obstacle, the lowest position of the obstacle is lower than the height of the housing 7 of the cleaning device but higher than the height of the first cleaning element 11b of the cleaning device, so that the housing 7 of the cleaning device cannot enter the lower part of the obstacle, but the first cleaning element 11b can enter. Such a scenario can be considered as a gap scenario, and in such a scenario, by controlling the first cleaning element 11b to move to the expanded position, the first cleaning element 11b can clean a position further away from the gap, thereby reducing the cleaning blind area and improving the cleaning effect.

[0130] In some embodiments, when the first cleaning member module 11 is in the outward-expanding position, the area of ​​the first cleaning member 11b outside the housing 7 is larger than the area of ​​the first cleaning member 11b outside the housing 7 when the first cleaning member module 11 is in the retracted position. Since the first cleaning member module 11 moves from the retracted position to the outward-expanding position toward the outer side of the housing 7, that is, in a direction away from the center line of the width direction of the cleaning device, it should be noted that in the disclosed embodiment, the width direction of the cleaning device refers to the direction in the horizontal plane that is perpendicular to the forward direction of the cleaning device. Therefore, from another perspective, when the first cleaning member module 11 is in the outward-expanding position, the area outside the housing 7 that can be cleaned by the first cleaning member 11b is S1, and when the first cleaning member module 11 is in the retracted position, the area outside the housing 7 that can be cleaned by the first cleaning member 11b is S2, and S1 is larger than S2. That is, when the first cleaning member module 11 is in the extended position, the area of ​​the first cleaning member 11b outside the housing 7 is larger than when the first cleaning member module 11 is in the retracted position. Alternatively, when the first cleaning member module 11 is in the extended position, the distance the first cleaning member 11b extends from the housing 7 is larger than when the first cleaning member module 11 is in the retracted position. This allows the first cleaning member 11b to clean a larger area outside the housing 7 by controlling the first cleaning member module 11 to move to the extended position, effectively ensuring the cleaning effect of the cleaning device when cleaning obstacles along edges or in difficult-to-reach areas such as narrow gaps.

[0131] The cleaning mechanism provided by the embodiment of the present disclosure, by providing a driving assembly 2, enables the first cleaning member module 11 to move between a first position and a second position and between an outward-expanding position and a retracted position, thereby achieving the lifting, lowering, outward-expanding, and retracting of the first cleaning member module 11. Figure 11 As shown, when the surface to be cleaned needs to be cleaned, the first cleaning member module 11 is lowered, so that the first cleaning member module 11 can be brought into contact with the surface to be cleaned and the first cleaning member module 11 is rotated for cleaning. At this time, the cleaning mechanism can be in a normal cleaning state for the surface to be cleaned; as shown Figure 12 As shown, when the cleaning device faces an obstacle such as a threshold and needs to overcome it, the first cleaning component module 11 can be lifted to facilitate overcoming the obstacle. Alternatively, when the cleaning device faces a carpet, it can be separated from the surface to be cleaned and placed in a non-cleaning state, so that the corresponding cleaning component does not contact the carpet, thereby avoiding contamination of the carpet. Figure 13As shown, when the cleaning mechanism is located near obstacles such as the edge of a wall, a cardboard box, or a table leg that need to be moved along the edge, or in areas that are difficult to clean, such as narrow gaps, the cleaning mechanism can cause the first cleaning member module 11 to expand outward (i.e., the cleaning module moves outward toward the side of the cleaning device), thereby allowing the first cleaning member module 11 to be closer to these difficult-to-clean areas to clean the difficult-to-clean areas, thereby increasing the total cleaning coverage area and improving the cleaning effect. That is, the setting of the drive assembly 2 can better ensure that the first cleaning member module 11 of the cleaning mechanism switches between the expanded state, the retracted state, the raised state, and the lowered state, and improve the cleaning effect of the first cleaning member module 11 of the cleaning mechanism on areas near obstacles that need to be moved along the edge.

[0132] Cleaning is achieved by rotating the first cleaning member module 11 itself through the rotation of the driving member, and the lifting, lowering, expansion, and retraction of the first cleaning member module 11 are achieved by adjusting the driving assembly 2. In other words, the rotation of the first cleaning member module 11 itself and its lifting, lowering, expansion, and retraction are achieved by different driving devices, and the two are independent of each other. In this way, since there is no need to use the forward and reverse rotation of a single driving device to switch the first cleaning member module 11 between the normal cleaning state and the raised state, the forward and reverse rotation of the first cleaning member module 11 can be achieved when the cleaning device is in the normal cleaning state, thereby reducing the entanglement of the first cleaning member module 11 with external dirt (such as hair, wires, etc.) and improving the cleaning device's ability to get out of trouble. Moreover, during conventional cleaning, the cleaning members of the cleaning member module can maintain contact with the surface to be cleaned, and can also rotate forwards and reverses to clean stubborn stains. Even when the cleaning member corresponding to the cleaning member module is a mopping member, the cleaning device returns to the cleaning base station 8 to clean the mopping member, and the mopping member can be reversed while maintaining contact with the cleaning ribs in the base station to achieve forward and reverse washing of the mopping member, thereby improving the cleaning effect of the mopping member. For example, when the first cleaning member module 11 is a mopping member, after the cleaning device is docked with the cleaning base station 8, the first cleaning member module 11 can clean the mopping member in the cleaning base station 8 in forward and reverse rotation. When the first cleaning member module 11 is a sweeping member, after the cleaning device is docked with the cleaning base station 8, the sweeping member can also be unwound in the cleaning base station 8 in forward and reverse rotation. Therefore, the cleaning mechanism provided by the embodiment of the present disclosure has good anti-entanglement and self-cleaning capabilities.

[0133] In addition, the cleaning mechanism provided by the embodiment of the present disclosure is that the rotation of the first cleaning member module 11 itself and its lifting and expansion are achieved by different drive devices, and the two are independent of each other. When the first cleaning member module 11 is in a normal cleaning state in contact with the surface to be cleaned, the first cleaning member module 11 can also rise and fall while rotating normally to achieve the adjustment of the lifting height of the first cleaning member module 11, that is, the dynamic adjustment of the pressure of the first cleaning member module 11 on the ground. For example, the cleaning module can be adjusted to different heights for surfaces to be cleaned of different materials (such as tiles, wooden floors). Of course, it is worth noting that in order to achieve the adjustment of the pressure of the first cleaning member module 11 on the ground, the first cleaning member module 11 needs to be connected to the body of the cleaning device in a floating manner, such as by using an elastic member floating connection. In this way, even if the first cleaning member module 11 is slightly lifted, the first cleaning member module 11 is still in contact with the surface to be cleaned under the action of the elastic member, achieving the adjustment of the pressure on the ground during normal cleaning. After the first cleaning member module 11 is lifted higher, the first cleaning member module 11 can be separated from the surface to be cleaned to facilitate obstacle crossing.

[0134] In some embodiments, the trajectory of the first cleaning member module 11 between the expanded position and the retracted position is a curve or a straight line in the same plane. When the cleaning device moves on the surface to be cleaned, the above-mentioned same plane can be understood as the surface to be cleaned, or a surface parallel to the surface to be cleaned.

[0135] In the above embodiment, when moving between the extended position and the retracted position, the first cleaning member module 11 can move along a curve or a straight line in the same plane according to different usage conditions. Those skilled in the art can make specific designs based on specific conditions, such as the spatial layout of the cleaning equipment and design requirements. The embodiments of the present disclosure do not impose any special restrictions.

[0136] In some embodiments, the trajectory of the first cleaning member module 11 moving between the extended position and the retracted position is a curve in the same plane. When the driving assembly 2 is in the second working state, the first cleaning member module 11 swings around the axis M2 parallel to the rotation axis M1 of the first cleaning member module 11 itself to swing between the extended position and the retracted position.

[0137] Exemplarily, the first cleaning member module 11 may have a rotation axis M1 extending along the height direction of the cleaning device, and the first cleaning member module 11 may swing around the rotation axis M1 parallel to the height direction of the cleaning device within a preset angle range. At this time, the first cleaning member 11b performs curved motion in the same plane to achieve movement between the expanded position and the retracted position.

[0138] It should be noted that, in the embodiment of the present disclosure, the height direction of the cleaning device is perpendicular to the surface to be cleaned. When the surface to be cleaned is horizontal, the height direction of the cleaning device is the vertical direction.

[0139] In the above embodiment, the first cleaning member module 11 swings around the axis M2 parallel to its own rotation axis M1 to achieve curved movement between the extended position and the retracted position, which can effectively ensure the flexibility of the movement of the first cleaning member module 11.

[0140] In some embodiments, as Figure 1a 、 Figure 1b 、 Figure 2a and Figure 2b As shown, the first body 11a includes a movable gear box P1 and a rotation input gear 1111a (such as Figure 2c As shown), the first cleaning member 11b is coaxially connected to the rotation input gear 1111a.

[0141] The cleaning mechanism also includes a rotary transmission mechanism, which includes a fixed gear box P2 and a rotary transmission gear set (not shown in the figure) arranged in the fixed gear box P2. The input gear in the rotary transmission gear set is connected to the first rotary driving member 12, and the output gear in the rotary transmission gear set is engaged with the rotary input gear 1111a.

[0142] Driven by the first rotary drive member 12, the rotary transmission gear assembly transmits the rotational power of the first rotary drive member 12 to the rotary input gear 1111a, thereby rotating the first cleaning member 11b. During the movement of the first cleaning member module 11 between the extended and retracted positions, the first rotary drive member 12 and the fixed gearbox P2 remain stationary relative to the cleaning device housing 7, while the movable gearbox P1 of the first cleaning member module 11 rotates around the fixed gearbox P2 of the rotary transmission mechanism. In other words, in this embodiment, the movement of the first cleaning member module 11 between the extended and retracted positions does not require the first rotary drive member 12 to follow the movement. Instead, only a portion of the rotary transmission assembly that drives the rotation of the first cleaning member 11b itself is required to move. This reduces the load on the first cleaning member module 11 during its movement between the extended and retracted positions, thereby improving movement efficiency and reducing the drive power of the power mechanism 21. And since the first rotary drive member 12 and part of the rotary transmission assembly can remain stationary, there is no need to reserve a large space in the housing 7 of the cleaning device to allow the first rotary drive member 12 and the rotary transmission assembly to move, which can make the internal space layout of the cleaning device compact to a certain extent, which is conducive to the miniaturization of the cleaning device.

[0143] In some other embodiments, the trajectory of the movement of the first cleaning member module 11 between the expanded position and the retracted position is a straight line in the same plane. When the driving assembly 2 is in the second working state, the first cleaning member module 11 can move along the width direction of the cleaning device (such as Figures 12 and 13 ), to move between an expanded position and a retracted position.

[0144] When the drive assembly 2 is in the second working state, the first cleaning member module 11 can move linearly from the bottom of the housing 7 to at least partially outside the housing 7, thereby achieving an outward expansion movement of the first cleaning member module 11. The first cleaning member module 11 can also move linearly from the outside of the housing 7 toward the center line of the width direction of the housing 7 to the bottom of the housing 7, thereby achieving a retraction movement of the first cleaning member module 11.

[0145] In the above embodiment, the first cleaning member module 11 moves in a straight line, and can also realize reciprocating motion between the outward-expanded position and the retracted position, while also simplifying the motion trajectory of the first cleaning member module 11. When the cleaning space in which the first cleaning member module 11 is located is small, the outward-swinging motion and the retracted motion of the first cleaning member module 11 can be realized by occupying a smaller motion space, thereby further improving the flexibility and practicality of the first cleaning member module 11.

[0146] The following further details how to realize the driving component 2 of the cleaning mechanism in the first working state, the second working state, and the switching between the first working state and the second working state.

[0147] In some embodiments, see Figure 1a 、 Figure 2a 、 Figure 2b and Figure 2c The first output component 22 includes a first gear 221, a first transmission gear 222 for meshing with the first gear 221, and a lifting component 223. The first gear 221 is connected to the power mechanism 21; the input end of the lifting component 223 is connected to the first transmission gear 222, and the output end 113 of the lifting component 223 is connected to the first cleaning component module 11. The lifting component 223 is used to convert the rotational power of the first transmission gear 222 into power for the output end 113 of the lifting component 223 to move linearly along the height direction of the cleaning equipment.

[0148] For example, the power mechanism 21 can be a motor, and the motor can be arranged along the height direction of the cleaning device, that is, the output axis of the motor extends along the height direction of the cleaning device. The first gear 221 can be a cylindrical gear, and the output shaft of the power mechanism 21 can be connected to the center of the first gear 221.

[0149] like Figure 1a 、 Figure 1b 、 Figure 2a 、 Figure 2b and Figure 2c As shown, the drive assembly 2 may include a mounting housing C, and the power mechanism 21, the first output assembly 22, and the second output assembly 23 may be disposed in the mounting housing C. When the cleaning mechanism is mounted on the housing 7 of the cleaning device and the cleaning device is in normal use, the mounting housing C includes an upper portion and a lower portion. For example, the first gear 221 and the first transmission gear 222 may be disposed in the upper portion of the mounting housing C, while the power mechanism 21 may be disposed in the lower portion of the mounting housing C. That is, the first gear 221 and the first transmission gear 222 are disposed on a side of the mounting housing C away from the surface to be cleaned. Due to the obstruction of the mounting housing C, some dirt, dust particles, garbage, etc. can be prevented from splashing onto the upper portion of the mounting housing C. In this way, it is possible to avoid, to a certain extent, the dirt to be cleaned from contaminating the transmission components such as the first gear 221 and the first transmission gear 222 and affecting the rotation, thereby effectively improving the service life of the first output assembly 22. Furthermore, the mounting shell C may be formed with a mounting chamber, and the power mechanism 21 may be disposed in the mounting chamber, thereby preventing the power mechanism 21 from being affected by dirt, chemicals or water during the cleaning process of the cleaning equipment, thereby affecting its service life.

[0150] When the first cleaning member module 11 needs to be controlled to rise or fall, the first gear 221 can be driven to rotate by the rotation of the power mechanism 21. The meshing transmission of the first gear 221 and the first transmission gear 222 causes the first gear 221 to rotate counterclockwise if the first gear 221 rotates clockwise, and the first transmission gear 222 to rotate clockwise if the first gear 221 rotates counterclockwise. Since the lifting assembly 223 is connected to the first transmission gear 222, and the lifting assembly 223 is capable of converting the rotational power of the first transmission gear 222 into power for the output end 113 of the lifting assembly 223 to move in a straight line in the height direction (lifting direction), the lifting assembly 223 can drive the first cleaning member module 11 connected to the lifting assembly 223 to move in the height direction of the cleaning device, that is, to achieve the movement of the first cleaning member module 11 between the first position and the second position.

[0151] It should be noted that the lifting assembly 223 converts the rotational power of the first transmission gear 222 into power for linear motion in the height direction of the cleaning device. In some embodiments, the lifting assembly 223 may include a screw mechanism, the screw of the screw mechanism may be coaxially connected to the first transmission gear 222, and the nut of the screw mechanism may be directly or indirectly connected to the first cleaning member module 11. In some other embodiments, the lifting assembly 223 may include a cam mechanism, a magnetic mechanism, or a connecting rod mechanism, etc., as long as it can achieve the conversion of the rotational power of the first transmission gear 222 into power for linear motion in the height direction of the cleaning device. Those skilled in the art can carry out specific structural design as needed, and the embodiments of the present disclosure will not be described in detail.

[0152] In the above embodiment, through the meshing transmission between the first gear 221 and the first transmission gear 222, and through the lifting component 223, the first cleaning component module 11 is driven to move along the height direction of the cleaning equipment. When the cleaning equipment is in a non-cleaning state, the first cleaning component module 11 can be lifted to avoid the first cleaning component module 11 from contacting the surface to be cleaned. While simplifying the connection structure of the first output component 22, the flexibility and convenience of using the cleaning equipment are effectively improved.

[0153] In some embodiments, please refer to Figure 1a to Figure 2c When the first gear 221 is engaged with the first transmission gear 222, when the first gear 221 rotates along the first rotation direction A1, the first transmission gear 222 drives the lifting assembly 223 to descend, and the lifting assembly 223 drives the first cleaning member module 11 to descend. When the first gear 221 rotates along the second rotation direction A2, the first transmission gear 222 drives the lifting assembly 223 to ascend, and the lifting assembly 223 drives the first cleaning member module 11 to ascend. The first rotation direction A1 is opposite to the second rotation direction A2.

[0154] by Figure 2a to Figure 2c In the illustrated embodiment, the first rotation direction A1 may be represented as a clockwise rotation direction, and the second rotation direction A2 may be represented as a counterclockwise rotation direction.

[0155] When the first gear 221 rotates clockwise, the first transmission gear 222 rotates counterclockwise synchronously. At this time, the first transmission gear 222 can drive the lifting assembly 223 to descend, thereby driving the first cleaning member module 11 connected to the lifting assembly 223 to descend synchronously. Similarly, when the first gear 221 rotates counterclockwise, the first transmission gear 222 rotates clockwise synchronously. At this time, the first transmission gear 222 can drive the lifting assembly 223 to ascend, thereby driving the first cleaning member module 11 connected to the lifting assembly 223 to ascend synchronously.

[0156] In the above embodiment, the driving force generated by the power mechanism 21 can be transmitted to the lifting component 223 through the relative rotation between the first gear 221 and the first transmission gear 222, and the first cleaning component module 11 can be driven to rise and fall through the lifting component 223. In this way, the lifting and lowering movement of the first cleaning component module 11 can be achieved using a relatively simple mechanical transmission structure. Since the transmission link is relatively simple and fewer components are involved, theoretically speaking, the fewer transmission components, the lower the risk of failure. Therefore, the failure rate of the drive component 2 can be reduced to a certain extent, and the reliability of the drive component 2 can be improved.

[0157] To achieve the connection between the first output assembly 22 and the first cleaning component module 11, in some embodiments, referring to Figure 1a 、 Figure 2a and Figure 2b The first output component 22 may include a connecting portion, which is arranged on one of the lifting component 223 and the first cleaning component module 11. The other of the lifting component 223 and the first cleaning component module 11 may be provided with a first matching portion that matches the connecting portion, and the connecting portion cooperates with the first matching portion to enable the lifting component 223 to drive the first cleaning component module 11 to move up and down; the connecting portion includes at least one of the following: a limiting portion, a magnetic portion, and a clamping portion.

[0158] A connecting portion is provided between one of the lifting assembly 223 and the first cleaning member module 11, and a first mating portion is provided between the other of the lifting assembly 223 and the first cleaning member module 11. When the first transmission gear 222 drives the lifting assembly 223 to move up and down, the connecting portion and the first mating portion can be connected to each other, so that the lifting assembly 223 can drive the first cleaning member module 11 to move up and down.

[0159] Illustratively, the connecting portion may be a card slot, the first matching portion may be a snap-fitting portion adapted to the card slot, and a snap-fitting relationship may be formed between the snap-fitting portion and the card slot.

[0160] Exemplarily, the connecting portion may be a magnetic member, the first matching portion may be a magnetic body attracted to the magnetic member, and a magnetic attraction force may be formed between the magnetic body and the magnetic member.

[0161] Illustratively, the connecting portion may be a clamping claw, the first matching portion may be a clamping portion, and a clamping relationship may be formed between the clamping claw and the clamping portion.

[0162] The present disclosure does not impose any limitation on the connection relationship between the connecting portion and the first matching portion. Any connection relationship that can be formed between the two is within the scope of the present disclosure.

[0163] In the above embodiment, through the mutual cooperation between the connecting portion and the first matching portion, a stable connection relationship can be formed between the lifting component 223 and the first output component 22, and then the lifting component 223 can drive the first output component 22 to perform a lifting movement, thus effectively ensuring the stability of the connection between the lifting component and the first output component 22. In the embodiment of the present disclosure, the first cleaning component module 11 and the lifting component 223 can switch between a connected state and a separated state. In some embodiments, in combination with reference to Figure 1a 、 Figure 2a and Figure 2b The first body 11a of the first cleaning member module 11 is provided with a first connecting portion 111 connected to the output end 113 of the lifting assembly 223. The first connecting portion 111 and the output end 113 of the lifting assembly 223 can be connected to or disconnected from each other, so that the first cleaning member module 11 has a connected state and a first separated state relative to the lifting assembly 223. When the drive assembly 2 is in the first operating state, the first cleaning member module 11 is in the connected state, the first gear 221 rotates, driving the first transmission gear 222 to rotate, and the first transmission gear 222 rotates to drive the output end 113 of the lifting assembly 223 to move along the height direction of the cleaning device, thereby driving the first cleaning member module 11 to move along the height direction of the cleaning device. When the drive assembly 2 is in the second operating state, the first cleaning member module 11 is in the first separated state.

[0164] The connected state can be represented as the state when the drive assembly 2 is in the first working state and the first cleaning member module 11 is connected to the lifting assembly 223. The first separated state can be represented as the state when the drive assembly 2 is in the second working state and the first cleaning member module 11 is expanded outward to be separated from the lifting assembly 223. By designing the connected state and the first separated state between the lifting assembly 223 and the first cleaning member module 11, when the first cleaning member module 11 needs to be expanded outward, only the first cleaning member module 11 needs to be driven outward, without driving other components outside the first cleaning member module 11 (such as the lifting assembly 223) to expand outward. In this way, the structural design can be simplified to a certain extent.

[0165] In the above embodiment, when the first cleaning member module 11 is in the connected state, the meshing transmission of the first gear 221 and the first transmission gear 222 drives the lifting assembly 223 to move along the height direction of the cleaning device. As a result, when the cleaning mechanism encounters an obstacle, the first cleaning member 11b can move along the height direction of the cleaning device and drive the first cleaning member 11b to be raised or lowered relative to the surface to be cleaned, effectively ensuring the practicality and reliability of the first cleaning member module 11. When the first cleaning member module 11 is in the first separated state, it can be disengaged from the lifting assembly 223, thereby allowing the first cleaning member module 11 to move between the extended position and the retracted position, effectively ensuring the flexibility of the first cleaning member module 11.

[0166] To achieve the switching between the connection state and the first separation state between the first cleaning member module 11 and the lifting assembly 223. In some embodiments, in conjunction with reference to Figure 1a 、 Figure 1b 、 Figure 2a and Figure 2b The output end 113 of the lifting assembly 223 is provided with a bayonet 2236. The output end 113 of the lifting assembly 223 is movable between a lowered position and a raised position relative to the first gear 221. When the output end 113 of the lifting assembly 223 is in the lowered position, the first connecting portion 111 can be withdrawn from the bayonet 2236 by swinging or moving the first cleaning member module 11 along a first direction, so that the first cleaning member module 11 and the lifting assembly 223 are in a first separated state; or, the first cleaning member module 11 can be moved into the bayonet 2236 by swinging or moving the first cleaning member module 11 along a second direction, so that the first connecting portion 111 can be connected to the lifting assembly 223. The first direction is opposite to the second direction.

[0167] Exemplarily, the output end 113 of the lifting assembly 223 includes a plurality of blocking walls (e.g. Figure 1b and Figure 2a As shown in S1, S2, and S3, multiple blocking walls are connected to each other, and a gap is formed on one side for the first cleaning member module 11 to enter and exit. The gap is located on the outward movement trajectory of the first cleaning member module 11. The above-mentioned blocking walls and the gap together form the above-mentioned bayonet 2236. The shape of the bayonet 2236 is at least one of the following: U-shaped or semicircular.

[0168] The raised position may correspond to the first position of the first cleaning member module 11, and the lowered position may correspond to the second position of the first cleaning member module 11. When the lifting assembly 223 moves to the raised position, the first cleaning member module 11 may be correspondingly in the first position, and when the lifting assembly 223 moves to the lowered position, the first cleaning member module 11 may be correspondingly in the second position.

[0169] The first direction may be represented as a direction when moving from the retracted position to the expanded position, and the second direction may be represented as a direction when moving from the expanded position to the retracted position.

[0170] For example, Figure 2b As shown, the bayonet 2236 may have a groove 2236a for connecting and fixing the first connecting part 111, and the outer edge of the first connecting part 111 may have or form a protrusion that is compatible with the groove 2236a. When the lifting assembly 223 is in the lowering position, the first connecting part 111 moves horizontally to the bayonet 2236, and the protrusion of the first connecting part 111 and the groove 2236a in the bayonet 2236 can cooperate to put the first cleaning member module 11 and the lifting assembly 223 in a connected state.

[0171] In the above embodiment, the first cleaning member module 11 is connected to the lifting member 223 by snapping the first connecting portion 111 of the first cleaning member module 11 into the snap-in slot 2236 of the output end 113 of the lifting member 223. After the first connecting portion 111 is withdrawn from the snap-in slot 2236, the first cleaning member module 11 is separated from the lifting member 223. In this way, the simplicity of connection between the two, as well as the convenience of state switching and practicality of use are effectively improved.

[0172] In some embodiments, see Figure 1a 、 Figure 1b and Figure 2c The lifting assembly 223 may be a screw transmission mechanism. Specifically, the lifting assembly 223 may include a transmission rod 2231 and a lifting frame 2232. The transmission rod 2231 rotates coaxially with the first transmission gear 222, and the lifting frame 2232 is threadedly connected to the transmission rod 2231. The lifting frame 2232 includes a first portion 2232a and a second portion. The first portion 2232a is threadedly connected to the transmission rod 2231, and the second portion is used to connect to at least the first cleaning component module 11. The bayonet 2236 is provided on the second portion.

[0173] A portion of the lifting frame 2232 can be threadedly connected with the transmission rod 2231, and another portion of the lifting frame 2232 can be connected with or disconnected from the first cleaning element module 11. When the first cleaning element module 11 is in the connected state with the lifting frame 2232, the transmission rod 2231 is driven to rotate by the first transmission gear 222 coaxially connected therewith, and can drive the lifting frame 2232 threadedly connected with the transmission rod 2231 to move up and down, thereby driving the first cleaning element module 11 to move between the first position and the second position. When the first cleaning element module 11 is in the disconnected state with the lifting frame 2232, the lifting frame 2232 is disconnected from the first cleaning element module 11, and at this time the transmission rod 2231 cannot drive the first cleaning element module 11 to move along the height direction of the cleaning device through the lifting frame 2232.

[0174] The second portion is connected with the first cleaning element module 11 through the bayonet 2236, and when the transmission rod 2231 rotates, the first portion 2232a of the lifting frame 2232 can drive the second portion to move between the lowered position and the lifted position, thereby lowering or lifting the first cleaning element module 11.

[0175] In the above embodiment, the lifting frame 2232 is threadedly connected with the transmission rod 2231, the circumferential movement of the transmission rod 2231 can be converted into the lifting movement of the lifting frame 2232, thereby driving the first cleaning element module 11 to move between the first position and the second position, effectively ensuring the transmission efficiency of the first output assembly 22 and the rationality of the structural layout. Moreover, since the transmission accuracy of the screw rod mechanism is high and the transmission is stable, when the first cleaning element 11b needs to be in the non-cleaning state, the first cleaning element module 11 can be quickly and accurately lifted through the lifting frame 2232. When the first cleaning element 11b needs to be in the cleaning state, the first cleaning element module 11 can be timely and accurately lowered through the lifting frame 2232, so that the first cleaning element module 11 can be stably and accurately lifted or lowered, which is conducive to improving the user experience.

[0176] In some embodiments, referring to Figure 1b , Figure 2a , Figure 2b , the second portion includes a first sub-portion 2232b and a second sub-portion 2232c, the first sub-portion 2232b and the second sub-portion 2232c are respectively connected to opposite ends of the first portion 2232a, the cleaning mechanism further includes a second cleaning element module 5, the second cleaning element module 5 is provided with a second connecting portion 6, the first cleaning element module 11 is connected with the first sub-portion 2232b through the first connecting portion 111, and the second cleaning element module 5 is connected with the second sub-portion 2232c through the second connecting portion 6.

[0177] For example, Figure 1b , Figure 2a and Figure 2b In the left-to-right direction under the illustrated perspective, the second sub-portion 2232c, the first portion 2232a, and the first sub-portion 2232b of the lifting frame 2232 are sequentially connected, the second sub-portion 2232c is connected to the first portion 2232a by a left connecting arm, the left connecting arm extends upward from the first end of the first portion 2232a in a direction away from the first cleaning member 11b to connect with the second sub-portion 2232c. The first sub-portion 2232b is connected to the first portion 2232a by a right connecting arm, the right connecting arm extends upward from the second end of the first portion 2232a in a direction away from the first cleaning member 11b to connect with the first sub-portion 2232b. In this way, the first portion 2232a, the left connecting arm, and the right connecting arm form a recess of the lifting frame 2232. In the height direction of the cleaning device, the first gear 221 and the first transmission gear 222 and the like can be located in the recess of the lifting frame 2232, so that the structural layout is compact and reasonable, and the internal space of the cleaning device is occupied as little as possible.

[0178] The second cleaning member module 5 can also be referred to as a tool for cleaning and maintaining the surface to be cleaned. The second cleaning member module 5 can not perform the outward expansion and retraction movement when the driving assembly 2 is in the second working state.

[0179] As shown in the drawings, Figure 2c The first sub-portion 2232b and the second sub-portion 2232c can be arranged at opposite ends of the first portion 2232a through the first portion 2232a. The second sub-portion 2232c is connected to the second cleaning member module 5 through the second connecting portion 6, and the first sub-portion 2232b can be connected to the first cleaning member module 11 through the bayonet 2236. When the transmission rod 2231 rotates, the first sub-portion 2232b and the second sub-portion 2232c can be simultaneously moved between the lowered position and the lifted position through the first portion 2232a of the lifting frame 2232, so that the first cleaning member module 11 and the second cleaning member module 5 are simultaneously lowered or lifted.

[0180] For example, the first sub-portion 2232b and the second sub-portion 2232c can be symmetrically arranged at the two ends of the first portion 2232a. In this way, the first cleaning member module 11 and the second cleaning member module 5 can be as balanced as possible, and the force acting on the surface to be cleaned by the two cleaning member modules can be basically the same in the normal cleaning state, which is beneficial to improve the consistency of the cleaning effect of the two cleaning members of the cleaning device.

[0181] The driving assembly 2 of the cleaning mechanism provided by the embodiment of the present disclosure needs to be switched between the first working state and the second working state to realize the lifting and lowering of the cleaning member and the outward expansion and retraction. The implementation manner of how to realize the switching of the driving assembly 2 between the first working state and the second working state is described in further detail below.

[0182] With reference to Figure 1a and Figure 1b In some embodiments, the first gear 221 is provided with a plurality of protrusions X arranged around the outer periphery thereof. The protrusions X are in engagement with the first transmission gear 222 in both the first working state and the second working state of the driving assembly 2. That is, in the present embodiment, the first gear 221 is a full gear, and is in engagement with the first transmission gear 222 regardless of the angle at which the first gear 221 is rotated. In other words, as long as the first gear 221 is rotated, the rotational power of the first gear 221 can be transmitted to the first transmission gear 222 and the lifting assembly 223.

[0183] The protrusions X can be evenly arranged along the outer edge of the first gear 221. When the driving assembly 2 is in the first working state, the first cleaning element module 11 is moved between the first position and the second position by the lifting assembly 223 through the engagement between the protrusions X and the first transmission gear 222.

[0184] On the basis of the above-mentioned embodiments, with reference to Figure 1b and Figure 1c the first cleaning element module 11 has a connected state and a second separated state relative to the lifting assembly 223. The output end 113 of the lifting assembly 223 is provided with a lower limiting portion 1132 for limiting the first connecting portion 111 in the downward direction along the height direction of the cleaning device. When the driving assembly 2 is in the second working state, the first cleaning element 11b is in contact with the surface to be cleaned, and the lifting assembly 223 can move relative to the first connecting portion 111 along the height direction of the cleaning device under the drive of the power mechanism 21, so that the first cleaning element module 11 is in the second separated state relative to the lifting assembly 223.

[0185] With reference to Figure 1a and Figure 1b When the first gear 221 is provided with a plurality of protrusions X arranged around the outer periphery thereof, the first cleaning element module 11 can have a connected state and a second separated state. It can be understood that the connected state is the same as described above, and will not be described again here for brevity. The second separated state can be represented as the state in which the first cleaning element module 11 is moved along the height direction of the cleaning device and separated from the lifting assembly 223. That is, it can be understood that the first connecting portion 111 at the top of the first cleaning element module 11 and the bayonet 2236 of the output end 113 of the lifting assembly 223 are relatively displaced in the vertical direction. Exemplarily, the lifting assembly 223 and the first cleaning element module 11 can move downward along the height direction of the cleaning device. When the first cleaning element module 11 abuts against the surface to be cleaned, the lifting assembly 223 can continue to move downward along the vertical direction. At this time, the bayonet 2236 of the output end 113 of the lifting assembly 223 is separated from the first connecting portion 111 at the top of the first cleaning element module 11, and the first cleaning element module 11 is in the second separated state.

[0186] As described above, when the convex teeth X are provided all around the outer circumference of the first gear 221, the first gear 221 can drive the first transmission gear 222 to rotate as long as it rotates, thereby driving the lifting frame 2232 to move up and down. When the driving assembly 2 is operating in the second working state, the first cleaning member module 11 is also driven to expand or retract by the rotation of the first gear 221. Therefore, when it is necessary to drive the first cleaning member module 11 to expand or retract, the lifting frame 2232 will still be driven to move up and down by the rotation of the first gear 221. However, during the process of the first cleaning member module 11 expanding or retracting, it is not expected that the first cleaning member module 11 will move up and down. Based on this, in this embodiment, the first cleaning member module 11 is only limited to the lower position at the output end 113 of the lifting assembly 223, and the first cleaning member module 11 is not limited in the upward direction along the height direction of the cleaning device. In the disclosed embodiment, the structure can be designed so that when the first gear 221 rotates along the first rotation direction A1, the first cleaning member module 11 can be lowered and the first cleaning member module 11 can be expanded, and when the first gear 221 rotates along the second rotation direction A2, the first cleaning member module 11 can be raised and the first cleaning member module 11 can be retracted. In this way, when the drive assembly 2 is in the second working state, the first cleaning member 11b is always in contact with the surface to be cleaned, and the output end 113 of the lifting assembly 223 does not limit the first connecting portion 111 of the first cleaning member module 11. During the expansion of the first cleaning member module 11, the lifting frame 2232 can descend relative to the first connecting portion 111, and the first cleaning member 11b will not follow the descent due to its contact with the surface to be cleaned. During the retraction of the first cleaning member module 11, since a distance has been formed in the height direction between the first connection portion 111 of the first cleaning member module 11 and the output end 113 of the lifting frame 2232 during the last expansion process, the lifting frame 2232 can rise relative to the first connection portion 111 during the retraction process, and the rising stroke is the same as the descending stroke of the lifting frame 2232 relative to the first connection portion 111. In this way, during the retraction process, the lifting frame 2232 will not contact the first connection portion 111, and will not drive the first cleaning member module 11 to rise during the retraction process. In summary, during the expansion or retraction process of the first cleaning member module 11, even if the lifting assembly 223 is raised or lowered under the drive of the power mechanism 21, it will not drive the first cleaning member module 11 to rise or fall, thereby achieving the mutual independence of the lifting and lowering of the first cleaning member module 11 and the expansion and retraction processes, thereby achieving the independence of multiple functions of the cleaning mechanism.

[0187] In some other embodiments, please refer to Figure 2a 、 Figure 2b and Figure 2cWhen the first gear 221 is in a first angle range relative to the first transmission gear 222, the first gear 221 is engaged with the first transmission gear 222, so that the power of the power mechanism 21 can be transmitted to the lifting assembly 223 through the first gear 221 and the first transmission gear 222; when the first gear 221 is in a second angle range relative to the first transmission gear 222, the first gear 221 is disengaged from the first transmission gear 222.

[0188] The first gear 221 and the first transmission gear 222 can each be in an engaged state and a disengaged state. When the first gear 221 is within a first angular range relative to the first transmission gear 222, the gear region corresponding to the first angular range of the first gear 221 is opposite the first transmission gear 222. When the first gear 221 is within a second angular range relative to the first transmission gear 222, the gear region corresponding to the second angular range of the first gear 221 is opposite the first transmission gear 222. The first gear 221 may have a raised tooth X within the first angular range, and the raised tooth X can mesh with the first transmission gear 222. However, the first gear 221 may not have a raised tooth X within the second angular range, or the raised tooth X may be lower in height so as not to mesh with the first transmission gear 222. That is, when the first gear 221 rotates within the second angular range toward the first transmission gear 222, the first gear 221 is disengaged from the first transmission gear 222.

[0189] Further, see Figure 2a and Figure 2b The outer periphery of the first gear 221 may include a first region 2211 and a second region 2212. A convex tooth X is disposed within the first region 2211. The first region 2211 forms a first angular range, and the second region 2212 forms a second angular range. When the drive assembly 2 is in the first operating state, the first region 2211 faces the first transmission gear 222, causing the convex tooth X to mesh with the first transmission gear 222. When the drive assembly 2 is in the second operating state, the second region 2212 faces the first transmission gear 222, causing the first gear 221 to disengage from the first transmission gear 222. For example, the first region 2211 may have a toothed edge, and the second region 2212 may have a smooth surface.

[0190] For example, the 270° range defined along the circumference of the first gear 221 is the first angular range, while the remaining 90° range on the first gear 221 is the second angular range. When the area corresponding to the first angular range of the first gear 221 is opposite the first transmission gear 222, the first gear 221 and the first transmission gear 222 are in meshing engagement. At this time, the power mechanism 21 can transmit the driving force to the lifting frame 2232 through the first gear 221 and the first transmission gear 222, thereby driving the lifting frame 2232 to move upward and downward. When the area corresponding to the second angular range of the first gear 221 is opposite the first transmission gear 222, the first gear 221 and the first transmission gear 222 are not meshing, and the two are disengaged. The first gear 221 cannot drive the first drive gear 222 to rotate, and thus cannot drive the lifting frame 2232 and the first cleaning module 11 to move upward and downward. In this manner, the first cleaning module 11 can be expanded or retracted within this angular range.

[0191] In the above embodiment, the decoupling between the first working state and the second working state can be achieved by contacting different areas of the first transmission gear 222 and the first gear 221 or by different areas being opposite to each other, that is, when the driving component 2 is in the first working state, the first cleaning component module 11 can be raised and lowered, and when the driving component 2 is in the second working state, the first cleaning component module 11 will not be raised and lowered, which can also help to achieve the independence of the lifting and lowering of the first cleaning component module 11, and the expansion and retraction processes, and realize the independence of multiple functions of the cleaning mechanism.

[0192] It should be noted that the case where the first gear 221 is fully toothed can effectively reduce the situation where the first gear 221 and the first transmission gear 222 are not properly engaged, compared with the case where the first gear 221 is half toothed, thereby improving the reliability of the entire cleaning mechanism to a certain extent.

[0193] Please continue to refer to Figure 2a 、 Figure 2b and Figure 2cIn some embodiments, the limiting portion may include an upper limiting portion 1131 and a lower limiting portion 1132, and the upper limiting portion 1131 and the lower limiting portion 1132 are used to limit the first connecting portion 111 along the height direction of the cleaning device. When the first gear 221 is engaged with the first transmission gear 222, when the first gear 221 rotates along the first rotation direction A1, the first transmission gear 222 drives the lifting assembly 223 to descend, and the lifting assembly 223 drives the first cleaning component module 11 to descend through the upper limiting portion 1131. When the first gear 221 rotates along the second rotation direction A2, the first transmission gear 222 drives the lifting assembly 223 to ascend, and the lifting assembly 223 drives the first cleaning component module 11 to ascend through the lower limiting portion 1132, wherein the first rotation direction A1 is opposite to the second rotation direction A2.

[0194] The first rotation direction A1 and the second rotation direction A2 have been described in detail above and will not be repeated here.

[0195] The upper limit portion 1131 and the lower limit portion 1132 on the output end 113 of the lifting assembly 223 can be combined to form a groove 2236a. The first connection portion 111 of the first output assembly 22 can be movably disposed in the groove 2236a. When the first gear 221 and the first transmission gear 222 are engaged with each other, when the first gear 221 rotates clockwise, the lifting assembly 223 can synchronously descend and the upper limit portion 1131 pushes the first connection portion 111 downward, thereby achieving the descent of the first cleaning component module 11. When the first gear 221 rotates counterclockwise, the lifting assembly 223 can synchronously ascend and the lower limit portion 1132 drags the first connection portion 111 upward, thereby achieving the descent of the first cleaning component module 11.

[0196] The second cleaning module 5 in the embodiment of the present disclosure is connected to the lifting frame 2232 . Therefore, when the lifting frame 2232 drives the first cleaning module 11 to move up and down, the second cleaning module 5 also moves up and down simultaneously.

[0197] In the above embodiment, the upper limit portion 1131 of the output end 113 of the lifting assembly 223 is used to abut the first connecting portion 111 in the downward direction of the height direction of the cleaning device, and the lower limit portion 1132 of the output end 113 of the lifting assembly 223 is used to abut the first connecting portion 111 in the upward direction of the height direction of the cleaning device. The upper limit portion 1131 and the lower limit portion 1132 can realize the connection between the lifting assembly 223 and the first cleaning member module 11, thereby driving the first connecting portion 111 to rise and fall, and further driving the first cleaning member module 11 to move between the first position and the second position. By setting an upper limit portion 1131 and a lower limit portion 1132 in the direction in which the first cleaning member module 11 is expected to be lifted or lowered, a downward or upward force is directly applied in the direction in which the first cleaning member module 11 is expected to be lifted or lowered, thereby causing the first cleaning member module 11 to descend or ascend. Compared with other connection methods between the first cleaning member module 11 and the lifting component 223, such as the lifting component 223 applying a clamping force to the side wall of the first cleaning member module 11 to clamp the first cleaning member module 11 and lift it up and down, its structural design is more reasonable and simple, and the transmission efficiency is higher.

[0198] In some embodiments, in conjunction with Figure 2a and Figure 2b The second output assembly 23 includes a second gear 231, a second transmission gear 232, and a transmission assembly 233 connected to the second transmission gear 232. The second gear 231 is connected to the first gear 221, and the first gear 221 drives the second gear 231 to rotate. The second gear 231 and the second transmission gear 232 can be in meshing and disengaged states with each other. When the second gear 231 and the second transmission gear 232 are in meshing state, the drive assembly 2 is in the second operating state, and the power mechanism 21 drives the first cleaning element module 11 to move between the extended position and the retracted position through the transmission assembly 233.

[0199] The second gear 231 and the second transmission gear 232 can each have a matching toothed edge. When the second gear 231 and the second transmission gear 232 are in a meshed state, the transmission assembly 233 can drive the first cleaning member module 11 to move horizontally between the expanded position and the retracted position. When the second gear 231 and the second transmission gear 232 are disengaged, the transmission assembly 233 cannot drive the first cleaning member module 11 to move horizontally between the expanded position and the retracted position. For example, when the second gear 231 and the second transmission gear 232 are in a meshed state, when the power mechanism 21 drives the first gear 221 and the second gear 231 to rotate clockwise, the second transmission gear 232 rotates counterclockwise accordingly, and the transmission assembly 233 can drive the first cleaning member module 11 to move to the expanded position. For example, the transmission assembly 233 can drive the first cleaning member module 11 to swing in a direction away from the transmission rod 2231. When the driving mechanism drives the second gear 231 to rotate counterclockwise, the second transmission gear 232 rotates clockwise accordingly, and the transmission assembly 233 can drive the first cleaning component module 11 to move to the retracted position. For example, the transmission assembly 233 can drive the first cleaning component module 11 to swing toward the direction close to the transmission rod 2231.

[0200] The second gear 231 can be coaxially connected to the first gear 221. The second gear 231 can be completely fixed to the first gear 221. The second gear 231 and the first gear 221 can also be fixed only circumferentially and movable relative to each other axially. As long as the rotation of the first gear 221 can simultaneously drive the second gear 231 to rotate in the same direction. Since the first gear 221 is connected to the power mechanism 21, and the first gear 221 rotates synchronously with the second gear 231, the power mechanism 21 can be used to control the change in the rotation direction and rotation angle of the first gear 221 to achieve the purpose of driving the first cleaning component module 11 to switch between the lowering, raising, expanding, and retracting states.

[0201] In such Figure 1a-1bIn the illustrated embodiment, those skilled in the art can design a specific tooth profile according to actual conditions, so that when the drive assembly 2 is in the first working state, the first gear 221 is meshed with the first transmission gear 222, and the second gear 231 is disengaged from the second transmission gear 232. That is, when the first gear 221 is meshed with the first transmission gear 222, the second gear 231 is disengaged from the second transmission gear 232, and when the second gear 231 is meshed with the second transmission gear 232, the first gear 221 is disengaged from the first transmission gear 222. Therefore, the meshing state between the first gear 221 and the first transmission gear 222 and the meshing state between the second gear 231 and the second transmission gear 232 will not appear at the same time. In this way, the switching between the first working state and the second working state can be achieved by rotating the first gear 221 to different angles, and the switching of the lifting or lowering state in the first working state can be achieved by switching the rotation direction of the first gear 221 relative to the first transmission gear 222 within the first angle range, or the switching of the expansion and retraction states in the second working state can be achieved by switching the rotation direction of the first gear 221 relative to the first transmission gear 222 within the first angle range.

[0202] Exemplarily, the second gear 231 can be a half-tooth structure, and the second transmission gear 232 can be a half-tooth structure. The so-called half-tooth structure means that the gear includes a gear body, and only a portion of the circumference of the gear body is provided with convex teeth X. Since the second gear 231 can be a half-tooth structure, and the second transmission gear 232 can be a half-tooth structure, and the relative angles of the second gear 231, the second transmission gear 232, and the first gear 221 are designed, when the first gear 221 is engaged with the first transmission gear 222, the second gear 231 and the portion of the second transmission gear 232 that is not provided with the convex teeth X are opposite and cannot engage. In this way, when the first gear 221 and the first transmission gear 222 are in a meshing state, the second gear 231 and the second transmission gear 232 are in a disengaged state.

[0203] In the above embodiment, the second gear 231 and the second transmission gear 232 are in a meshing state, so that the power mechanism 21 can drive the first cleaning member module 11 to move in the horizontal direction through the transmission assembly 233. For example, Figure 15 As shown, when the cleaning device faces the edge of a wall, it can perform edge cleaning by expanding the first cleaning component module 11 outward, thereby effectively improving the cleaning ability and cleaning effect of the cleaning device on the surface to be cleaned.

[0204] In some embodiments, in conjunction with Figure 3 and Figure 9, the second gear 231 at least drives the second transmission gear 232 to rotate along the third direction A3 from the first angular position to the second angular position, and / or rotates along the fourth direction A4 from the second angular position to the first angular position, the fourth direction A4 is opposite to the third direction A3, and the second transmission gear 232 is in a disengaged state when it rotates along the fourth direction A4 to the first angular position; the second output component 23 also includes a force application component 9, the force application component 9 provides a force to the second transmission gear 232 when the second transmission gear 232 rotates along the fourth direction A4 to the first angular position, so that the second transmission gear 232 remains in the first angular position or rotates from the first angular position to the third angular position along the fourth direction A4; wherein the second transmission gear 232 rotates along the fourth direction A4, from the second angular position to the first angular position or the third angular position, to retract the cleaning component; the second transmission gear 232 rotates along the third direction A3, from the first angular position to the second angular position, to expand the cleaning component.

[0205] by Figure 3 For the embodiment shown, the third direction A3 may be represented as a direction of counterclockwise rotation, and the fourth direction A4 may be represented as a direction of clockwise rotation.

[0206] The second gear 231 can be connected to the driving member. When the second transmission gear 232 is engaged with the second gear 231, if the second gear 231 rotates clockwise under the drive of the driving member, the second transmission gear 232 will rotate counterclockwise accordingly, and the first cleaning member 11b can be driven by the second transmission gear 232 to swing outward; when the second transmission gear 232 is engaged with the second gear 231, if the second gear 231 rotates counterclockwise under the drive of the driving member, the second transmission gear 232 will rotate clockwise accordingly, and the first cleaning member 11b can be retracted under the drive of the second transmission gear 232.

[0207] The first angular position can be represented as the position of the second transmission gear 232 when the teeth of the second gear 231 cut into the teeth of the second transmission gear 232 before the second transmission gear 232 rotates counterclockwise (e.g. Figure 7b As shown, the second transmission gear 232 is in the first angular position at this time). The second angular position can be represented by the position of the second transmission gear 232 when the second transmission gear 232 rotates counterclockwise to make the first cleaning member 11b in the expanded position. At this time, the second transmission gear 232 and the second gear 231 are in meshing state. The third angular position can be represented by the position of the second transmission gear 232 after the second transmission gear 232 rotates clockwise, that is, when the second transmission gear 232 and the second gear 231 are disengaged (as shown). Figure 7eAs shown, the second transmission gear 232 is at the third angular position at this time). It can be understood that the rotation angle of the second transmission gear 232 when rotating from the second angular position to the first angular position is smaller than the rotation angle of the second transmission gear 232 when rotating from the second angular position to the third angular position.

[0208] After the second transmission gear 232 is disengaged from the second gear 231, the force application component 9 can maintain the second transmission gear 232 at the first angular position or the third angular position. In this way, when the teeth of the second transmission gear 232 intersect with the teeth of the second gear 231, a certain movement gap is formed between the teeth of the second transmission gear 232 and the teeth of the second gear 231. In this way, when the teeth of the second gear 231 enter the tooth groove between the two teeth of the second transmission gear 232, they will not collide with the teeth of the second transmission gear 232. Specifically, when the second gear 231 and the second transmission gear 232 are meshed with each other, the teeth of the second gear 231 and the teeth of the second transmission gear 232 can sequentially enter the tooth groove between the two teeth, thereby driving the outward swing movement of the first cleaning member 11b. However, due to the vibration generated by the cleaning robot when it is working or the friction generated by the first cleaning member 11b and the surface to be cleaned, the second transmission gear 232 may rotate counterclockwise by a certain angle, so that the teeth of the second transmission gear 232 and the teeth of the second gear 231 arrive at the same position at the same time when they are about to mesh, thereby causing the teeth of the second transmission gear 232 and the teeth of the second gear 231 to collide with each other, and the force application component 9 can apply a force to the second transmission gear 232 to move the second transmission gear 232 away from the second gear 231, so that the second transmission gear 232 can move away from the second gear 231. When the second gear 231 and the second transmission gear 232 are about to engage, a movement gap is formed between the teeth of the second transmission gear 232 and the teeth of the second gear 231. This movement gap can ensure that after the second transmission gear 232 is vibrated, there is a certain distance between the teeth of the second transmission gear 232 and the teeth of the second gear 231 when they are about to engage, so that the teeth of the second transmission gear 232 and the teeth of the second gear 231 can smoothly enter the tooth groove when meshing, avoiding the occurrence of tooth collision when the second transmission gear 232 and the second gear 231 are meshed again.

[0209] like Figure 7dAs shown, in the above embodiment, when the second transmission gear 232 rotates along the fourth direction A4 to the first angular position, the second gear 231 and the second transmission gear 232 are in a disengaged state. At this time, the force application component 9 can apply a force to the second transmission gear 232 to keep the second transmission gear 232 at the current position, or to make the second transmission gear 232 continue to rotate along the fourth direction A4 to the third angular position. In this way, when the gear mechanism rotates, the force component 9 can apply a force to the second transmission gear 232 away from the second gear 231, so that when the second gear 231 and the second transmission gear 232 are about to engage, there is a certain distance between the teeth of the second gear 231 and the teeth of the second transmission gear 232, that is, a movement gap is formed between the teeth of the second gear 231 and the teeth of the second transmission gear 232, or the force component 9 can further apply a force to the second transmission gear 232, so that when the second gear 231 and the second transmission gear 232 are about to engage, a movement gap with a larger distance is formed between the teeth of the second gear 231 and the teeth of the second transmission gear 232. This movement gap can avoid the occurrence of tooth collision between the second gear 231 and the second transmission gear 232, effectively improving the service life of the gears and the cleaning equipment, the reliability of the cleaning equipment, and reducing the failure rate of the cleaning equipment.

[0210] In some embodiments, in conjunction with Figure 3 and Figure 7dWhen the second transmission gear 232 rotates to the first angular position in the fourth direction A4, at least part of the force acting assembly 9 contacts the second transmission gear 232 to provide a force to the second transmission gear 232. Due to the rotation of the execution component (such as the first cleaning element 11b) driven by the second transmission gear 232, the transmission component between the second transmission gear 232 and the execution component will affect the rotation of the second transmission gear 232 due to the deformation or the gap between the components in the transmission component, or cause the second transmission gear 232 to deviate from the meshing position with the second gear 231. In addition, the vibration of the first cleaning element 11b during the operation of the cleaning robot will also cause the second transmission gear 232 to deviate from the meshing position with the second gear 231, that is, the second transmission gear 232 rotates counterclockwise by a certain angle. When the second transmission gear 232 rotates to the first angular position in the fourth direction A4, since the second transmission gear 232 is disengaged from the second gear 231, in an ideal case, the second transmission gear 232 will stop rotating and wait for the next clockwise rotation of the second gear 231, and the teeth of the second gear 231 will cut into the tooth groove of the second transmission gear 232 to complete the meshing of the second gear 231 and the second transmission gear 232. However, due to the influence of the above factors, after the second transmission gear 232 is disengaged from the second gear 231, the position will not remain unchanged, and under the influence of the above factors, the second transmission gear 232 will rotate counterclockwise by a certain angle, causing the second transmission gear 232 to collide with the second gear 231 when they mesh again. The force acting element is arranged to apply a force to the second transmission gear 232 to make the second transmission gear 232 continue to rotate clockwise to the third angular position or to make the second transmission gear 232 stably stay at the first angular position when the second transmission gear 232 is disengaged from the second gear 231, thereby avoiding the situation that the second transmission gear 232 rotates counterclockwise by a certain angle due to the vibration of the first cleaning element 11b during displacement or cleaning, the distance between the second transmission gear 232 and the second gear 231 becomes smaller, and the two gears collide when they mesh again, thereby effectively ensuring the reliability of the gear mechanism. Specifically, under the action of the force acting element, the second transmission gear 232 stably stays at the first angular position, and when the second gear 231 rotates clockwise, it can just mesh with the second transmission gear 232 without colliding. When the second transmission gear 232 rotates to the third angular position under the action of the force acting element after being disengaged from the second gear 231, and the second transmission gear 232 does not rotate counterclockwise by a certain angle due to the above factors, when the second gear 231 rotates clockwise and the teeth of the second gear 231 cut into the tooth groove of the second transmission gear 232, the distance between the teeth of the second transmission gear 232 is relatively large, and the second gear 231 and the second transmission gear 232 can smoothly mesh.When the second transmission gear 232 is disengaged from the second gear 231, the second transmission gear 232 rotates to a third angular position under the action of the force acting component. When the second transmission gear 232 rotates anticlockwise by a certain angle due to the above factors, the second gear 231 rotates clockwise. When the teeth of the second gear 231 cut into the tooth grooves of the second transmission gear 232, there is still a certain distance between the teeth of the second transmission gear 232 and the second gear 231, and the second gear 231 and the second transmission gear 232 can still be smoothly engaged.

[0211] In some embodiments, with reference to Figure 3 、 Figures 5 to 8 , the second gear 231 and the second transmission gear 232 are both sector gears.

[0212] The sector gear can avoid the second transmission gear 232 and the second gear 231 being always in the engaged state, so as to realize that the second transmission gear 232 and the second gear 231 can have the engaged state and the disengaged state. The sector gear can also reduce the fluctuations and vibrations caused by the rotation of the gear, which is beneficial to improve the stability and precision of the transmission and realize the lightweight design of the gear mechanism.

[0213] In the above embodiments, the sector gear can make the second transmission gear 232 and the second gear 231 have the engaged state and the disengaged state, which can effectively reduce the manufacturing cost of the gear and the weight of the gear mechanism while realizing the outward swinging movement and the retraction movement of the first cleaning element 11b.

[0214] In some embodiments, with reference to Figure 3 、 Figure 5 、 Figure 6 、 Figures 7a to 7f , the force acting assembly 9 includes a driving part 91 located at one end of the force acting assembly 9 close to the second transmission gear 232, used to contact the second transmission gear 232. The driving part 91 is arranged beside the second gear 231 and has a first state and a second state relative to the second gear 231. The driving part 91 in the first state is closer to the second gear 231 than the driving part 91 in the second state. As shown in Figure 7a 、 Figure 7b and Figure 7f , the driving part 91 is in the first state relative to the second gear 231. As shown in Figure 7c 、 Figure 7d and Figure 7e , the driving part 91 is in the second state relative to the second gear 231.

[0215] With reference to Figure 5 、 Figure 7a and Figure 7bWhen the second gear 231 rotates clockwise from the initial position (at the initial position, the second gear 231 and the second transmission gear 232 are not engaged with each other) to before engaging with the second transmission gear 232, the first edge tooth 2327 on the second transmission gear 232 close to the driving part 91 abuts against the driving part 91 to limit the rotation of the driving part 91, and the driving part 91 rotates clockwise and gradually approaches the second edge tooth 2317 of the second gear 231. At this time, the driving part 91 is in the first state relative to the second gear 231.

[0216] See also Figure 6 、 Figure 7d and Figure 7e When the second transmission gear 232 rotates clockwise and disengages from the second gear 231, the driving unit 91 can abut against the first edge tooth 2327 of the second transmission gear 232, which is located near the driving unit 91, and apply a force to the first edge tooth 2327, causing the second transmission gear 232 to continue rotating clockwise. At this point, due to the reaction force of the first edge tooth 2327, the driving unit 91 and the second gear 231, which are located near the driving unit 91, move away from each other. At this point, the driving unit 91 is in the second state relative to the second gear 231.

[0217] In the above embodiment, the driving part 91 of the force application component 9 can contact the second transmission gear 232 so that the second transmission gear 232 is in the first state and the second state. In the first state and the second state, a motion gap is formed between the teeth of the second transmission gear 232 and the teeth of the second gear 231 when they are engaged. The teeth of the second gear 231 can smoothly cut into the tooth grooves of the second transmission gear 232, thereby ensuring that the engagement between the second transmission gear 232 and the second gear 231 is smoother, effectively improving the smoothness and reliability of the rotation of the gear mechanism.

[0218] In some embodiments, in conjunction with Figure 3 、 Figure 5 、 Figure 6 7 , the force application component 9 is rotatably disposed beside the second gear 231 , and the force application component 9 switches between the first state and the second state by swinging relative to the second gear 231 .

[0219] In the above embodiment, the force application component 9 can be rotatably arranged next to the second gear 231 so that the force application component 9 can flexibly switch between the first state and the second state. When the gear mechanism is applied to the cleaning robot during the outward swing movement and the retraction movement, when the second gear 231 and the second transmission gear 232 are engaged, there is a certain movement gap between the teeth of the second transmission gear 232 and the teeth of the second gear 231, which avoids tooth collision and effectively ensures the reliability of the gear mechanism.

[0220] In some embodiments, in conjunction with Figure 3 、 Figure 7d and Figure 7e After the driving component 2 drives the second gear 231 to rotate and drives the second transmission gear 232 to rotate along the fourth direction A4 until the second gear 231 and the second transmission gear 232 are in a disengaged state, the driving component 2 continues to drive the force application component 9 to rotate to drive the second transmission gear 232 to rotate from the first angular position to the third angular position.

[0221] See also Figure 7d and Figure 7e When the second gear 231 and the second transmission gear 232 are engaged with each other, when the power mechanism 21 drives the second gear 231 to rotate counterclockwise, the second transmission gear 232 rotates clockwise accordingly until it disengages from the second gear 231; after the second transmission gear 232 is disengaged from the second gear 231, the power mechanism 21 can continue to apply driving force to the force component 9, and the force component 9 rotates counterclockwise around its own first rotating shaft 92 under the action of the driving force. At this time, the driving part 91 of the force component 9 abuts against the first edge tooth 2327 of the second transmission gear 232 close to the driving part 91, thereby pushing the second transmission gear 232 from the first angular position to the third angular position.

[0222] In the above embodiment, based on the action of the power mechanism 21 and the force application component 9, after the second gear 231 and the second transmission gear 232 are disengaged, the second transmission gear 232 can continue to rotate from the first angular position to the third angular position, so that when the second gear 231 and the second transmission gear 232 are engaged next time, there is sufficient movement clearance between the teeth of the second gear 231 and the teeth of the second transmission gear 232, which further avoids the situation of tooth collision when engaging again, thereby improving the stability of the gear mechanism operation.

[0223] In some embodiments, in conjunction with Figure 3 、 Figure 5 and Figure 6 The power mechanism 21 includes a driving motor 211, and the first output shaft 212 of the driving motor 211 is connected to the first gear 221; the second gear 231 is connected to the first gear 221, and the first gear 221 and the second gear 231 rotate synchronously, and the force application component 9 is rotatably connected to the first gear 221 through the first rotating shaft 92.

[0224] The drive motor 211 can be connected to the first output shaft 212, and the first gear 221 can be sleeved on the first output shaft 212. When the drive motor 211 drives the first output shaft 212 to rotate, the first gear 221 can synchronously rotate around the first output shaft 212. The rotation center of the second gear 231 can be set on the first output shaft 212, and the second gear 231 can be connected to the upper surface of the first gear 221. In this way, the second gear 231 can rotate synchronously when the first gear 221 rotates.

[0225] The first rotating shaft 92 may be formed on the upper surface of the first gear 221 , and the force application component 9 is sleeved on the first rotating shaft 92 . The force application component 9 may rotate around the first rotating shaft 92 when subjected to force.

[0226] In the above embodiment, the driving motor 211 can apply driving force to the first gear 221, and the first gear 221 drives the second gear 231 to rotate to achieve the engagement and disengagement of the second gear 231 and the second transmission gear 232, and the force application component 9 can rotate under the drive of the first gear 221 to ensure that the force application component 9 can interact with the second transmission gear 232. In this way, while ensuring the reliability of the gear mechanism, the connection structure of the gear mechanism is simplified.

[0227] In some embodiments, in conjunction with Figure 3 、 Figure 5 and Figure 6 When the driving motor 211 drives the first gear 221 and the second gear 231 to rotate along the third direction A3, when the second gear 231 rotates along the third direction A3 to drive the second transmission gear 232 to rotate along the fourth direction A4 to the first angular position, the second gear 231 and the second transmission gear 232 are in a disengaged state, and the driving motor 211 continues to drive the first gear 221 to rotate along the third direction A3 through the first output shaft 212, so as to drive the force application component 9 to continue to rotate along the third direction A3, so that the force application component 9 drives the second transmission gear 232 to rotate from the first angular position to the third angular position along the fourth direction A4.

[0228] When the drive motor 211 drives the first gear 221 and the second gear 231 to rotate counterclockwise, the second transmission gear 232 meshing with the second gear 231 can synchronously rotate clockwise until the second gear 231 and the second transmission gear 232 are disengaged. At this time, the second transmission gear 232 is in the first angular position. When the drive motor 211 continues to drive the first gear 221 to rotate counterclockwise, the force application component 9 located on the upper surface of the first gear 221 also rotates counterclockwise. In this way, the driving portion 91 of the force application component 9 can abut against the first edge tooth 2327 of the second transmission gear 232 near the driving portion 91, and push the second transmission gear 232 to continue rotating clockwise. At this time, the second transmission gear 232 can rotate from the first angular position to the third angular position.

[0229] In the above embodiment, the driving motor 211 can drive the second gear 231 and the force application component 9 to rotate along the third direction A3, so that the second transmission gear 232 can continue to rotate from the first angle position to the third angle position after being disengaged from the second gear 231, thereby ensuring that there is sufficient movement clearance between the teeth of the second gear 231 and the teeth of the second transmission gear 232 when they engage next time, so that the teeth of the second gear 231 cut into the tooth grooves of the second transmission gear 232 to avoid tooth collision.

[0230] In some embodiments, in conjunction with Figure 5 and Figure 6 The force application component 9 further includes a first elastic member 93. When the driving portion 91 is in the first state relative to the second gear 231, the first elastic member 93 has an elastic force that switches the driving portion 91 relative to the second gear 231 from the first state to the second state.

[0231] When the driving unit 91 is in the first state relative to the second gear 231, the driving unit 91 approaches the second gear 231 under the force of the second transmission gear 232. The driving unit 91 transmits the force to the first elastic member 93. The first elastic member 93 has an elastic force after being compressed, so that the driving unit 91 moves away from the second gear 231. That is, the first elastic member 93 can apply an elastic force to the driving unit 91, causing the driving unit 91 to switch from the first state to the second state. In this way, when the second gear 231 and the second transmission gear 232 are engaged, the driving unit 91 can switch to the second state. When the second gear 231 and the second transmission gear 232 are disengaged, the driving unit 91 can apply a force to the first edge tooth 2327 of the second transmission gear 232 close to the driving unit 91, so that the second transmission gear 232 maintains the first angular position.

[0232] The first elastic member 93 can be a spring, elastic rubber, etc. Any device that can undergo elastic deformation and has elastic force after being subjected to force is within the scope of this application, and this application does not impose any limitation on this.

[0233] In the above embodiment, the first elastic member 93 can switch the driving portion 91 from the first state to the second state after the driving portion 91 is subjected to the force. In this way, after the second gear 231 and the second transmission gear 232 are engaged, the driving portion 91 can be displaced to the position in the second state and continue to participate in the subsequent disengagement movement. While simplifying the structure of the force application component 9, it ensures the movement gap between the second gear 231 and the second transmission gear 232 when they are engaged, effectively improving the reliability of the gear mechanism.

[0234] In some embodiments, in conjunction with Figure 3 、 Figure 5 and Figure 6 The driving part 91 can be a one-way ratchet. Specifically, the driving part 91 has a first tooth side 911 and a second tooth side 912. Before the second gear 231 rotates along the fourth direction A4 to engage with the second transmission gear 232, the second transmission gear 232 and the second tooth side 912 are abutted against each other to put the driving part 91 in the first state; when the second transmission gear 232 is in the first angular position, the driving part 91 is in the second state relative to the second gear 231 due to the elastic force, and the first tooth side 911 and the second transmission gear 232 are abutted against each other to provide a force to the second transmission gear 232.

[0235] The first tooth side 911 is formed on a side of the driving portion 91 close to the second gear 231 , and the second tooth side 912 is formed on a side of the driving portion 91 facing away from the second gear 231 . The first tooth side 911 and the second tooth side 912 are connected.

[0236] The first tooth flank 911 can abut against the first edge tooth 2327 of the second transmission gear 232 near the driving unit 91 to provide a force to the second transmission gear 232. The second tooth flank 912 can abut against the first edge tooth 2327 of the second transmission gear 232 near the driving unit 91 to place the driving unit 91 in the first state. The ends of the first edge tooth 2327 are formed with inclined surfaces corresponding to the first tooth flank 911 and the second tooth flank 912. This allows the driving unit 91 to transmit force to the second transmission gear 232 while also allowing relative sliding between the driving unit 91 and the second transmission gear 232 when the first tooth flank 911 and the second tooth flank 912 of the driving unit 91 respectively abut against the second transmission gear 232. This ensures effective force transmission and prevents the driving unit 91 and the second transmission gear 232 from getting stuck and affecting the operation of the gear mechanism.

[0237] In the above embodiment, the first tooth side 911 and the second tooth side 912 of the driving part 91 can form a better fit with the second transmission gear 232, which simplifies the structure of the driving part 91 and meets different use requirements when the gear mechanism is in operation, thereby reducing the difficulty and cost of manufacturing the gear mechanism.

[0238] In some embodiments, referring to Figure 3 , the second gear 231 and the second transmission gear 232 are both sector gears; the second gear 231 includes a first wheel body part 2311 and a first tooth part 2316, the first wheel body part 2311 has a first arc-shaped outer edge section 2312, and the first tooth part 2316 protrudes outward from the first arc-shaped outer edge section 2312; the central angle of the first arc-shaped outer edge section 2312 can be any angle between 60°-95°, such as 60°, 65°, 70°, 75°, 80°, 85°, 90°, etc., and the central angle of the first arc-shaped outer edge section 2312 can be set according to actual conditions. The second transmission gear 232 includes a second wheel body part 2324 and a second tooth part 2326, the second wheel body part 2324 has a second arc-shaped outer edge section 2325, and the second tooth part 2326 protrudes outward from the second arc-shaped outer edge section 2325; the central angle of the second arc-shaped outer edge section 2325 can be any angle between 60°-95°, such as 60°, 65°, 70°, 75°, 80°, 85°, 90°, etc., and the central angle of the second arc-shaped outer edge section 2325 can be set according to actual conditions. In the meshing state, the second tooth part 2326 is engaged with the first tooth part 2316.

[0239] The first tooth part 2316 is arranged on the first arc-shaped outer edge section 2312 and extends away from the center of the circle to which the first arc-shaped outer edge section 2312 corresponds. Similarly, the second tooth part 2326 is arranged on the second arc-shaped outer edge section 2325 and extends away from the center of the circle to which the second arc-shaped outer edge section 2325 corresponds.

[0240] In the above embodiment, the second gear 231 and the second transmission gear 232 with the above shape can achieve meshing or disengaging between them when rotating a small angle, thereby effectively improving the efficiency of the outward swinging movement and the retraction movement of the first cleaning member 11b when applied to a cleaning robot.

[0241] In some embodiments, referring to Figure 3 , the first wheel body part 2311 has a protrusion 2315 on the side away from the first tooth part 2316, and the force acting assembly 9 has a second matching part 94 on the side away from the driving part 91; when the second gear 231 is rotated in the third direction A3 and the second transmission gear 232 is in the first angle position, the protrusion 2315 abuts against the second matching part 94 to drive the driving part 91 to rotate in the third direction A3.

[0242] The protrusion 2315 can be formed on the first wheel body 2311, and the protrusion 2315 and the first wheel body 2311 are located on two opposite sides of the first output shaft 212. When the second gear 231 rotates counterclockwise around the first output shaft 212, the protrusion 2315 and the first wheel body 2311 can rotate counterclockwise synchronously.

[0243] The driving portion 91 and the second matching portion 94 of the force application component 9 are respectively disposed on two opposite sides of the first rotating shaft 92 . The force application component 9 can rotate around the first rotating shaft 92 when subjected to force.

[0244] When the second gear 231 rotates counterclockwise and the second transmission gear 232 rotates clockwise, the second gear 231 and the second transmission gear 232 are in a disengaged state. At this time, the protrusion 2315 of the second gear 231 abuts against the second matching portion 94 of the force application component 9. After being subjected to force, the second matching portion 94 rotates counterclockwise around the first rotating shaft 92 and drives the driving portion 91 to rotate counterclockwise, thereby the driving portion 91 can drive the second transmission gear 232 to rotate from the first angular position to the third angular position.

[0245] The second engaging portion 94 may be shaped like a hook. When the protrusion 2315 rotates under the drive of the second gear 231, the hook-shaped second engaging portion 94 can quickly form an abutment with the protrusion 2315, effectively reducing the travel required for the protrusion 2315 to abut against the second engaging portion 94. This application does not impose any restrictions on the specific shape of the second engaging portion 94. Any second engaging portion 94 that can form an abutment with the protrusion 2315 of the second gear 231 is within the scope of this application.

[0246] In the above embodiment, through the abutment between the protrusion 2315 and the second matching portion 94, the driving portion 91 can drive the second transmission gear 232 to rotate from the first angular position to the third angular position, so that when the second gear 231 and the second transmission gear 232 are engaged, the teeth of the second gear 231 and the teeth of the second transmission gear 232 have sufficient movement clearance, while ensuring the rotation effect of the gear mechanism, the consumption of driving force of the driving motor 211 is saved.

[0247] In some embodiments, see Figure 3 The first wheel body 2311 is provided with an accommodating cavity 2313 , and at least a portion of the first elastic member 93 is disposed in the accommodating cavity 2313 .

[0248] The shape of the accommodating cavity 2313 can be adapted to the curvature of the first arc-shaped outer edge segment 2312. The first elastic member 93 is arranged in the accommodating cavity 2313. When the force component 9 is in the first state relative to the second gear 231, the force component 9 applies a force to the first elastic member 93. The first elastic member 93 can apply a reaction force to the force component 9 so that the force component 9 has a driving force when switching from the first state to the second state.

[0249] In the above embodiment, at least a portion of the first elastic member 93 is disposed in the accommodating cavity 2313 , which can simplify the connection structure of the second gear 231 and further simplify the structure of the gear mechanism.

[0250] In some embodiments, see Figure 3 A first boss 2314 is provided on one side of the accommodating cavity 2313 away from the driving part 91, and the other side is an opening; one end of the first elastic member 93 is connected to the first boss 2314, and the other end of the first elastic member 93 is a free end, or the other end of the first elastic member 93 is connected to the driving part 91.

[0251] An opening may be provided on the other side of the accommodating cavity 2313 so that the driving portion 91 can transfer force to the first elastic member 93 after receiving force.

[0252] One end of the first elastic member 93 can be connected to the first protrusion 2314. Alternatively, one end of the first elastic member 93 can be sleeved outside the first protrusion 2314 and connected to the side of the accommodating cavity 2313 away from the driving unit 91. The other end of the first elastic member 93 can be separated from or connected to the driving unit 91.

[0253] In the above embodiment, when the first elastic member 93 is subjected to force, since one end of the first elastic member 93 is connected to the accommodating cavity 2313, the first elastic member 93 can accumulate elastic force and release the elastic force through the other end of the first elastic member 93 to ensure that the force application component 9 has sufficient reaction force.

[0254] See also Figures 7a to 7f When the gear mechanism in the above embodiment is applied to a cleaning robot, the operation process is as follows:

[0255] When the cleaning robot needs to perform an outward swing movement, refer to Figures 7a to 7c The second gear 231 and the second transmission gear 232 are meshed with each other, and the second gear 231 rotates clockwise to drive the first cleaning member 11b to swing outward. When the cleaning robot needs to retract, refer to Figures 7d to 7f The second gear 231 rotates counterclockwise until the second gear 231 and the second transmission gear 232 are disengaged from each other, thereby driving the first cleaning member 11b to retract inward.

[0256] In the above embodiment, the reset of the driving part 91 is achieved by an elastic member. In other embodiments, the force application component 9 also includes a reset member (not shown in the figure), the reset member is a first magnetic member, and at least a part of the driving part 91 is configured as a second magnetic member. After the second gear 231 rotates in the fourth direction A4 and engages with the second transmission gear 232, the first magnetic member provides a magnetic force to the second magnetic member, so that the driving part 91 is in the second state relative to the second gear 231.

[0257] The reset member can be disposed on the upper surface of the second gear 231 and located on opposite sides of the driving portion 91 from the second gear 231. The driving portion 91 can be configured as a second magnetic member. A magnetic attraction force can be generated between the first magnetic member and the second magnetic member, so that the driving portion 91 can be displaced relative to the reset member.

[0258] When the second gear 231 rotates clockwise and engages with the second transmission gear 232, the second gear 231 can drive the driving part 91 to rotate synchronously clockwise. At this time, the driving part 91 moves to the area where the magnetic force of the reset part is located, and generates a mutual magnetic attraction force through the second magnetic part and the reset part with the first magnetic part, thereby making the driving part 91 in the second state.

[0259] The first magnetic attraction component and the second magnetic attraction component can be the north pole and south pole of a magnet, or a magnet and a ferromagnetic object, respectively. Any object that can generate a magnetic attraction between the two is within the scope of this application, and this application does not impose any restrictions on this.

[0260] In the above embodiment, the driving part 91 can be placed in the second state through the magnetic force between the first magnetic part and the second magnetic part. Therefore, when the second gear 231 and the second transmission gear 232 are disengaged, the first tooth side 911 of the driving part 91 can be against the second transmission gear 232 to provide a force to the second transmission gear 232 to ensure that the second transmission gear 232 is in the first angular position, thereby ensuring the reliability of the operation of the gear mechanism while simplifying the connection structure of the gear mechanism.

[0261] In some embodiments, see Figure 3 and Figure 4 The force application component 9 also includes a second elastic member 10. When the second transmission gear 232 rotates to the first angular position along the fourth direction A4, the second transmission gear 232 and the second elastic member 10 offset each other, so that when the second transmission gear 232 continues to rotate along the fourth direction A4, the second elastic member 10 is deformed and has a restoring force that causes the second transmission gear 232 to rotate along the third direction A3.

[0262] An accommodating cavity may be provided on the other side of the mounting member on which the second gear 231 is mounted. The second elastic member 10 may be disposed in the accommodating cavity. A side of the accommodating cavity close to the second transmission gear 232 may be open.

[0263] When the second transmission gear 232 rotates clockwise to the first angular position, the second transmission gear 232 abuts against the second elastic member 10, compressing the second elastic member 10. As the second transmission gear 232 continues to rotate clockwise, the second elastic member 10 applies a restoring force to the second transmission gear 232 to prevent the second gear 231 and the second transmission gear 232 from engaging again due to excessive clockwise rotation of the second transmission gear 232.

[0264] In the above embodiment, the second elastic member 10 can apply elastic force to the second transmission gear 232 when the second transmission gear 232 rotates clockwise at an excessive angle to correct the rotation position of the second transmission gear 232, thereby effectively improving the accuracy and reliability of the gear mechanism rotation.

[0265] In some embodiments, in conjunction with Figure 4 and Figure 7d The second transmission gear 232 has a pressing portion 2328, which extends from one end of the second wheel body 2324 away from the second tooth portion 2326. When the second transmission gear 232 rotates along the fourth direction A4 to the first angular position, the pressing portion 2328 abuts against the second elastic member 10.

[0266] The second transmission gear 232 can rotate around its own rotation axis in the third direction A3 or the fourth direction A4. When the second transmission gear 232 rotates clockwise around the rotation axis, the pressing portion 2328 can be displaced toward the direction close to the accommodating cavity. Conversely, when the second transmission gear 232 rotates counterclockwise around the rotation axis, the pressing portion 2328 can be displaced toward the direction away from the accommodating cavity.

[0267] In the above embodiment, when the second transmission gear 232 rotates clockwise to the first angular position, the pressing portion 2328 can abut against the second elastic member 10. After the second elastic member 10 is compressed, it can apply a reaction force to the second transmission gear 232 to avoid the second transmission gear 232 from rotating at an excessively large angle when rotating clockwise, thereby effectively ensuring the accuracy of the rotation of the second transmission gear 232.

[0268] In the present application, the force application component 9 is not limited to applying the force by direct contact, but can also apply the force by non-direct contact. Figure 8 and Figure 9The force-acting assembly 9 comprises a third magnetic attraction member 95, and the second transmission gear 232 is provided with a fourth magnetic attraction member 2329 matched with the third magnetic attraction member 95. When the second transmission gear 232 rotates to the first angular position in the fourth direction A4, the third magnetic attraction member 95 and the fourth magnetic attraction member 2329 are attracted to each other, so as to keep the second transmission gear 232 at the first angular position or make the second transmission gear 232 rotate to the third angular position in the fourth direction A4 from the first angular position.

[0269] The third magnetic attraction member 95 can be arranged in the accommodating cavity, and the fourth magnetic attraction member 2329 can be arranged at one end of the second wheel body 232 away from the second gear part 2326. The third magnetic attraction member 95 and the fourth magnetic attraction member 2329 can generate mutual magnetic attraction force.

[0270] When the second transmission gear 232 rotates to the first angular position in the clockwise direction, the second transmission gear 232 can be stabilized at the first angular position under the action of the magnetic attraction force through the attraction of the third magnetic attraction member 95 and the fourth magnetic attraction member 2329, so as to ensure that the second transmission gear 232 and the second gear 231 have sufficient clearance.

[0271] When the magnetic attraction force between the third magnetic attraction member 95 and the fourth magnetic attraction member 2329 is strong, and the second transmission gear 232 rotates to the first angular position in the clockwise direction, the second transmission gear 232 can continue to rotate in the clockwise direction under the action of the magnetic attraction force, so as to make the second transmission gear 232 continue to rotate from the first angular position to the third angular position, thereby further increasing the clearance between the second transmission gear 232 and the second gear 231.

[0272] The third magnetic attraction member 95 and the fourth magnetic attraction member 2329 can be the north pole and the south pole of a magnet, respectively, or a magnet and a ferromagnetic object, respectively. Any object that can generate magnetic attraction force between the two is within the scope of the present application, and the present application does not make any limitation thereon.

[0273] In the above embodiment, through the magnetic attraction between the third magnetic attraction member 95 and the fourth magnetic attraction member 2329, when the second gear 231 and the second transmission gear 232 are in a disengaged state, the second transmission gear 232 can be stabilized at the first angular position or rotated from the first angular position to the third angular position, so that when the second gear 231 and the second transmission gear 232 are engaged, the teeth of the second gear 231 and the teeth of the second transmission gear 232 can generate sufficient clearance, and the teeth of the second gear 231 can be cut into the tooth groove of the second transmission gear 232. Moreover, the magnetic attraction can effectively simplify the connection structure of the second gear 231 and the second transmission gear 232, and reduce the processing difficulty of the gear mechanism.

[0274] In some embodiments, in combination with the above description Figure 1a , Figure 1b 、 Figure 2a-2b As shown, when the first gear 221 is in a first angular range relative to the first transmission gear 222, the second gear 231 is disengaged from the second transmission gear 232; when the first gear 221 is in a second angular range relative to the first transmission gear 222, the second gear 231 is engaged with the second transmission gear 232, so that the power of the power mechanism 21 can be transmitted to the first cleaning component module 11 via the second gear 231 and the second transmission gear 232.

[0275] In this embodiment, the first angular range is related to the tooth profiles of the second gear 231 and the second transmission gear 232. It is understood that the shorter the arc length of engagement between the second gear 231 and the second transmission gear 232, the greater the first angular range of the first gear 221 relative to the first transmission gear 222, and the smaller the second angular range. Furthermore, the arc length of engagement between the second gear 231 and the second transmission gear 232 is related to the length of the path traversed by the expansion of the first cleaning module 11. The longer the path traversed by the expansion of the first cleaning module 11, the longer the arc length of engagement between the second gear 231 and the second transmission gear 232, the smaller the first angular range of the first gear 221 relative to the first transmission gear 222, and the larger the second angular range. Therefore, whether the first cleaning module 11 is in the second operating state is determined by whether the second gear 231 and the second transmission gear 232 are in meshing state. Whether the second gear 231 is engaged with the second transmission gear 232 can be determined by the angle of the first gear 221 relative to the first transmission gear 222. Since the first gear 221 is connected to the power mechanism 21, the engagement of the second gear 231 with the second transmission gear 232 can be controlled by controlling the rotation angle of the power mechanism 21, that is, the rotation angle of the power mechanism 21 is controlled to control whether the drive component 2 switches to the second working state. In the above embodiment, by rotating the first gear 221 within different angle ranges, the drive component 2 can be flexibly switched between the first working state and the second working state, which effectively improves the flexibility and convenience of the state switching of the drive component 2. The control method is relatively simple, and the second working state can be independently controlled without the need for complex control logic.

[0276] In some embodiments, Figure 1a and Figure 2a In the state shown, when the second gear 231 is engaged with the second transmission gear 232, when the first gear 221 and the second gear 231 rotate along the first rotation direction A1, the first cleaning member module 11 is driven by the second transmission gear 232 to move from the retracted position to the extended position. Figure 2bIn the state shown, when the first gear 221 and the second gear 231 rotate along the second rotation direction A2, the first cleaning member module 11 is driven by the second transmission gear 222 to move from the extended position to the retracted position. For example, the second gear 231 can be set on the upper surface of the first gear 221 and rotate coaxially with the first gear 221. Figure 2b In the state shown, the second gear 231 and the second transmission gear 232 are in meshing state, and the first cleaning component module 11 is in the outward expansion position. When the first gear 221 rotates counterclockwise within the second angle range, the second gear 231 rotates counterclockwise synchronously. When the second gear 231 rotates counterclockwise, it drives the second transmission gear 232 to rotate clockwise. During the clockwise rotation of the second transmission gear 232, it drives the first cleaning component module 11 from the outward expansion position to the retracted position. When the second gear 231 is disengaged from the second transmission gear 232, the first cleaning component module 11 is in the retracted position. Figure 2a In the state shown, the second gear 231 and the second transmission gear 232 are just separated, and the first cleaning member module 11 is in the retracted position. When the first gear 221 rotates clockwise within the second angle range, the second gear 231 rotates clockwise synchronously. At this time, the second gear 231 and the second transmission gear 232 are Figure 2a The phase separation state shown gradually moves to Figure 2b As shown in the meshing state. As can be seen from the above, by controlling the rotation direction and rotation angle of the first gear 221, the driving force generated by the power mechanism 21 can make the first cleaning member module 11 reciprocate between the retracted position and the extended position. The structure is simple and the control logic is also relatively simple to implement.

[0277] In the embodiment of the present disclosure, the transmission assembly 233 is used to transmit the power of the second transmission gear 232 to the first cleaning component module 11. The specific structure of the transmission assembly 233 can be various, and those skilled in the art can select and design it according to actual conditions.

[0278] In some embodiments, in conjunction with Figure 1a 、 Figure 1b 、 Figure 2a and Figure 2b The transmission assembly 233 includes a first rod 2331, a second rod 2332 and a third rod 2333 connected between the first rod 2331 and the second rod 2332. The third rod 2333 is pivotally connected to the first rod 2331, and the third rod 2333 is pivotally connected to the second rod 2332. The first rod 2331 is connected to the second transmission gear 232, and the second rod 2332 is connected to the first cleaning member module 11. The first rod 2331 rotates with the second transmission gear 232 and drives the second rod 2332 through the third rod 2333 to drive the first cleaning member module 11 to swing.

[0279] The first rod 2331 is connected with the second transmission gear 232, the second transmission gear 232 rotates to drive the first rod 2331 to rotate synchronously, the second rod 2332 can drive the first cleaning element module 11 to swing synchronously, one end of the third rod 2333 is pivoted with the first rod 2331, and the other end of the third rod 2333 is pivoted with the second rod 2332. When the second transmission gear 232 is forced to rotate, the first rod 2331 connected with the second transmission gear 232 rotates together, and the driving force can be transmitted to the first cleaning element module 11 through the third rod 2333 and the second rod 2332 in turn, so that the swing of the first cleaning element module 11 is realized.

[0280] In the above embodiment, the transmission assembly 233 can transmit the driving force received when the second transmission gear 232 moves circumferentially to the first cleaning element module 11, so that the swing movement of the first cleaning element module 11 is realized. In this way, the transmission assembly 233 can ensure that the driving force is efficiently transmitted to the first cleaning element module 11, avoiding the situation that the first cleaning element module 11 cannot be driven to swing due to large loss of driving force in the transmission process, and effectively improving the reliability of the second output assembly 23. In addition, since the driving force is transmitted by the linkage mechanism composed of the first rod 2331, the second rod 2332, the third rod 2333, the first cleaning element module 11 and the like, there are more rotating pairs, the power transmission of a longer link from the second transmission gear 232 to the first cleaning element module 11 can be realized, and the position arrangement of the linkage mechanism is more flexible, which is suitable for arrangement in a limited space of the cleaning equipment.

[0281] The transmission principle of the transmission assembly 233 of the above embodiment will be described below with reference to the accompanying drawings. Figure 1b and Figure 2a In the state shown, the first gear 221 rotates clockwise, the second gear 231 rotates clockwise, the second transmission gear 232 rotates counterclockwise, the first rod 2331 rotates counterclockwise, the third rod 2333 pulls the second rod 2332 to the left, and the second rod 2332 rotates counterclockwise to drive the first cleaning element module 11 to swing outward to the extended position. In the state shown, Figure 2b In the state shown, the first gear 221 rotates counterclockwise, the second gear rotates counterclockwise, the second transmission gear 232 rotates clockwise, the first rod 2331 rotates clockwise, the third rod 2333 pushes the second rod 2332 to the right, and the second rod 2332 rotates clockwise to drive the first cleaning element 11 to swing to the retracted position.

[0282] In some embodiments, reference is made to Figure 10 and Figure 11, the second rod 2332 is further provided with a second rotating shaft 2332a (corresponding to the axis M2), the second rod 2332 is sleeved outside the second rotating shaft 2332a, the second rotating shaft 2332a is eccentrically arranged with the rotating axis M1 of the first cleaning element module 11, and the first cleaning element module 11 swings around the second rotating shaft 2332a.

[0283] Exemplarily, the second rotating shaft 2332a can be arranged on the fixed gear box P2 described in the above embodiment, when the first cleaning element module 11 is forced to swing outward around the second rotating shaft 2332a, most of the body of the first cleaning element module 11 can swing out of the projection range of the shell 7 of the cleaning equipment on the surface to be cleaned, so that the first cleaning element module 11 can have a larger swing range, so that the cleaning equipment can further expand the cleaning of the entire cleaning area, and improve the overall cleaning effect.

[0284] In the above embodiment, the first cleaning element module 11 can swing around the second rotating shaft 2332a, so that the first cleaning element module 11 has a larger swing range, and the contact pressure and friction on the surface to be cleaned are more uniform, thereby producing better cleaning effect, effectively improving the cleaning efficiency and cleaning quality of the first cleaning element module 11.

[0285] In some embodiments, referring to Figure 1c , the transmission assembly 233 includes a push block 2334, the push block 2334 is sleeved outside the second rotating shaft 2332a, the push block 2334 and the second rod 2332 can synchronously rotate, the push block 2334 and the second rod 2332 are both used for laterally abutting with the first body 11a of the first cleaning element module 11. In the second working state of the driving assembly 2, one of the second rod 2332 and the push block 2334 is used for pushing the first cleaning element module 11 to apply an action force for swinging outward, and the other of the second rod 2332 and the push block 2334 is used for pushing the first cleaning element module 11 to apply an action force for swinging inward.

[0286] The push block 2334 can be used for pushing the first cleaning element module 11 to apply an action force for swinging outward, and the second rod 2332 can be used for pushing the first cleaning element module 11 to apply an action force for swinging inward.

[0287] The side wall of the first body 11a of the first cleaning member module 11 may be provided with an abutment portion adapted to the push block 2334, and the second rod 2332 may be provided on one side of the first body 11a and abut therewith. When the first cleaning member module 11 is in the process of swinging outward (i.e., the process of moving from the retracted position to the expanded position), the second rod 2332 and the push block 2334 rotate counterclockwise synchronously. At this time, the second rod 2332 can rotate about the second rotation axis 2332a to avoid the swinging path of the first cleaning member module 11, and the push block 2334 can push the abutment portion of the side wall of the first cleaning member module 11 to force the first cleaning member module 11 to swing outward. When the first cleaning member module 11 is in the process of retracting, the second rod 2332 and the push block 2334 rotate clockwise synchronously, and the second rod 2332 can abut against the side wall of the first cleaning member module 11 and push the first cleaning member module 11 to realize the retraction movement of the first cleaning member module 11.

[0288] In the above embodiment, through the cooperation between the second rod 2332 and the push block 2334, the outward swing movement and retraction movement of the first cleaning member module 11 can be realized, which effectively ensures the reliability of the reciprocating movement of the first cleaning member module 11, thereby improving the cleaning efficiency and cleaning effect of the cleaning mechanism.

[0289] In some embodiments, see Figure 1c A third elastic member 4 is provided between the push block 2334 and the second rod 2332. One end of the third elastic member 4 is connected to the second rod 2332, and the other end of the third elastic member 4 is connected to the push block 2334. The push block 2334 transmits power through the third elastic member 4, causing it to rotate synchronously with the second rod 2332. During the expansion and retraction process of the first cleaning member module 11, the push block 2334 and the second rod 2332 rotate together under the action of the third elastic member 4. When the first cleaning member module 11 is laterally squeezed or collided with an obstacle along the edge in the expanded position, the first cleaning member module 11 will overcome the elastic force of the third elastic member 4 and move toward the retracted position. During the movement, the first cleaning member module 11 and the push block 2334 move together, while the second rod 2332 can remain stationary, causing the second rod 2332 to be out of contact with the first cleaning member module 11. When the lateral squeezing or collision force of the obstacle along the edge is released, the first cleaning member module 11 returns to the outwardly expanded position under the elastic restoring force of the third elastic member 4. In this way, the third elastic member 4 can act as a lateral buffer for the first cleaning member module 11, preventing the first cleaning member module 11 from being damaged by a lateral collision, or even the driving assembly 2 that drives the first cleaning member module 11, thereby improving the service life of the cleaning mechanism.

[0290] Optionally, the third elastic member 4 may be a torsion spring that can store elastic potential energy. When the torsion spring is released, it generates a rotational force or a torsional force to drive the movement of the first cleaning member module 11. In other examples, the third elastic member 4 may be a tension spring, one end of which is connected to the push block 2334 and the other end is connected to the second rod 2332. The function of the tension spring is the same as that of the torsion spring and will not be described in detail here.

[0291] When the driving mechanism applies an outward swinging force to the first cleaning member module 11 through the push block 2334, the first cleaning member module 11 will rebound when it touches an obstacle such as a wall, and the third elastic member 4 can enable the first cleaning member module 11 to swing back to a preset angle to reach the target position (outward expanded position) after the obstacle releases the squeezing or touching of the first cleaning member module 11.

[0292] For example, when the preset swing angle of the first cleaning member module 11 is 15 degrees, after the first cleaning member module 11 hits an obstacle such as a wall and rebounds, the first cleaning member module 11 swings to 13 degrees. After the obstacle releases the squeezing or touching of the first cleaning member module 11, due to the elastic restoring force of the elastic member 4, a force can be applied to the first cleaning member module 11 to make the first cleaning member module 11 swing back to 15 degrees, thereby making the first cleaning member module 11 swing to the target position (outward expanded position).

[0293] The third elastic member 4 can also enable the first cleaning member module 11 to maintain a state of being in contact with the obstacle when moving in contact with the obstacle.

[0294] For example, the obstacle is a wavy wall, and the third elastic member 4 can keep the first cleaning member module 11 in contact with the wall while the cleaning device moves along the wall, thereby effectively reducing the cleaning blind spot and effectively ensuring the cleaning effect.

[0295] In some embodiments, please refer to Figure 1a 、 Figure 1b 、 Figure 1c The cleaning mechanism further includes a locking member 3. The first body 11a of the first cleaning member module 11 is provided with a third mating portion 112 corresponding to the locking member 3. The first cleaning member module 11 is movable between an extended position and a retracted position. When the first cleaning member module 11 is in the retracted position, the locking member 3 is engaged with the third mating portion 112. When the first cleaning member module 11 is in the extended position and when the first cleaning member module 11 is switching between the extended position and the retracted position, the locking member 3 is disengaged from the third mating portion 112.

[0296] When the driving assembly 2 drives the first cleaning component module 11 to move up and down and to move back, the locking component 3 can be clamped with the third matching part 112, so that the first cleaning component module 11 can be stably in the back position. When the driving assembly 2 drives the first cleaning component module 11 to move outward, the locking component 3 can be disengaged from the third matching part 112, so that the first cleaning component module 11 can move outward.

[0297] In the above embodiment, by clamping the locking component 3 and the third matching part 112, the first cleaning component module 11 can be prevented from shaking out of the back position due to external force in the non-outward cleaning state of the cleaning mechanism. When the cleaning mechanism is in the outward cleaning state, the locking component 3 can be disengaged from the third matching part 112, so that the first cleaning component module 11 can move flexibly, thereby further improving the reliability and practicality of the first cleaning component module 11. In some embodiments, the locking component 3 is connected with the transmission assembly 233. When the driving assembly 2 is in the second working state, the power mechanism 21 drives the transmission assembly 233 to move and drive the first cleaning component module 11 to move outward. Through the movement of the transmission assembly 233, the locking component 3 is disengaged from the third matching part 112.

[0298] In some embodiments, a fourth elastic component (not shown in the figure) can be arranged between the locking component 3 and the shell 7. The fourth elastic component is used to drive the locking component 3 to move by restoring the elastic deformation during the movement of the transmission assembly 233 to drive the first cleaning component module 11 to the back position. During the movement of the first cleaning component module 11 to the back position, the locking component 3 moves to clamp with the third matching part 112.

[0299] In the above embodiment, the locking component 3 can be connected with the transmission assembly 233. When the first cleaning component module 11 moves outward or back, the locking component 3 can be clamped or disengaged from the third matching part 112 according to the movement state of the transmission assembly 233. No additional power component is needed to drive the locking component 3 to switch between the locking state and the unlocking state. Instead, the mechanical drive of the transmission assembly 233 itself is directly used to promote the switching between the clamping state (locking state) and the disengaging state (unlocking state) of the locking component 3 and the third matching part 112, thereby effectively improving the convenience of using the second output assembly 23. Since no additional driving source is needed, the cost can be effectively reduced. During the transmission process of the transmission assembly 233, the locking component 3 is triggered, which can effectively ensure the synchronization of the unlocking of the locking component 3 and the state switching of the first cleaning component module 11, and the efficiency is high.

[0300] Please refer to Figure 1b , Figure 2a , Figure 2bAs shown in the above embodiment, the transmission assembly 233 may include a first rod 2331, a second rod 2332, and a third rod 2333 connected between the first rod 2331 and the second rod 2332. The third rod 2333 is pivotally connected to the first rod 2331, the third rod 2333 is pivotally connected to the second rod 2332, the first rod 2331 is connected to the second transmission gear 232, the second rod 2332 is connected to the first cleaning member module 11, the first rod 2331 rotates with the second transmission gear 232 and drives the second rod 2332 through the third rod 2333 to drive the first cleaning member module 11 to swing. The first end of the locking member 3 abuts against the first rod 2331 (as shown in FIG. Figure 2a As shown), and the second end of the locking member 3 is engaged with the third matching portion 112, when the driving assembly 2 is in the second working state and performs an outward swing motion along the first swinging direction, the first rod 2331 drives the first end of the locking member 3 to rotate around the rotation axis of the locking member 3, and drives the second end of the locking member 3 to move in a direction away from the third matching portion 112, so that the locking member 3 is disengaged from the third matching portion 112.

[0301] Exemplarily, the first rod 2331 may include a pushing portion that contacts the locking member 3. For example, the first rod 2331 includes a second boss T that protrudes toward the surface to be cleaned, and the first rod 2331 may contact the locking member 3 through the second boss T. The locking member 3 can rotate clockwise or counterclockwise around its own rotation axis. In the process of driving the first cleaning member module 11 to move to the outwardly expanded position, the power mechanism 21 rotates clockwise to drive the first gear 221 to rotate clockwise, the second gear 231 rotates clockwise to drive the second transmission gear 232 to rotate counterclockwise, the second transmission gear 232 rotates counterclockwise to drive the first rod 2331 to rotate counterclockwise, and the first rod 2331 rotates counterclockwise to push the locking member 3 to rotate clockwise until it disengages from the third matching portion 112. Conversely, when the first cleaning member module 11 is driven to move to the outwardly extended position, the first rod 2331 rotates clockwise, reducing the thrust of the first rod 2331 on the locking member 3. Under the elastic restoring force of the fourth elastic member, the locking member 3 can rotate counterclockwise about the rotation axis of the locking member 3, thereby switching the locking member 3 to the engaged state with the third mating portion 112. In this way, when the first cleaning member module 11 moves to the outwardly extended position, the first rod 2331 and the third mating portion 112 are synchronously disengaged, effectively improving the working efficiency and reliability of the cleaning mechanism.

[0302] In the above embodiment, the locking member 3 is driven to rotate by the first rod 2331, so that the locking member 3 and the third matching portion 112 can be engaged or disengaged, which not only ensures the reliability of the first cleaning member module 11 in different motion states, but also simplifies the mechanical connection structure of the cleaning mechanism.

[0303] In some other embodiments, the cleaning mechanism may further include a position detection device (not shown) and a control device (not shown). The position detection device is used to detect the position of the first cleaning member module 11 relative to the housing 7. The control device is connected to the position detection device and the locking member 3. The control device is used to control the locking member 3 to move so as to engage with the third mating portion 112 when the position detection device detects that the first cleaning member module 11 is in the retracted position relative to the housing 7.

[0304] In the above embodiment, when the position detection device detects that the first cleaning member module 11 is in the retracted position, the position detection device can send a control signal to the control device. After receiving the control signal, the control device controls the locking member 3 to be firmly engaged with the third matching portion 112, thereby preventing the first cleaning member module 11 from being thrown out of the casing 7 due to external force when in the retracted position, thereby effectively ensuring the reliability of the cleaning mechanism.

[0305] In order to realize the movement of the second transmission gear 232 driving the transmission assembly 233 and driving the movement of the first cleaning component module 11, in some other embodiments, refer to Figure 10 The second transmission gear 232 may include a rack 2321, and the transmission assembly 233 includes a first abutting wall 2322 and a second abutting wall 2323 that are relatively arranged on the rack 2321. At least part of the body of the first cleaning member module 11 is located between the first abutting wall 2322 and the second abutting wall 2323, so that the rack 2321 can push the first cleaning member module 11 through the first abutting wall 2322 and the second abutting wall 2323 to make the first cleaning member module 11 move between the expanded position and the retracted position.

[0306] The cooperation between the second gear 231 and the rack 2321 can convert the circumferential motion of the second gear 231 into the linear motion of the rack 2321. The rack 2321 is respectively provided with a first abutting wall 2322 and a second abutting wall 2323, and a portion of the main body of the first cleaning member module 11 can be disposed between the first abutting wall 2322 and the second abutting wall 2323.

[0307] When the second gear 231 rotates clockwise, the rack 2321 and the first abutting wall 2322 and the second abutting wall 2323 located on the rack 2321 can be driven to move away from the second gear 231, at this time, the part of the body of the first cleaning element module 11 abuts against the first abutting wall 2322, so that the first abutting wall 2322 pushes the part of the body of the first cleaning element module 11 to the expanded position. Conversely, when the second gear 231 rotates counterclockwise, the rack 2321 and the first abutting wall 2322 and the second abutting wall 2323 located on the rack 2321 can be driven to move close to the second gear 231, at this time, the part of the body of the first cleaning element module 11 abuts against the second abutting wall 2323, so that the second abutting wall 2323 pushes the part of the body of the first cleaning element module 11 to the retracted position.

[0308] In the above embodiment, through the abutting action between the first abutting wall 2322 and the second abutting wall 2323 on the rack 2321 and the first cleaning element module 11 respectively, the reciprocating motion of the first cleaning element module 11 between the expanded position and the retracted position can be realized. And the cooperation between the second gear 231 and the rack 2321 can effectively improve the transmission efficiency of the driving force and ensure that the first cleaning element module 11 can move a long distance.

[0309] In some embodiments, the transmission assembly 233 includes a transmission belt (not shown in the figure), one end of the transmission belt is connected with the second gear 231 and the other end is connected with the first cleaning element module 11, and the first cleaning element module 11 moves between the expanded position and the retracted position under the driving of the transmission belt. In this way, the movement of the first cleaning element module 11 between the expanded position and the retracted position can be realized through the transmission belt, which further simplifies the structure of the transmission assembly 233 and the difficulty and cost of processing and manufacturing. Moreover, the transmission belt has lower requirements for installation space, which is conducive to the miniaturization of the cleaning device.

[0310] In some embodiments, in combination with Figure 1a , Figure 1b , Figure 2a and Figure 2b , the cleaning mechanism further includes a second cleaning element module 5, the second cleaning element module 5 is connected with a second rotating driving element 51 for driving the second cleaning element module 5 to rotate around its own rotation axis M1, or the second cleaning element module 5 is connected with the first rotating driving element 12 and rotates around its own rotation axis M1 under the driving of the first rotating driving element 12.

[0311] In combination with Figure 2cThe first cleaning element module 11 and the second cleaning element module 5 can be respectively arranged at two opposite sides of the driving assembly 2, and the first cleaning element module 11 and the second cleaning element module 5 can respectively comprise a rotating assembly 52 and a pressure regulating assembly 53. The rotating assembly 52 is connected with the cleaning element through the pressure regulating assembly 53, and the rotating assembly 52 can drive the cleaning element to rotate clockwise or counterclockwise. The pressure regulating assembly 53 can be used to apply force to the cleaning element, so as to apply different forces to the surface to be cleaned, and can float up and down according to the concave-convex degree of the surface to be cleaned, so as to adapt to the uneven ground, thereby effectively improving the practicability and flexibility of the cleaning mechanism. Since the pressure regulating assembly 53 applies downward pressure to the surface to be cleaned, the cleaning effect of the cleaning equipment on the surface to be cleaned can be increased.

[0312] The structure of the second cleaning element module 5 can be the same as that of the first cleaning element module 11, which has been described in detail above and will not be repeated here. The second cleaning element module 5 can be driven to rotate circumferentially by the second rotating driving element 51, and the second cleaning element module 5 can be connected with the first rotating driving element 12 and driven to rotate circumferentially by the first rotating driving element 12.

[0313] In some embodiments, the second cleaning element module 5 comprises a second body and a second cleaning element arranged at the lower part of the second body. The first cleaning element module 11 and the second cleaning element module 5 clean the surface to be cleaned by rotating, and the rotation axis M1 of the first cleaning element module 11 and the second cleaning element module 5 is substantially perpendicular to the surface to be cleaned. In the above embodiment, the second cleaning element module 5 can be driven to rotate clockwise or counterclockwise by the first rotating driving element 12 or the second rotating driving element 51, so that the cleaning element module can be continuously cleaned when moving and swinging, greatly improving the cleaning efficiency of the cleaning mechanism.

[0314] In the above embodiment, the rotation axis M1 of the first cleaning element module 11 and the second cleaning element module 5 is substantially perpendicular to the surface to be cleaned, which can make the first cleaning element and the second cleaning element fully contact with the surface to be cleaned, and ensure the cleaning effect of the cleaning mechanism by rotating cleaning.

[0315] In some embodiments, when the cleaning device is in obstacle crossing mode, the first cleaning member is controlled to move along its own rotation axis M1 in a direction away from the surface to be cleaned; and / or, when the cleaning device is about to move onto the carpet or the cleaning robot is located on the carpet, the first cleaning member is controlled to move along its own rotation axis M1 in a direction away from the surface to be cleaned; and / or, when the cleaning device is docked to the cleaning base station 8, the first cleaning member is controlled to move along its own rotation axis M1 in a direction away from the surface to be cleaned; and / or, when the cleaning device moves along an obstacle, the first cleaning member module 11 is controlled to move to an outward-expanding position; and / or, when the cleaning device moves along a preset gap, the first cleaning member module 11 is controlled to move to an outward-expanding position, wherein the preset gap is an area that the cleaning device cannot enter but the first cleaning member can enter.

[0316] The cleaning device can lift or swing the first cleaning part outward according to actual use needs or scenarios. For example, when the cleaning device needs to climb over an obstacle, the first cleaning part can be lifted to avoid collision between the two. When the cleaning device needs to enter the cleaning base station 8, the first cleaning part can be lifted so that the cleaning device can enter the cleaning base station 8. When a narrow gap needs to be cleaned and the cleaning device cannot enter the narrow gap, the cleaning device can control the first cleaning part to swing outward so that the first cleaning part can enter the narrow gap. The cleaning device can be applicable to a variety of different usage scenarios, which are not listed here in this disclosure.

[0317] In the above embodiment, when the cleaning device needs to climb over an obstacle or carpet, the first cleaning member can be lifted upward along the height of the cleaning device to prevent the first cleaning member from contacting the obstacle. When the cleaning device needs to clean corners or narrow gaps formed by obstacles and the ground, the first cleaning member can swing outward to clean, effectively reducing blind spots. In this way, the cleaning device can flexibly respond to different usage needs, greatly ensuring the flexibility and practicality of the cleaning device.

[0318] In some embodiments, the cleaning device controls the position of the first cleaning member module 11 along its own rotation axis M1 according to the status information of the surface to be cleaned, so as to adjust the pressure of the first cleaning member and the second cleaning member on the surface to be cleaned, wherein the status information of the surface to be cleaned includes: the material of the surface to be cleaned, the type of dirt on the surface to be cleaned, and at least one of the degree of dirtiness of the surface to be cleaned.

[0319] The cleaning device can adjust the pressure of the first cleaning member and the second cleaning member on the surface to be cleaned according to the state information of the surface to be cleaned.

[0320] For example, when the surface to be cleaned is made of a relatively soft material such as wood, the first cleaning member and the second cleaning member can apply less pressure to the surface to be cleaned to avoid damaging the surface to be cleaned. Conversely, when the surface to be cleaned is made of a relatively hard material such as stone, the first cleaning member and the second cleaning member can apply greater pressure to the surface to be cleaned to ensure the cleaning effect. Alternatively, when there is less dirt on the surface to be cleaned, the first cleaning member and the second cleaning member can apply less pressure to the surface to be cleaned; when there is a lot of dirt on the surface to be cleaned, the first cleaning member and the second cleaning member can apply greater pressure to the surface to be cleaned.

[0321] In the above embodiment, the cleaning device can determine the pressure applied to the surface to be cleaned according to the status information of the surface to be cleaned. In this way, while ensuring the cleaning effect, the surface to be cleaned can also be protected, further improving the practicality of the cleaning device.

[0322] In some embodiments, the power mechanism 21 controlling the first cleaning member module 11 to move along its rotation axis M1 between the first position and the second position and the power mechanism 21 controlling the first cleaning member module 11 to move between the extended position and the retracted position are the same motor.

[0323] In the above embodiment, the same motor can realize the outward swing movement and retraction movement of the first cleaning component module 11 by controlling the first output component 22 and the second output component 23, effectively simplifying the mechanical connection structure of the cleaning equipment and reducing the processing and manufacturing cost, difficulty and failure rate of the cleaning equipment.

[0324] According to the second aspect of the present disclosure, Figures 11 to 13 , also provides a cleaning device, including a housing 7 and the above-mentioned cleaning mechanism, and the cleaning mechanism is arranged on the housing 7.

[0325] The cleaning mechanism can be arranged in the housing 7, and the housing 7 can effectively protect the cleaning mechanism to avoid malfunction caused by external factors.

[0326] The cleaning device disclosed herein includes the cleaning mechanism described above. Since the cleaning mechanism described above has the beneficial effects described above, the cleaning device including the cleaning mechanism described above must also have the beneficial effects described above.

[0327] In some embodiments, the housing 7 has a widest outer edge, which is the two tangents of the projection of the cleaning device on the surface to be cleaned along the normal travel direction of the cleaning device. When the drive assembly 2 is in the second working state, the first cleaning member module 11 can move to at least partially outside the widest outer edge of the housing 7.

[0328] So set up, such as Figure 15As shown, when the cleaning device is cleaning at a position close to the edge of the wall, at least part of the first cleaning component module 11 can move out of the widest outer edge of the casing 7, so that the first cleaning component module 11 can cover the position that is difficult to clean such as the corner of the wall, thereby making the cleaning device have better cleaning effect.

[0329] According to a third aspect of the present disclosure, referring to Figure 14 A cleaning base station 8 is also provided, which is used for docking the cleaning device.

[0330] For the convenience of nursing and cleaning, the cleaning base station 8 matched with the cleaning robot or the scrubber is also provided, which can be used for realizing at least one of the following functions of the cleaning device: charging, dust collecting, cleaning the cleaning component, etc. The cleaning robot or the scrubber can form a cleaning system with the cleaning base station 8.

[0331] The cleaning base station 8 can be used for storing the cleaning device, charging the cleaning device, etc., and can also realize different functions such as human-computer interaction with the user. The use of the cleaning device in cooperation with the cleaning base station 8 can better improve the function and use experience of the cleaning device.

[0332] The cleaning base station 8 of the present disclosure includes the cleaning device, which includes the cleaning mechanism as described above. Since the cleaning device has the beneficial effects as described above, the cleaning base station 8 including the cleaning device as described above also necessarily has the beneficial effects as described above.

[0333] According to a fourth aspect of the present disclosure, a cleaning system is also provided, which includes the cleaning device and the cleaning base station 8 as described above, and the cleaning device is selectively docked with the cleaning base station 8.

[0334] The cleaning system of the present disclosure includes the cleaning device, which includes the cleaning mechanism as described above. Since the cleaning device has the beneficial effects as described above, the cleaning system including the cleaning device as described above also necessarily has the beneficial effects as described above.

[0335] In the description of the present disclosure, it should be understood that the orientation words such as "front", "back", "up", "down", "left", "right", "transverse", "vertical", "vertical", "horizontal" and "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and in the absence of the opposite description, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection scope of the present disclosure; the orientation words "inner" and "outer" refer to the inner and outer relative to the contour of each component.

[0336] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof shall relate to the application as it is oriented in the drawing figures. However, it is to be understood that the application can assume various alternative orientations and, accordingly, such terms are not to be taken as limitations of the present application, except where so expressly defined by the patentee. All such terms are to be interpreted in the manner that the terms are construed in the patent to the full extent permitted by applicable law.

[0337] It is also to be understood that the terminology used herein is for the purpose of describing the particular embodiments only and is not intended to be limiting, since the scope of the exemplary embodiments of this disclosure will be limited only by the appended claims.

[0338] Notably, the terms "first", "second", and the like, used in the description and in the claims of the present disclosure herein, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of such terms is merely for distinguishing between the elements being described and not necessarily for describing a particular order or chronology between elements. Hence, these terms are used herein for the sole purpose of providing a clear and consistent reading of the present disclosure, and, therefore, of the claims.

[0339] The present disclosure has been described herein with reference to the preferred embodiments. Alterations and modifications to the preferred embodiments are possible, however, without departing from the spirit and scope of the present disclosure. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments described herein. It is, therefore, to be understood that the application is not to be limited by the preferred embodiments and examples described above, but only by the scope of the appended claims.

Claims

1. A cleaning mechanism, applied to a cleaning device, wherein the cleaning device comprises a housing, the cleaning mechanism is arranged below the housing, and the cleaning mechanism is used to clean a surface to be cleaned when the cleaning device performs a cleaning task, characterized in that: The cleaning mechanism includes an adjustable cleaning component and a driving component; The adjustable cleaning assembly includes a first cleaning member module and a first rotating driving member for driving the first cleaning member module to rotate around its own rotation axis, the first cleaning member module includes a first body and a first cleaning member provided at the lower portion of the first body; The drive assembly includes a power mechanism, a first output assembly and a second output assembly, the power mechanism is mechanically coupled to the first output assembly and the second output assembly respectively, and the drive assembly has a first working state and a second working state; In the first working state, the power of the power mechanism is transmitted to the first cleaning member module via the first output assembly, and the first cleaning member module is movable along the rotation axis of the first cleaning member module between a first position and a second position under the action of the power transmitted by the first output assembly; In the second working state, the power of the power mechanism is transmitted to the first cleaning member module via the second output component. The first cleaning member module can move between an expanded position and a retracted position under the action of the power transmitted by the second output component. When the first cleaning member module is in the expanded position, the first cleaning member cleans at the expanded position to clean the blind areas that the first cleaning member cannot reach at the retracted position.

2. The cleaning mechanism according to claim 1, characterized in that: The trajectory of the first cleaning member module moving between the expanded position and the retracted position is a curve or a straight line in the same plane.

3. The cleaning mechanism according to claim 2, characterized in that: The trajectory of the first cleaning member module moving between the expanded position and the retracted position is a curve in the same plane. When the driving assembly is in the second working state, the first cleaning member module swings around an axis parallel to the first cleaning member module's own rotation axis to swing between the expanded position and the retracted position.

4. The cleaning mechanism according to claim 2, characterized in that: The trajectory of movement between the outward-extended position and the retracted position is a straight line in the same plane. When the driving component is in the second working state, the first cleaning member module moves along the width direction of the cleaning device to move between the outward-extended position and the retracted position.

5. The cleaning mechanism according to claim 1, characterized in that: The first output assembly includes a first gear, a first transmission gear for engaging with the first gear, and a lifting assembly, wherein the first gear is connected to the power mechanism; The input end of the lifting component is connected to the first transmission gear, and the output end of the lifting component is connected to the first cleaning component module. The lifting component is used to convert the rotational power of the first transmission gear into power for the output end of the lifting component to move linearly along the height direction of the cleaning equipment.

6. The cleaning mechanism according to claim 5, characterized in that: When the first gear is engaged with the first transmission gear, when the first gear rotates along the first rotation direction, the lifting assembly is driven to descend through the first transmission gear, and the lifting assembly drives the first cleaning component module to descend; when the first gear rotates along the second rotation direction, the lifting assembly is driven to ascend through the first transmission gear, and the lifting assembly drives the first cleaning component module to ascend, wherein the first rotation direction is opposite to the second rotation direction.

7. The cleaning mechanism according to claim 6, characterized in that: The first output assembly includes a connecting portion, the connecting portion being provided on one of the lifting assembly and the first cleaning member module, and a first mating portion mating with the connecting portion being provided on the other of the lifting assembly and the first cleaning member module, the connecting portion mating with the first mating portion enabling the lifting assembly to drive the first cleaning member module to move up and down; The connecting portion includes at least one of the following: a limiting portion, a magnetic portion, and a clamping portion.

8. The cleaning mechanism according to claim 7, characterized in that: The first body of the first cleaning member module is provided with a first connecting portion connected to the output end of the lifting assembly, and the first connecting portion and the output end of the lifting assembly can be connected to or disconnected from each other, so that the first cleaning member module has a connected state and a first separated state relative to the lifting assembly. When the driving assembly is in the first working state and the first cleaning member module is in the connected state, the rotation of the first gear drives the rotation of the first transmission gear, and the rotation of the first transmission gear drives the output end of the lifting assembly to move along the height direction of the cleaning device, thereby driving the first cleaning member module to move along the height direction of the cleaning device; When the driving assembly is in the second working state, the first cleaning component module is in the first separation state.

9. The cleaning mechanism according to claim 8, characterized in that: The output end of the lifting assembly is provided with a bayonet; The output end of the lifting assembly is movable between a lowering position and a lifting position relative to the first gear. When the output end of the lifting assembly is in the lowering position, the first connecting portion can be withdrawn from the bayonet by swinging or moving the first cleaning member module along the first direction, so that the first cleaning member module and the lifting assembly are in the first separated state; or, the first connecting portion can be moved into the bayonet by swinging or moving the first cleaning member module along the second direction, so that the first cleaning member module and the lifting assembly are in the connected state, wherein the first direction is opposite to the second direction.

10. The cleaning mechanism according to claim 9, characterized in that: The lifting assembly includes a transmission rod and a lifting frame, the transmission rod rotates coaxially with the first transmission gear, and the lifting frame is threadedly connected to the transmission rod; The lifting frame includes a first part and a second part. The first part is used for threaded connection with the transmission rod, and the second part is at least used for connection with the first cleaning component module. The bayonet is provided on the second part.

11. The cleaning mechanism according to claim 10, characterized in that: The second part includes a first sub-part and a second sub-part, the first sub-part and the second sub-part are respectively connected to the opposite ends of the first part, the cleaning mechanism also includes a second cleaning member module, the second cleaning member module is provided with a second connecting part, the first cleaning member module is connected to the first sub-part through the first connecting part, and the second cleaning member module is connected to the second sub-part through the second connecting part.

12. The cleaning mechanism according to any one of claims 8 to 11, characterized in that: The first gear is provided with convex teeth arranged around its outer circumference. When the driving assembly is in the first working state and the second working state, the convex teeth are kept in meshing with the first transmission gear.

13. The cleaning mechanism according to claim 12, characterized in that: The first cleaning member module has a connected state and a second separated state relative to the lifting assembly; The output end of the lifting assembly is provided with a lower limit portion for limiting the first connecting portion in a vertical downward direction. When the driving assembly is in the second working state, the first cleaning member is in contact with the surface to be cleaned, and the lifting assembly can move relative to the first connecting portion along the height direction of the cleaning equipment under the drive of the power mechanism, so that the first cleaning member module and the lifting assembly are in the second separation state.

14. The cleaning mechanism according to any one of claims 5 to 11, characterized in that: When the first gear is in a first angular range relative to the first transmission gear, the first gear is engaged with the first transmission gear, so that the power of the power mechanism can be transmitted to the lifting assembly via the first gear and the first transmission gear; When the first gear is in a second angular range relative to the first transmission gear, the first gear is disengaged from the first transmission gear.

15. The cleaning mechanism according to claim 14, characterized in that: The outer periphery of the first gear includes a first area and a second area, a convex tooth is provided within the first area, the first area forms the first angular range, and the second area forms the second angular range. When the drive assembly is in the first working state, the first area faces the first transmission gear so that the convex tooth engages with the first transmission gear. When the drive assembly is in the second working state, the second area faces the first transmission gear so that the first gear is disengaged from the first transmission gear.

16. The cleaning mechanism according to claim 8, characterized in that The limiting portion includes an upper limiting portion and a lower limiting portion, and the upper limiting portion and the lower limiting portion are used to limit the first connecting portion along the height direction of the cleaning device; When the first gear is engaged with the first transmission gear, when the first gear rotates along the first rotation direction, the lifting assembly is driven to descend through the first transmission gear, and the lifting assembly drives the first cleaning component module to descend through the upper limit portion. When the first gear rotates along the second rotation direction, the lifting assembly is driven to ascend through the first transmission gear, and the lifting assembly drives the first cleaning component module to ascend through the lower limit portion, wherein the first rotation direction is opposite to the second rotation direction.

17. The cleaning mechanism according to any one of claims 5 to 7, characterized in that: The second output assembly includes a second gear, a second transmission gear, and a transmission assembly connected to the second transmission gear, the second gear is connected to the first gear, the first gear drives the second gear to rotate, and the second gear and the second transmission gear are in a meshing state and a disengagement state with each other; When the second gear and the second transmission gear are in the meshing state, the driving assembly is in the second working state, and the power mechanism drives the first cleaning component module to move between the extended position and the retracted position through the transmission assembly.

18. The cleaning mechanism according to claim 17, characterized in that: The second gear at least drives the second transmission gear to rotate along a third direction from a first angular position to a second angular position, and / or to rotate along a fourth direction from the second angular position to the first angular position, wherein the fourth direction is opposite to the third direction, and the second transmission gear is in a disengaged state when rotating along the fourth direction to the first angular position; The second output assembly further includes a force application assembly, wherein the force application assembly provides an application force to the second transmission gear when the second transmission gear rotates along the fourth direction to the first angular position, so as to keep the second transmission gear at the first angular position or rotate the second transmission gear from the first angular position to a third angular position along the fourth direction; Wherein, the second transmission gear rotates along the fourth direction, from the second angular position to the first angular position or the third angular position, to retract the cleaning member; the second transmission gear rotates along the third direction, from the first angular position to the second angular position, to expand the cleaning member.

19. The cleaning mechanism according to claim 18, characterized in that When the second transmission gear rotates along the fourth direction to the first angular position, at least a portion of the force application assembly contacts the second transmission gear to provide the application force to the second transmission gear.

20. The cleaning mechanism according to claim 18, wherein: The second gear and the second transmission gear are both sector gears.

21. The cleaning mechanism according to any one of claims 18 to 19, characterized in that: The force application assembly includes a driving portion, the driving portion is located at one end of the force application assembly close to the second transmission gear and is used to contact the second transmission gear; The driving portion is disposed beside the second gear and has a first state and a second state relative to the second gear. The driving portion in the first state is closer to the second gear than in the second state.

22. The cleaning mechanism according to claim 21, characterized in that The force application component is rotatably disposed beside the second gear, and the force application component switches between the first state and the second state by swinging relative to the second gear.

23. The cleaning mechanism according to claim 18, wherein: After the driving assembly drives the second gear to rotate and drives the second transmission gear to rotate along the fourth direction until the second gear and the second transmission gear are disengaged, the driving assembly continues to drive the force application assembly to rotate to drive the second transmission gear to rotate from the first angular position to the third angular position.

24. The cleaning mechanism according to claim 23, wherein: The power mechanism includes a drive motor, and a first output shaft of the drive motor is connected to the first gear; The second gear is connected to the first gear, and the first gear and the second gear rotate synchronously. The force application component is rotatably connected to the first gear through a first rotating shaft.

25. The cleaning mechanism according to claim 24, characterized in that When the driving motor drives the first gear and the second gear to rotate along the third direction, when the second gear rotates along the third direction to drive the second transmission gear to rotate along the fourth direction to the first angular position, the second gear and the second transmission gear are in a disengaged state, and the driving motor continues to drive the first gear to rotate along the third direction through the first output shaft to drive the force application component to continue to rotate along the third direction, so that the force application component drives the second transmission gear to rotate from the first angular position along the fourth direction to the third angular position.

26. The cleaning mechanism according to claim 21, wherein: The force application assembly further includes a first elastic member. When the driving portion is in the first state relative to the second gear, the first elastic member has an elastic force that causes the driving portion to switch from the first state to the second state relative to the second gear.

27. The cleaning mechanism according to claim 26, characterized in that The driving portion has a first tooth side and a second tooth side, and before the second gear rotates along the fourth direction to engage with the second transmission gear, the second transmission gear abuts against the second tooth side to place the driving portion in the first state; When the second transmission gear is at the first angular position, the driving portion is in the second state relative to the second gear due to the elastic force, and the first tooth side abuts against the second transmission gear to provide the force to the second transmission gear.

28. The cleaning mechanism according to claim 27, characterized in that The second gear and the second transmission gear are both sector gears; The second gear includes a first wheel body and a first tooth portion, the first wheel body having a first arc-shaped outer edge segment, the first tooth portion protruding outward from the first arc-shaped outer edge segment, and the first arc-shaped outer edge segment subtends a central angle of 60°-95°; The second transmission gear includes a second wheel body and a second tooth portion, the second wheel body has a second arc-shaped outer edge segment, the second tooth portion protrudes outward from the second arc-shaped outer edge segment, and the central angle opposite to the second arc-shaped outer edge segment is 60°-95°. In the meshing state, the second tooth portion is meshed with the first tooth portion.

29. The cleaning mechanism according to claim 28, characterized in that The first wheel body has a convex portion on a side away from the first tooth portion, and the force application component has a second matching portion on a side away from the driving portion. When the second gear rotates along the third direction and the second transmission gear is located at the first angular position, the convex portion and the second matching portion abut against each other to drive the driving portion to rotate along the third direction.

30. The cleaning mechanism according to claim 28, wherein The first wheel body is provided with a receiving cavity, and at least a portion of the first elastic member is disposed in the receiving cavity.

31. The cleaning mechanism according to claim 30, characterized in that The accommodating cavity is provided with a first protrusion on one side away from the driving part, and an opening on the other side; One end of the first elastic member is connected to the first protruding column, and the other end of the first elastic member is a free end, or the other end of the first elastic member is connected to the driving part.

32. The cleaning mechanism according to claim 21, wherein: The force application component also includes a reset member, which is a first magnetic member. At least a portion of the driving part is configured as a second magnetic member. After the second gear rotates in the fourth direction and engages with the second transmission gear, the first magnetic member provides a magnetic force to the second magnetic member so that the driving part is in the second state relative to the second gear.

33. The cleaning mechanism according to claim 28, wherein: The force application component also includes a second elastic member. When the second transmission gear rotates along the fourth direction to the first angular position, the second transmission gear and the second elastic member are offset from each other, so that when the second transmission gear continues to rotate along the fourth direction, the second elastic member is deformed to have a restoring force that causes the second transmission gear to rotate along the third direction.

34. The cleaning mechanism according to claim 33, wherein: The second transmission gear has a pressing portion extending from an end of the second wheel body away from the second tooth portion. When the second transmission gear rotates along the fourth direction to the first angular position, the pressing portion abuts against the second elastic member.

35. The cleaning mechanism according to claim 19, wherein: The force application component includes a third magnetic component, and the second transmission gear is provided with a fourth magnetic component that is compatible with the third magnetic component. When the second transmission gear rotates along the fourth direction to the first angular position, the third magnetic component and the fourth magnetic component are attracted to each other, so that the second transmission gear remains at the first angular position or the second transmission gear rotates from the first angular position along the fourth direction to the third angular position.

36. The cleaning mechanism according to claim 17, wherein: When the driving assembly is in the first working state, the first gear is engaged with the first transmission gear, and the second gear is disengaged from the second transmission gear; And / or, the second gear is a half-tooth structure; And / or, the second transmission gear is a half-tooth structure.

37. The cleaning mechanism according to claim 36, wherein: When the first gear is in a first angular range relative to the first transmission gear, the second gear is disengaged from the second transmission gear; When the first gear is in a second angular range relative to the first transmission gear, the second gear is engaged with the second transmission gear, so that the power of the power mechanism can be transmitted to the first cleaning component module via the second gear and the second transmission gear.

38. The cleaning mechanism according to claim 17, wherein: When the second gear is engaged with the second transmission gear, when the first gear and the second gear rotate along the first rotation direction, the first cleaning member module is driven to move from the retracted position to the outward-expanded position by the second transmission gear; when the first gear and the second gear rotate along the second rotation direction, the first cleaning member module is driven to move from the outward-expanded position to the retracted position by the second transmission gear.

39. The cleaning mechanism according to claim 17, wherein: The transmission assembly includes a first rod, a second rod and a third rod connected between the first rod and the second rod, the third rod is pivotally connected to the first rod, the third rod is pivotally connected to the second rod, the first rod is connected to the second transmission gear, the second rod is connected to the first cleaning member module, the first rod rotates with the second transmission gear and drives the second rod through the third rod to drive the first cleaning member module to swing.

40. The cleaning mechanism according to claim 39, wherein: The second rod is also provided with a second rotating shaft. The second rod is sleeved on the outside of the second rotating shaft. The second rotating shaft is eccentrically arranged with respect to the rotation axis of the first cleaning member module. The first cleaning member module swings around the second rotating shaft.

41. The cleaning mechanism according to claim 40, characterized in that The transmission assembly includes a push block, which is sleeved on the outside of the second rotating shaft. The push block and the second rod can rotate synchronously, and the push block and the second rod are both used to abut against the side of the first body of the first cleaning member module; When the driving assembly is in the second working state, one of the second rod and the push block is used to push the first cleaning member module to exert a force to make it swing outward, and the other of the second rod and the push block is used to push the first cleaning member module to exert a force to make it swing inward.

42. The cleaning mechanism according to claim 41, wherein: A third elastic member is provided between the push block and the second rod, one end of the third elastic member is connected to the second rod, and the other end of the third elastic member is connected to the push block. The push block transmits power through the third elastic member so that it rotates synchronously with the second rod.

43. The cleaning mechanism according to claim 17, wherein: The cleaning mechanism further includes a locking member, and the first body of the first cleaning member module is provided with a third matching portion corresponding to the locking member; The first cleaning member module is movable between an outwardly extended position and a retracted position. When the first cleaning member module is in the retracted position, the locking member is engaged with the third matching portion. When the first cleaning member module is in the outwardly extended position and during the switching process between the outwardly extended position and the retracted position, the locking member is disengaged from the third matching portion.

44. The cleaning mechanism according to claim 43, wherein: The locking member is connected to the transmission assembly, and when the drive assembly is in the second working state, the power mechanism drives the transmission assembly to move, thereby driving the first cleaning member module to move toward the outwardly expanded position, and the movement of the transmission assembly drives the locking member to disengage from the third engaging portion; And / or, a fourth elastic member is provided between the locking member and the housing, and the fourth elastic member is used to restore the elastic deformation and drive the locking member to move when the transmission assembly drives the first cleaning member module to move toward the retracted position. When the first cleaning member module moves to the retracted position, the locking member moves to engage with the third mating portion.

45. The cleaning mechanism according to claim 44, characterized in that The transmission assembly includes a first rod, a second rod, and a third rod connected between the first rod and the second rod, the third rod being pivotally connected to the first rod, the third rod being pivotally connected to the second rod, the first rod being connected to the second transmission gear, the second rod being connected to the first cleaning member module, the first rod rotating with the second transmission gear and driving the second rod through the third rod to drive the first cleaning member module to swing; The first end of the locking member is in contact with the first rod, and the second end of the locking member is engaged with the third matching portion. When the driving assembly is in the second working state and performs an outward swing motion along the first swinging direction, the first rod drives the first end of the locking member to rotate around the rotation axis of the locking member, and drives the second end of the locking member to move in a direction away from the third matching portion, so that the locking member is disengaged from the third matching portion.

46. ​​The cleaning mechanism according to claim 45, characterized in that The cleaning mechanism also includes: a position detection device for detecting the position of the first cleaning member module relative to the housing; A control device is connected to the position detection device and the locking member, and is used to control the locking member to move so as to engage with the third matching portion when the position detection device detects that the first cleaning member module is in the retracted position relative to the housing.

47. The cleaning mechanism according to claim 17, wherein: The second transmission gear includes a rack, and the transmission assembly includes a first abutment wall and a second abutment wall arranged opposite to each other on the rack. At least part of the body of the first cleaning member module is located between the first abutment wall and the second abutment wall, so that the rack can push the first cleaning member module through the first abutment wall and the second abutment wall to make the first cleaning member module move between the expanded position and the retracted position.

48. The cleaning mechanism according to claim 17, wherein: The transmission assembly includes a transmission belt, one end of which is connected to the second gear and the other end of which is connected to the first cleaning member module. The first cleaning member module moves between the extended position and the retracted position under the drive of the transmission belt.

49. The cleaning mechanism according to claim 1, wherein The cleaning mechanism also includes a second cleaning member module, which is connected to a second rotating driving member that drives the second cleaning member module to rotate around its own rotation axis, or the second cleaning member module is connected to the first rotating driving member and rotates around its own rotation axis under the drive of the first rotating driving member.

50. The cleaning mechanism according to claim 1, wherein The cleaning mechanism also includes a second cleaning member module, which includes a second body and a second cleaning member arranged at the lower part of the second body. The first cleaning member module and the second cleaning member module clean the surface to be cleaned by rotational cleaning, and the rotation axis of the first cleaning member module and the second cleaning member module when cleaning the surface to be cleaned is basically perpendicular to the surface to be cleaned.

51. The cleaning mechanism according to claim 1, wherein When the first cleaning member module is in the extended position, the area of ​​the first cleaning member outside the housing is larger than the area of ​​the first cleaning member outside the housing when the first cleaning member module is in the retracted position; And / or, when the first cleaning member module is in the extended position, the area outside the housing that can be cleaned by the first cleaning member is S1, and when the first cleaning member module is in the retracted position, the area outside the housing that can be cleaned by the first cleaning member is S2, and S1 is greater than S2; And / or, when the first cleaning member module is in the extended position, the distance the first cleaning member extends out of the housing is greater than the distance the first cleaning member extends out of the housing when the first cleaning member module is in the retracted position.

52. The cleaning mechanism according to claim 50, wherein: When the cleaning device is in the obstacle crossing mode, controlling the first cleaning member and the second cleaning member to move along their own rotation axes in a direction away from the surface to be cleaned; and / or, when the cleaning device is about to move onto the carpet or is located on the carpet, controlling the first cleaning member and the second cleaning member to move along their own rotation axes in a direction away from the surface to be cleaned; and / or, during the process of docking the cleaning device to the cleaning base station, controlling the first cleaning member and the second cleaning member to move along their own rotation axis in a direction away from the surface to be cleaned; and / or, while the cleaning device is moving along an obstacle, controlling the first cleaning member module to move to the outwardly expanded position; And / or, when the cleaning device moves along a preset gap, the first cleaning member module is controlled to move to the outwardly expanded position, wherein the preset gap is an area that the cleaning device cannot enter but the first cleaning member can enter.

53. The cleaning mechanism according to claim 50, wherein: The cleaning device controls the position of the first cleaning member module along its own rotation axis according to status information of the surface to be cleaned, so as to adjust the pressure of the first cleaning member and the second cleaning member on the surface to be cleaned, wherein the status information of the surface to be cleaned includes: at least one of: the material of the surface to be cleaned, the type of dirt on the surface to be cleaned, and the degree of dirtiness of the surface to be cleaned.

54. The cleaning mechanism according to claim 1, wherein The power mechanism for controlling the first cleaning member module to move along its own rotation axis between the first position and the second position and the power mechanism for controlling the first cleaning member module to move between the extended position and the retracted position are the same motor.

55. The cleaning mechanism according to claim 3, characterized in that The first body includes a movable gear box and a rotation input gear disposed in the movable gear box, and the first cleaning member is coaxially connected to the rotation input gear; The cleaning mechanism further includes a rotation transmission mechanism, the rotation transmission mechanism including a fixed gear box and a rotation transmission gear set disposed in the fixed gear box, the input gear of the rotation transmission gear set being connected to the first rotation driving member, and the output gear of the rotation transmission gear set being meshed with the rotation input gear; Wherein, under the drive of the first rotating drive member, the rotating transmission gear set transmits the rotational power of the first rotating drive member to the rotating input gear, thereby rotating the first cleaning member; during the movement of the first cleaning member module between the expanded position and the retracted position, the first rotating drive member and the fixed gear box remain stationary relative to the housing of the cleaning equipment, and the movable gear box of the first cleaning member module rotates around the fixed gear box of the rotating transmission mechanism.

56. A cleaning device, characterized in that The cleaning device comprises a housing and the cleaning mechanism according to any one of claims 1 to 55, wherein the cleaning mechanism is arranged on the housing.

57. The cleaning device according to claim 56, characterized in that The housing has a widest outer edge, which is two tangents of the projection of the cleaning device on the surface to be cleaned along the normal travel direction of the cleaning device. When the driving assembly is in the second working state, the first cleaning member module can move to at least partially outside the widest outer edge of the housing.

58. A cleaning base station, characterized in that: The cleaning base station has a docking position for docking the cleaning equipment described in any one of claims 56 to 57.

59. A cleaning system, characterized in that It comprises the cleaning device according to any one of claims 56 to 57 and the cleaning base station according to claim 58, and the cleaning device can be selectively docked with the cleaning base station.

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