Side brush and side wheel assembly and self-moving cleaning equipment

Abstract

The utility model provides a side brush and side wheel assembly and self-moving cleaning equipment. The side brush and side wheel assembly comprises a support, a first motor, a side brush, a second motor and a wheel which are assembled together. The support is used for being fixedly installed on a main machine of the self-moving cleaning equipment. The first motor is installed on the support, and the side brush is in transmission connection with the first motor so as to be driven by the first motor to rotate relative to the support. The second motor is installed on the support and spaced from the first motor, and the wheels are in transmission connection with the second motor so as to be capable of rotating relative to the support under driving of the second motor. Therefore, compared with the scheme that the side brush assembly and the side wheel assembly are independently manufactured and installed, the corresponding structure and the assembling process are simplified, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the structure of a self-moving cleaning device, in particular to a side brush and wheel assembly and a self-moving cleaning device comprising the same. BACKGROUND

[0002] An autonomous mobile device refers to an intelligent mobile device that autonomously performs a preset task, and the autonomous mobile device is capable of autonomous movement on a travel surface according to the results sensed by its sensing components. At present, the autonomous mobile device generally includes, but is not limited to, a self-moving cleaning device (such as a smart sweeper, a smart mop, a window-cleaning robot), a companion mobile robot (such as a smart electronic pet, a nanny robot), a service mobile robot (such as a reception robot in a hotel, a hotel, a meeting place), an industrial inspection intelligent device (such as a power inspection robot, a smart forklift, etc.), and a security robot (such as a smart security robot for home or business use).

[0003] For a self-moving cleaning device with a dry cleaning assembly, it is capable of performing a dry cleaning operation on a travel surface (a surface to be cleaned). Generally, the dry cleaning assembly includes a main brush assembly and a side brush assembly installed on a main machine of the self-moving cleaning device. The main brush assembly includes a main brush located at the bottom of the main machine, and the side brush assembly includes a side brush extending from the main machine, which is capable of carrying dirt at the interface between the root of an obstacle (such as a wall root) and the surface to be cleaned (such as a corner) to the main brush for cleaning.

[0004] In one scheme of the existing side brush assembly, the side brush assembly is installed on the bottom of the main machine from above the base of the main machine, and a connecting member such as a screw is used to realize the installation relationship between the side brush assembly and the base. However, the above scheme has the problems of complex disassembly process and high cost in the process of repairing and replacing the side brush assembly. In another scheme of the existing side brush assembly, the side brush assembly is installed on the bottom of the main machine from below the base of the main machine, and a connecting member such as a screw is used to realize the installation relationship between the side brush assembly and the base. However, the above scheme needs to set an additional covering component on the base for covering, which will also cause the problems of complex disassembly process and high cost. UTILITY MODEL CONTENT

[0005] Based on the problems of the prior art, one purpose of the present disclosure is to provide a side brush and wheel assembly which can simplify the related structure and installation process of the side brush assembly and reduce the cost. Another purpose of the present disclosure is to provide a self-moving cleaning device comprising the above side brush and wheel assembly.

[0006] In order to achieve the above purposes, the present disclosure adopts the following technical solutions.

[0007] The present disclosure provides a brush-wheel assembly for a self-moving cleaning device, comprising:

[0008] a bracket for fixedly mounting to a main body of the self-moving cleaning device;

[0009] a first motor mounted to the bracket;

[0010] a brush drivingly connected to the first motor so as to be rotatable relative to the bracket under the driving of the first motor;

[0011] a second motor mounted to the bracket and spaced apart from the first motor; and

[0012] a wheel drivingly connected to the second motor so as to be rotatable relative to the bracket under the driving of the second motor.

[0013] In an alternative, a first speed reducer is further included, the first motor is drivingly connected to the brush via the first speed reducer, such that torque from the first motor can be transmitted to the brush via the first speed reducer to drive the brush to rotate, and the brush is located below the bracket.

[0014] In another alternative, a second speed reducer is further included, the second motor is drivingly connected to the wheel via the second speed reducer, such that torque from the second motor can be transmitted to the wheel via the second speed reducer to drive the wheel to rotate, and the wheel at least partially protrudes below the bracket.

[0015] In another alternative, the second motor and the second speed reducer constitute a swing arm structure,

[0016] one end of the swing arm structure is rotatably connected to the bracket, such that the swing arm structure can swing about the part connected to the bracket, and

[0017] the wheel is rotatably connected to the other end of the swing arm structure, such that the wheel can rotate relative to the swing arm structure while the swing arm structure swings.

[0018] In another alternative, a tension spring is further included, one end of the tension spring is mounted to the swing arm structure, and the other end is mounted to the bracket or the main body.

[0019] In another alternative, the brush-wheel assembly further comprises a first threaded connector, the first motor and the bracket are fixed to each other by the first threaded connector; or

[0020] The first motor and the support are fixed to each other through a clamping mechanism.

[0021] In another alternative, the brush-and-wheel assembly further comprises a second threaded connecting member, and the support is fixed to the main body of the self-moving cleaning device through the first threaded connecting member and / or the second threaded connecting member.

[0022] The present disclosure also provides a self-moving cleaning device comprising the brush-and-wheel assembly according to any one of the above technical solutions.

[0023] In an alternative, the brush-and-wheel assembly further comprises a main body, and the support of the brush-and-wheel assembly is fixed to the main body, and the bottom surface of the support of the brush-and-wheel assembly is flush with the bottom surface of the main body.

[0024] In another alternative, in the front-rear direction of the self-moving cleaning device, the brush of the brush-and-wheel assembly is located at the front side of the wheel, and

[0025] The free end of the brush away from the support can extend beyond the outer contour of the main body.

[0026] By adopting the above technical solutions, the present disclosure provides a brush-and-wheel assembly and a self-moving cleaning device. The brush-and-wheel assembly is used in a self-moving cleaning device, and comprises a support, a first motor, a brush, a second motor and a wheel assembled together. The support is used to fixedly install a main body of the self-moving cleaning device. The first motor is installed on the support, and the brush is in transmission connection with the first motor to be able to rotate relative to the support under the driving of the first motor. The second motor is installed on the support and spaced apart from the first motor, and the wheel is in transmission connection with the second motor to be able to rotate relative to the support under the driving of the second motor.

[0027] In this way, the present disclosure proposes a scheme of integrating the brush assembly and the wheel assembly in one assembly, so that the brush assembly and the wheel assembly form a modular structure. Therefore, compared with the scheme of manufacturing and installing the brush assembly and the wheel assembly independently, not only the corresponding structure is simplified, but also the process of assembling the brush assembly and the wheel assembly to the main body of the self-moving cleaning device is simplified, thereby reducing the manufacturing cost and the disassembly cost. In addition, in the case of forming a modular structure of the brush assembly and the wheel assembly, it is not necessary to increase other accessories such as covering parts to assist assembly or decoration, thereby further simplifying the structure. Further, the self-moving cleaning device comprising the above brush-and-wheel assembly has the same effect. BRIEF DESCRIPTION OF DRAWINGS

[0028] FIG. 1A is a perspective schematic view showing a brush-and-wheel assembly according to an embodiment of the present disclosure.

[0029] FIG. 1B is another perspective view illustrating a brush-and-wheel assembly in FIG. 1A .

[0030] FIG. 1C is a front view illustrating a brush-and-wheel assembly in FIG. 1A .

[0031] FIG. 1D is a bottom view illustrating a brush-and-wheel assembly in FIG. 1A .

[0032] FIG. 1E is a top view illustrating a brush-and-wheel assembly in FIG. 1A .

[0033] FIG. 2A is a perspective view illustrating a partial configuration of a self-moving cleaning device according to an embodiment of the disclosure.

[0034] FIG. 2B is a bottom view illustrating a structure in FIG. 2A .

[0035] BRIEF DESCRIPTION OF REFERENCE NUMERALS

[0036] BW - brush-and-wheel assembly;

[0037] 1 - bracket;

[0038] 21 - first motor; 22 - first speed reducer;

[0039] 3 - brush;

[0040] 41 - second motor; 42 - second speed reducer;

[0041] 5 - wheel;

[0042] 6 - tension spring;

[0043] 7 - first threaded connecting member;

[0044] 8 - second threaded connecting member;

[0045] MB - main body;

[0046] D1 - front-rear direction; D2 - left-right direction. DETAILED DESCRIPTION

[0047] Embodiments of the disclosure will be described below with reference to the accompanying drawings. In order to facilitate understanding, there can be elements shown in each drawing that represent dimensions and scales, etc. that are different from actual dimensions and scales, etc. among the elements shown in the drawings.

[0048] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", "lower (lower side)" are all relative to the normal running state of the self-moving cleaning device according to the present disclosure. Specifically, the self-moving cleaning device has a forward motion direction (i.e. forward direction) in the normal running state, and the so-called "normal running state" refers to the moving state of the self-moving cleaning device when performing a task, which is distinguished from the non-normal running state such as backward movement and swing of the self-moving cleaning device in the escape mode. "Front (front side)", "rear (rear side)" refer to the front side and the rear side in the forward direction of the self-moving cleaning device according to the present disclosure when the self-moving cleaning device is in the normal running state on the cleaning surface. "Left (left side)", "right (right side)" refer to the left side and the right side when viewed from the front side in the forward direction. "Upper (upper side)", "lower (lower side)" refer to the upper side and the lower side in the height direction perpendicular to the cleaning surface when the self-moving cleaning device according to the present disclosure is in the normal running state on the cleaning surface.

[0049] In the present disclosure, the self-moving cleaning device can autonomously move according to the control scheme preset in the processing unit thereof, and the cleaning surface on which the self-moving cleaning device autonomously moves can be a plane or a curved surface with a large radius of curvature, typically for example, the floor in each room of a building. The processing unit in the present disclosure is collectively referred to, and the type, number and form of the processing unit are not limited. Specifically, the processing unit can be one or more of MCU, DSP, FPGA, GPU, or other various hardware chips, processors or software algorithms with data processing and computing capabilities. Further, the processing unit can be a unified and unique processor of the self-moving cleaning device, or a collection of multiple processing units, and the connection mode and the allocation of functions and computing power of the multiple processing units can be adjusted as needed. For example, in an alternative scheme, a first processing unit and a second processing unit can be included, and in this case, the first processing unit and the second processing unit collectively implement the various functions of the above-mentioned processing unit. In addition, the processing unit of the self-moving cleaning device according to the present disclosure can receive parameters from the sensing assembly and control the self-moving cleaning device through the preset program stored in the storage unit. In the present disclosure, the data, information and programs required by the processing unit during processing can be stored in the storage unit and obtained from the storage unit as needed, and the processing unit can store the processed data, information, etc. in the storage unit again. The storage unit can be RAM, ROM, etc., or a cloud, server, mobile terminal, etc. with storage function connected through wired / wireless network and / or device.

[0050] The brush-wheel assembly according to the embodiments of the present disclosure is described below in conjunction with the accompanying drawings of the specification.

[0051] As shown in FIG. 1A to FIG. 1E , the brush-wheel assembly BW according to the embodiment of the present disclosure comprises a bracket 1, a first motor 21, a first speed reducer 22, a brush 3, a second motor 41, a second speed reducer 42, a wheel 5, a tension spring 6, a first threaded connecting piece 7 and a second threaded connecting piece 8 assembled together. In the brush-wheel assembly BW, other components are all mounted to and supported by the bracket 1, the brush 3 is rotatable relative to the bracket 1, and the wheel 5 is rotatable relative to the bracket 1.

[0052] In the embodiment, the bracket 1 serves as a support and mounting frame for other components, and is fixedly mounted to a main body MB (see FIG. 2A and FIG. 2B ) of a self-moving cleaning device. As shown in FIG. 1A to FIG. 1E , the main body structure of the bracket 1 can be formed by integral molding from a hard material, and can have different configurations according to different application scenarios, so that the main body structure can match the layout of other components of the self-moving cleaning device for assembly. In addition, the bracket 1 can be formed with additional structures such as covers or ribs fixed to the main body structure of the bracket 1, and assembly structures such as recesses or holes, thereby improving the structural strength and protection capability of the bracket 1, while facilitating the mounting of other components of the brush-wheel assembly BW to the corresponding parts of the bracket 1.

[0053] In the embodiment, as shown in FIG. 1A to FIG. 1C , FIG. 1E , the first motor 21 is mounted to the bracket 1. The first motor 21 can include a housing, and a stator and a rotor located in the housing. The housing of the first motor 21 is fixed to the bracket 1 by a plurality of first threaded connecting pieces 7 such as screws, and the first threaded connecting pieces 7 can be operated from below the bracket 1 to perform the above-mentioned fixed assembly. Further, in the working state of the first motor 21, the rotor is rotatable relative to the stator, and the rotor shaft of the rotor can be directly drivingly connected to the input wheel of the first speed reducer 22, so that the rotor can transmit torque to the first speed reducer 22 via the rotor shaft. It can be understood that in other alternative schemes, the first motor 21 and the bracket 1 can be fixed to each other by a clamping mechanism, thereby providing different alternative schemes for fixedly mounting the brush assembly comprising the first motor 21 and the brush 3 to the bracket 1, which helps to improve the flexibility of the configuration of the brush-wheel assembly BW and is easy to disassemble and assemble.

[0054] In the embodiment, as shown in FIG. 1A , FIG. 1B , FIG. 1EAs shown, the first speed reducer 22 is mounted on the support 1. The first speed reducer 22 can be a gear speed reducer or a belt speed reducer or various types of speed reducers. As described above, the input wheel of the first speed reducer 22 is in driving connection with the rotor shaft of the first motor 21, and the input wheel transmits the torque to the output wheel after the torque is increased via at least one gear pair or a belt transmission mechanism, and the output wheel is in driving connection with the brush 3, so that the first motor 21 is in driving connection with the brush 3 via the first speed reducer 22, so that the torque from the first motor 21 can be transmitted to the brush 3 via the first speed reducer 22 to drive the brush 3 to rotate. In this way, the torque of the first motor 21 is increased by the first speed reducer 22, and then the increased torque is transmitted to the brush 3, which is conducive to ensuring that the brush 3 rotates stably and smoothly, and can enable the self-moving cleaning device provided with the brush wheel assembly BW to clean the root of the obstacle on the to-be-cleaned surface and the interface area of the to-be-cleaned surface as desired.

[0055] In the embodiment, the brush 3 is in driving connection with the first motor 21, so as to be able to rotate relative to the support 1 under the driving of the first motor 21. As shown in FIG. 1A to FIG. 1E As shown, the brush 3 is located below the support 1. The brush 3 can include a bundle of bristles, and the same bundle of bristles includes a plurality of hard bristles extending in substantially the same direction. It can be understood that the brush 3 can not only be provided with one bundle of bristles as in the embodiment, but also can be provided with a plurality of bundles of bristles as needed, and the plurality of bundles of bristles can rotate around the same rotation center line and can adopt a radial layout, so as to improve the cleaning effect.

[0056] In the embodiment, as shown in FIG. 1A to FIG. 1C and FIG. 1E As shown, the second motor 41 is mounted on the support 1 and is spaced apart from the second motor 41. The second motor 41 can include a housing, a stator and a rotor in the housing. The housing of the second motor 41 is fixed to the support 1 by other connecting members or clamping mechanisms. Further, when the second motor 41 is in a working state, the rotor can rotate relative to the stator, and the rotor shaft of the rotor can be directly in driving connection with the input wheel of the second speed reducer 42, so that the rotor can transmit the torque to the second speed reducer 42 via the rotor shaft.

[0057] In the embodiment, as shown in FIG. 1A to FIG. 1E and FIG. 1A to FIG. 1CAs shown, the second speed reducer 42 is mounted to the bracket 1. The second speed reducer 42 can be a gear speed reducer or a belt drive speed reducer or various types of speed reducers. As described above, the input wheel of the second speed reducer 42 is in driving connection with the rotor shaft of the second motor 41, and the input wheel transmits the torque to the output wheel after the torque is increased via at least one gear pair or a belt drive mechanism, and the output wheel is in driving connection with the wheel 5, so that the second motor 41 is in driving connection with the wheel 5 via the second speed reducer 42, so that the torque from the second motor 41 can be transmitted to the wheel 5 via the second speed reducer 42 to drive the wheel 5 to rotate. In this way, the torque of the second motor 41 is increased by the second speed reducer 42, and then the increased torque is transmitted to the wheel 5, which is conducive to ensuring that the wheel 5 stably and smoothly rotates, thereby driving the self-moving cleaning device with the brush-and-wheel assembly BW to autonomously move on the surface to be cleaned.

[0058] In addition, in the present embodiment, the second motor 41 and the second speed reducer 42 can constitute a swing arm structure. One end of the swing arm structure is in rotational connection with the bracket 1 via a rotating shaft, so that the swing arm structure can swing within a predetermined range about the part connected with the bracket 1. The wheel 5 is in rotational connection with the other end of the swing arm structure, so that the wheel 5 can rotate relative to the swing arm structure while the swing arm structure swings. By using the swing arm structure that can swing relative to the bracket 1, the main machine MB can be lifted relative to the wheel 5 in the state that the bracket 1 of the swing arm structure and the main machine MB of the self-moving cleaning device are fixed.

[0059] In the present embodiment, the wheel 5 is in driving connection with the second motor 41, so as to be able to rotate relative to the bracket 1 under the driving of the second motor 41. As shown, FIG. 1E As shown, the brush-and-wheel assembly BW is provided with only one wheel 5, which protrudes relative to the bottom surface of the bracket 1 in any state, so that the self-moving cleaning device including the brush-and-wheel assembly BW can be smoothly driven to travel.

[0060] In the present embodiment, as shown, FIG. 1A to FIG. 1E and FIG. 2AAs shown, the tension spring 6 is a cylindrical helical spring. One end of the tension spring 6 is mounted to the swing arm structure, and the other end is mounted to the bracket 1 or to the main body MB of the self-moving cleaning device. Thus, in the initial state of the swing arm structure, the tension spring 6 can not have spring force or only have a small spring force; in the state where the swing arm structure swings relative to the bracket 1 so that the wheel 5 further protrudes toward the lower side of the bracket 1, the tension spring 6 is stretched and elongated to have a larger spring force, and the spring force in this state serves as a restoring force for the swing arm structure to return to the initial state. In this way, in the self-moving cleaning device with the brush-and-wheel assembly BW mounted, the relative positions of the main body MB and the brush-and-wheel assembly BW can be maintained by the tension spring 6, and the tension spring 6 can also provide a spring force for restoring the state before the main body MB is raised relative to the brush-and-wheel assembly BW.

[0061] In the present embodiment, as shown in FIG. 2B The bracket 1 can be fixed to the main body MB of the self-moving cleaning device by the first threaded connecting piece 7 and the second threaded connecting pieces 8, such as screws. The above assembly can be performed by operating the first threaded connecting piece 7 and the second threaded connecting pieces 8 from the lower side of the bracket 1. Such a scheme is easy to disassemble and assemble the brush-and-wheel assembly BW. It can be understood that in other alternative schemes, the bracket 1 can be fixed to the main body MB of the self-moving cleaning device by only the first threaded connecting piece 7 or only the second threaded connecting pieces 8.

[0062] The structure of the self-moving cleaning device according to the embodiments of the present disclosure is described below.

[0063] In the present embodiment, as shown in FIG. 2A and FIG. 2B The self-moving cleaning device according to the embodiments of the present disclosure includes a main body MB and one of the above brush-and-wheel assemblies BW.

[0064] In the present embodiment, as shown in FIG. 2B and ​ The main body MB can include a bottom surface 2a and a plurality of threaded connecting pieces 2b, as shown in the bottom view ​The machine shell has a substantially circular shape as a whole. The shape of the machine shell is not limited to this, and in alternative embodiments, the machine shell can have other shapes, such as an oval shape, a D-shape, or a square shape, etc. When the self-moving cleaning device according to the embodiments of the present disclosure is in a normal operating state, the bottom surface of the machine shell is opposite to the surface to be cleaned, and the bottom surface of the machine shell is parallel to the surface to be cleaned. Here, "parallel" not only includes the case where the bottom surface of the machine shell is geometrically parallel to the surface to be cleaned, but also includes the case where the two are substantially parallel. The above "substantially" means that within a reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. In addition, other components of the self-moving cleaning device can be arranged in the machine shell, and most of the structure of the self-moving cleaning device is mounted inside the machine shell or has a connection relationship with the machine shell in order to support and protect other components. The self-moving cleaning device can also be provided with a processing unit and a sensing assembly in the machine shell. The processing unit can obtain environmental parameters through the sensing assembly, and the processing unit can control the wheels 5 to drive the entire self-moving cleaning device to move autonomously on the surface to be cleaned based on the obtained environmental parameters.

[0065] In the present embodiment, the bracket 1 of the brush-and-wheel assembly BW can be fixed to the machine shell of the main machine MB through the first threaded connecting piece 7 and the second threaded connecting piece 8, and the bottom surface of the bracket 1 of the brush-and-wheel assembly BW is flush with the bottom surface of the main machine MB. In this way, it is beneficial to install the brush-and-wheel assembly BW to the main machine MB of the self-moving cleaning device from below the main machine MB, and it is not necessary to increase other accessories such as covering parts to assist assembly or decoration. In the front-rear direction D1 of the self-moving cleaning device, the brush 3 of the brush-and-wheel assembly BW is located on the front side of the wheel 5, and the free end of the brush 3 away from the bracket 1 can extend out of the outer contour of the main machine MB. In this way, it is beneficial to bring the dirt in the area of the surface to be cleaned at the root of the obstacle to the main brush of the self-moving cleaning device for cleaning.

[0066] By adopting the above scheme, the present disclosure proposes a scheme of integrating the brush assembly and the wheel assembly in one assembly, so that the brush assembly and the wheel assembly form a modular structure. Therefore, compared with the scheme of manufacturing and installing the brush assembly and the wheel assembly independently, not only the corresponding structure is simplified, but also the process of assembling the brush assembly and the wheel assembly to the main machine MB of the self-moving cleaning device is simplified, thereby reducing the manufacturing cost and disassembly cost. In addition, in the case where the brush assembly and the wheel assembly form a modular structure, it is not necessary to increase other accessories such as covering parts to assist assembly or decoration, thereby further simplifying the structure. Further, the self-moving cleaning device comprising the above brush-and-wheel assembly BW has the same effect.

[0067] It should be understood that the above embodiments are only exemplary and are not intended to limit the present disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teaching of the present disclosure without departing from the scope of the present disclosure. For the technical solutions of the present disclosure, the following supplementary explanations are made.

[0068] i.In the above-described embodiments, the self-moving cleaning device according to the present disclosure includes only one brush-wheel assembly BW, because having only one brush 3 can achieve the desired cleaning effect, and the brush-wheel assembly without the brush assembly can be used in cooperation with the above-described brush-wheel assembly BW to drive the self-moving cleaning device. However, the present disclosure is not limited thereto, and in other optional solutions, the self-moving cleaning device can be provided with two brush-wheel assemblies BW, which are arranged at the same position in the front-rear direction D1 and are spaced apart in the left-right direction D2.

[0069] In this way, the wheels 5 of the two brush-wheel assemblies BW are both protruding relative to the bottom surface of the support 1 and the bottom surface of the main body MB, for driving the entire self-moving cleaning device to travel on the surface to be cleaned under the control of the processing unit. By rotating the wheels 5 (drive wheels) of the two brush-wheel assemblies BW in the same direction at the same speed (for example, both clockwise or both counterclockwise), the self-moving cleaning device can be driven to move linearly in the forward direction. By rotating the drive wheels of the two brush-wheel assemblies BW in different directions and / or at different speeds (for example, one clockwise and the other counterclockwise), the self-moving cleaning device can be driven to turn in a direction different from the forward direction. The self-moving cleaning device can further include a universal wheel arranged on the main body MB, and the universal wheel can support the entire self-moving cleaning device regardless of the way the drive wheels roll on the surface to be cleaned.

[0070] ii.It can be understood that the self-moving cleaning device according to the present disclosure can not only include a dry cleaning assembly (including a main brush assembly and a brush assembly), but also include a wet cleaning assembly. The wet cleaning assembly includes a cloth, a mop, or a roller as a wet cleaning element. In the front-rear direction D1, the dry cleaning element can be located in front of the wet cleaning element. Thus, when the self-moving cleaning device travels on the surface to be cleaned, the surface to be cleaned can be cleaned by the dry cleaning assembly and / or the wet cleaning assembly. In different working modes, the cleaning work performed by the self-moving cleaning device includes but is not limited to one or more of sweeping, mopping, and dusting.

Claims

1. A brush and wheel assembly for self-propelled cleaning equipment, characterized in that: The side brush and side wheel assembly comprises: A bracket, which is used to be fixedly mounted on the main body of the self-moving cleaning device; a first motor mounted on the bracket; a side brush, which is in driving connection with the first motor so as to be rotatable relative to the bracket under the drive of the first motor; a second motor mounted on the bracket and spaced apart from the first motor; and The wheel is in driving connection with the second motor so as to be rotatable relative to the bracket under the driving of the second motor.

2. The side brush and side wheel assembly according to claim 1, characterized in that: It also includes a first reducer, and the first motor is connected to the side brush via the first reducer, so that the torque from the first motor can be transmitted to the side brush via the first reducer to drive the side brush to rotate, and the side brush is located below the bracket.

3. The side brush and side wheel assembly according to claim 1, characterized in that: It also includes a second reducer, and the second motor is connected to the wheel via the second reducer, so that the torque from the second motor can be transmitted to the wheel via the second reducer to drive the wheel to rotate, and the wheel at least partially protrudes below the bracket.

4. The side brush and side wheel assembly according to claim 3, characterized in that: The second motor and the second reducer form a swing arm structure. One end of the swing arm structure is rotatably connected to the bracket, so that the swing arm structure can swing around the portion connected to the bracket, and The wheel is rotatably connected to the other end of the swing arm structure, so that the wheel can swing with the swing arm structure and can also rotate relative to the swing arm structure.

5. The side brush and side wheel assembly according to claim 4, characterized in that: It also includes a tension spring, one end of which is installed on the swing arm structure, and the other end is installed on the bracket or used to be installed on the host.

6. The side brush and side wheel assembly according to any one of claims 1 to 5, characterized in that: The side brush and side wheel assembly further includes a first threaded connector, and the first motor and the bracket are fixed to each other via the first threaded connector; or The first motor and the bracket are fixed to each other through a clamping mechanism.

7. The side brush and side wheel assembly according to claim 6, characterized in that: The side brush and side wheel assembly further includes a second threaded connector, and the bracket can be fixed to the main body of the self-moving cleaning device through the first threaded connector and / or the second threaded connector.

8. A self-moving cleaning device, characterized in that: The self-moving cleaning device comprises the brush and wheel assembly according to any one of claims 1 to 7.

9. The self-moving cleaning device according to claim 8, characterized in that It also includes a main body, the bracket of the side brush and side wheel assembly is fixed to the main body, and the bottom surface of the bracket of the side brush and side wheel assembly is flush with the bottom surface of the main body.

10. The self-moving cleaning device according to claim 9, characterized in that In the front-to-back direction of the self-moving cleaning device, the side brush of the side brush and side wheel assembly is located in front of the wheel, and The free end of the side brush away from the bracket can extend out of the outer contour of the main unit.

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