Edge sweeping outward swinging assembly and cleaning robot

Abstract

The utility model relates to the technical field of cleaning equipment, and provides a side sweeping outward swinging assembly and a cleaning robot. The side sweeping outward swinging assembly comprises a fixing piece, a swinging piece, a driving piece and an elastic piece, the swinging piece is movably connected with the fixing piece, a cleaning piece rotating around a shaft is installed on the swinging piece, the swinging piece is provided with an outward swinging position and an inward retracting position relative to the fixing piece, and the driving piece is connected to the fixing piece and used for applying driving force to the swinging piece. The elastic piece is connected between the fixed piece and the swinging piece and swings along with the swinging piece; the driving piece drives the swinging piece to swing towards the outward swinging position, and the elastic force of the elastic piece enables the swinging piece to be kept at the outward swinging position; the driving piece drives the swinging piece to swing towards the inward-retracting position, and the elastic force of the elastic piece enables the swinging piece to be kept at the inward-retracting position. Therefore, switching and position keeping of the swinging part between the outward swinging position and the inward retracting position are achieved, the elastic part is used for providing keeping force, and the situation that the driving part is in a load state for a long time, and consequently the service life is affected is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a side-sweeping outward swinging assembly and a cleaning robot. BACKGROUND

[0002] A cleaning robot is a kind of intelligent household cleaning appliance, which can automatically complete sweeping, dusting and mopping on the ground by means of certain artificial intelligence. However, most cleaning robots cannot clean dust in the corners of walls and obstacles, resulting in cleaning dead angles.

[0003] In order to solve the problem of cleaning dead angles, the side-sweeping brush of the cleaning robot is set to a structure that can swing outward in the related art. When it is necessary to clean dust in the corners of walls and obstacles, the side-sweeping brush is swung outward to an area outside the shape of the machine, the cleaning area is increased, and the substances to be cleaned in the corners are swept to an open space, so that the machine can easily clean when it is working normally, and a better cleaning effect is achieved.

[0004] However, in some solutions in the related art, the friction damping force of a friction wheel is used as the retaining force for the outward swinging of the side brush. This friction damping force itself has a certain friction loss, and the friction damping force becomes smaller or even fails after long-term use, resulting in the loss of the outward swinging function of the side-sweeping brush of the machine. In some other solutions, the elastic force of a spring is used to keep the side brush in the outward swinging position, and the inner retraction motor is used to overcome the elastic force of the spring to make the side brush retract inward, so that the motor is in a load state when the side brush is retracted inward, which affects the service life of the motor. UTILITY MODEL CONTENT

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a side-sweeping outward swinging assembly and a cleaning robot.

[0006] The first aspect of the present application provides a side-sweeping outward swinging assembly, comprising a fixed part, a swinging part, a driving part and an elastic part, the swinging part is movably connected with the fixed part, a cleaning part rotating around an axis is installed on the swinging part, the swinging part has an outward swinging position and an inward retraction position relative to the fixed part, the driving part is connected to the fixed part and is used to apply a driving force to the swinging part to make the swinging part swing relative to the fixed part, and the elastic part is connected between the fixed part and the swinging part and swings with the swinging part.

[0007] The driving part drives the swinging part to swing towards the outward swinging position, and the elastic force of the elastic part keeps the swinging part in the outward swinging position; the driving part drives the swinging part to swing towards the inward retraction position, and the elastic force of the elastic part keeps the swinging part in the inward retraction position.

[0008] In some embodiments, the swing member has a balance position between the outer swing position and the inner retraction position, and the elastic member is in an elastic energy storage state when the swing member is at the balance position;

[0009] The driving member drives the swing member to swing towards the outer swing position and beyond the balance position, and the elastic member releases energy and drives the swing member to swing to the outer swing position and remain at the outer swing position; the driving member drives the swing member to swing towards the inner retraction position and beyond the balance position, and the elastic member releases energy and drives the swing member to swing to the inner retraction position and remain at the inner retraction position.

[0010] In some embodiments, one end of the elastic member is connected to the swing member, and the other end is connected to the fixed member, and the swing member and the fixed member are connected through a rotation shaft;

[0011] When the swing member is at the balance position, the elastic member is in a stretched state, and the projections of the two ends of the elastic member on the fixed member are on the same straight line as the projection of the rotation shaft on the fixed member.

[0012] In some embodiments, the driving member includes a driving motor, and a first transmission assembly is arranged between the driving motor and the swing member;

[0013] The driving motor rotates in a first clockwise direction to drive the first transmission assembly to drive the swing member to swing from the inner retraction position to the outer swing position; and the driving motor rotates in a second clockwise direction to drive the first transmission assembly to drive the swing member to swing from the outer swing position to the inner retraction position.

[0014] In some embodiments, the first transmission assembly includes a main transmission member, a first clutch transmission assembly, and a second clutch transmission assembly, the driving motor is in transmission connection with the main transmission member, the first clutch transmission assembly and the second clutch transmission assembly are both in transmission connection with the main transmission member, and the driving motor switches the rotation direction to drive the main transmission member to switch the clutching state of the first clutch transmission assembly and the second clutch transmission assembly.

[0015] In some embodiments, the first transmission assembly includes a first cam and a second cam, and a poking member is arranged on the swing member;

[0016] The driving motor rotates in the first clockwise direction to drive the first cam to rotate, the first cam pokes the poking member to drive the swing member to swing from the inner retraction position to the outer swing position; and the driving motor rotates in the second clockwise direction to drive the second cam to rotate, the second cam pokes the poking member to drive the swing member to swing from the outer swing position to the inner retraction position.

[0017] In some embodiments, a second transmission assembly is arranged between the driving motor and the swing member, and the second transmission assembly comprises a third clutch transmission assembly, which is in transmission connection with the cleaning member;

[0018] The third clutch transmission assembly has a first engagement position and a second engagement position, the driving motor switches the rotation direction, the third clutch transmission assembly switches between the first engagement position and the second engagement position, so that the driving motor rotates in either of the first hour direction and the second hour direction, and the third clutch transmission assembly drives the cleaning member to rotate in a set hour direction.

[0019] In some embodiments, the swing member and the fixed member are connected through a rotation shaft;

[0020] The fixed member is provided with a sliding groove around the rotation shaft, and the swing member is provided with a pushing member, which is arranged in the sliding groove and reciprocally moves in the sliding groove along with the swing of the swing member.

[0021] In some embodiments, in the outer swing position, the swing member has an adjusting state of self-adapting swing towards the inner collection position, so as to avoid obstacles.

[0022] The second aspect of the present application provides a cleaning robot, which comprises a main cleaning assembly and a side-sweeping outer swing assembly.

[0023] Compared with the prior art, the technical scheme provided by the present application has at least the following advantages:

[0024] 1. The edge-sweeping and outward-swinging assembly provided by the application, by connecting a driving member to the fixing member, using the driving member to exert a driving force on the swinging member to enable the swinging member to swing relative to the fixing member, and connecting an elastic member between the fixing member and the swinging member, the elastic member being able to swing with the swinging member; when the driving member drives the swinging member to swing towards the outward-swinging position, the elastic force of the elastic member enables the swinging member to remain in the outward-swinging position; when the driving member drives the swinging member to swing towards the inward-retracting position, the elastic force of the elastic member enables the swinging member to remain in the inward-retracting position; that is, the driving member provides the swinging member with a driving force to enable the swinging member to perform a swinging action, and the elastic member provides the swinging member with a retaining force to enable the swinging member to remain in the outward-swinging position or the inward-retracting position, thereby realizing the switching and position retaining of the swinging member between the outward-swinging position and the inward-retracting position, thus ensuring the stability and reliability of the edge-sweeping and outward-swinging assembly in performing the outward-swinging and inward-retracting actions, and preventing failure during long-term use; and when the swinging member is in the outward-swinging position or the inward-retracting position, the retaining force is provided by the elastic force of the elastic member, which can prevent the driving member from being in a long-term load state and is conducive to prolonging the service life of the driving member.

[0025] 2. The first cam is driven to rotate by the driving motor, the first cam drives the driving member to realize the swinging of the swinging member from the inward-retracting position to the outward-swinging position, and after the swinging member is driven to swing outward by the first cam, the elastic force of the elastic member drives the swinging member to the outward-swinging position, and the first cam idles without generating a load and a locked-rotor phenomenon on the driving motor; similarly, the second cam is driven to rotate by the driving motor, the second cam drives the driving member to realize the swinging of the swinging member from the outward-swinging position to the inward-retracting position, and after the swinging member is driven to retract inward by the second cam, the elastic force of the elastic member drives the swinging member to the inward-retracting position, and the second cam idles without generating a load and a locked-rotor phenomenon on the driving motor; thus, the service life of the driving motor, the first cam and the second cam is greatly improved.

[0026] 3. The elastic member provides the swinging member with a retaining force to enable the swinging member to remain in the outward-swinging position, and when the swinging member is in the outward-swinging position, the swinging member has an adjusting state of automatically swinging towards the inward-retracting position, thereby enabling the swinging member to better avoid obstacles to prevent damage caused by collision with obstacles. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application together with the specification.

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the application or in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, for those skilled in the art, based on these drawings, other drawings can also be obtained without creative labor.

[0029] Figure 1 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0030] Figure 2 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 1 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0031] Figure 3 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 1 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0032] Figure 4 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 1 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0033] Figure 5 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0034] Figure 6 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0035] Figure 7 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0036] Figure 8 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 7 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0037] Figure 9 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 8 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0038] Figure 10 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 8 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0039] Figure 11 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0040] Figure 12 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 11 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0041] Figure 13 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application; Figure 12 Structure diagram of the edge-scan outer swing assembly according to an embodiment of the present application;

[0042] Figure 14 for Figure 13 The diagram shows the structure of the third clutch transmission assembly in the first engagement position.

[0043] Figure 15 for Figure 13 The diagram shows the structure of the third clutch transmission assembly in the second engagement position.

[0044] Figure 16 for Figure 12 The diagram shows the structure of the drive motor, the second transmission assembly, and the cleaning component.

[0045] Figure 17 This is a schematic diagram of the structure of the fixing member of the side-sweeping swing assembly according to an embodiment of this application after removing the first cover;

[0046] Figure 18 This is a schematic diagram of the structure of the cleaning robot in the retracted position according to an embodiment of this application;

[0047] Figure 19 This is a schematic diagram of the swinging component of the cleaning robot described in one embodiment of this application, in the outward swinging position.

[0048] Among them, 10 is the side sweeping and swinging component; 20 is the main body; and 30 is the main cleaning component.

[0049] 1. Fixing component; 101. First base; 102. First cover; 103. Slide groove; 104. First limiting rib; 105. Second limiting rib; 11. Main transmission component; 110. Driving gear; 111. First driven gear; 112. Second driven gear; 12. First clutch transmission assembly; 120. First gear; 121. Second gear; 122. Fifth gear; 123. Sixth gear; 124. Seventh gear; 13. Second clutch transmission assembly; 130. Third gear; 131. Fourth gear; 132. Eighth gear; 133. Ninth gear; 134. Tenth gear; 140. First cam; 141. Second cam;

[0050] 2. Swing component; 200. Cleaning component; 201. Second base; 202. Second cover; 203. Actuating component; 204. First pulley; 205. Second pulley; 21. Third clutch transmission assembly; 210. Third driven gear; 211. Fourth driven gear; 212. Rotating shaft; 220. First meshing gear; 221. Eleventh gear; 222. Twelfth gear; 230. Second meshing gear; 231. Thirteenth gear; 240. Side sweeping gear;

[0051] 3. Drive motor;

[0052] 4. Elastic components. Detailed Implementation

[0053] In order to enable a more clearly understanding of the above-mentioned objects, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0054] In the following description, a lot of specific details are set forth in order to give a thorough understanding of the present application, but the present application can also be implemented in other different manners from those described herein; obviously, the embodiments described in the specification are only some embodiments of the present application, not all the embodiments.

[0055] With reference to Figures 1 to 6 It is shown that some embodiments of the present application provide a side-sweeping swing-out assembly 10, which can be applied to a cleaning robot.

[0056] Exemplarily, the cleaning robot can include a body 20 and a main cleaning assembly 30 installed on the body 20, and the side-sweeping swing-out assembly 10 can be installed at the side edge of the body 20 to clean corner areas such as wall corners and obstacles by using the side-sweeping swing-out assembly 10, so as to cooperate with the main cleaning assembly 30 to achieve better cleaning effect.

[0057] With reference to Figure 1 and Figure 2 It is shown that the side-sweeping cleaning assembly includes a fixed part 1, a swing part 2, a driving part and an elastic part 4.

[0058] The swing part 2 is movably connected with the fixed part 1, and a cleaning part 200 rotating around an axis is installed on the swing part 2. The swing part 2 has an outer swing position and an inner retraction position relative to the fixed part 1. The driving part is connected with the fixed part 1 and is used to apply a driving force to the swing part 2 to swing the swing part 2 relative to the fixed part 1. The elastic part 4 is connected between the fixed part 1 and the swing part 2 and swings with the swing part 2. The driving part drives the swing part 2 to swing towards the outer swing position, and the elastic force of the elastic part 4 keeps the swing part 2 at the outer swing position. The driving part drives the swing part 2 to swing towards the inner retraction position, and the elastic force of the elastic part 4 keeps the swing part 2 at the inner retraction position.

[0059] Exemplarily, with reference to Figure 3 and Figure 4 It is shown that the structure diagrams of the swing part 2 at the inner retraction position and the outer swing position are respectively shown. It can be Figure 3 as shown in the inner retraction position, Figure 4 as shown in the outer swing position; or Figure 3 as shown in the outer swing position, Figure 4The shown is the inner retraction position; in specific implementation, it can be determined according to the mounting position of the edge-sweeping and outward-swinging assembly 10 on the cleaning robot, which is not specifically limited here. For the convenience of description, the embodiment of the present application takes Figure 3 The shown swing piece 2 is located at the leftmost position, which is the inner retraction position, to Figure 4 The shown swing piece 2 is located at the rightmost position, which is the outward-swinging position.

[0060] When it is needed to switch the swing piece 2 from the inner retraction position to the outward-swinging position, the driving piece is used to apply a driving force to the swing piece 2, so that the swing piece 2 swings towards the outward-swinging position, and the elastic piece 4 swings with the swing piece 2 during the swinging process and stores elastic potential energy, and finally the elastic force of the elastic piece 4 is used to keep the swing piece 2 in the outward-swinging position; when it is needed to switch the swing piece 2 from the outward-swinging position to the inner retraction position, the driving piece is used to apply a driving force to the swing piece 2, so that the swing piece 2 swings towards the inner retraction position, and the elastic piece 4 swings with the swing piece 2 during the swinging process and stores elastic potential energy, and finally the elastic force of the elastic piece 4 is used to keep the swing piece 2 in the inner retraction position.

[0061] The edge-sweeping and outward-swinging assembly 10 provided by the embodiment of the present application is connected with the driving piece on the fixed piece 1, the driving piece is used to apply a driving force to the swing piece 2, so that the swing piece 2 can swing relative to the fixed piece 1, and the elastic piece 4 is connected between the fixed piece 1 and the swing piece 2, and the elastic piece 4 can swing with the swing piece 2; when the driving piece drives the swing piece 2 to swing towards the outward-swinging position, the elastic force of the elastic piece 4 keeps the swing piece 2 in the outward-swinging position; when the driving piece drives the swing piece 2 to swing towards the inner retraction position, the elastic force of the elastic piece 4 keeps the swing piece 2 in the inner retraction position; that is, the driving piece is used to provide a driving force for the swing piece 2 to make the swing piece 2 swing, and the elastic piece 4 is used to provide a keeping force for the swing piece 2 to keep the swing piece 2 in the outward-swinging position or the inner retraction position, so as to realize the switching and position keeping of the swing piece 2 between the outward-swinging position and the inner retraction position, thus ensuring the stability and reliability of the edge-sweeping and outward-swinging assembly 10 in the outward-swinging and inner retraction actions, and avoiding failure in long-term use; and the swing piece 2 in the outward-swinging position and the inner retraction position both relies on the elastic force of the elastic piece 4 to provide the keeping force, which can avoid the driving piece being in a long-term load state, and is beneficial to prolong the service life of the driving piece.

[0062] It should be noted that in specific application, the fixed piece 1 can be fixed on the body 20 of the cleaning robot, and the swing piece 2 can be switchably swung between the inner retraction position and the outward-swinging position relative to the fixed piece 1, so as to realize the swing of the swing piece 2 between the inner retraction position and the outward-swinging position relative to the body 20 of the cleaning robot. Specifically, the fixed piece 1 can adopt a fixed platform, which is convenient for the mounting and fixing of the fixed piece 1 on the body 20 of the cleaning robot, the installation of the driving piece and other components on the fixed piece 1, and the swinging connection of the swing piece 2 and the fixed piece 1.

[0063] Further, the swing member 2 is provided with a cleaning member 200 rotating around an axis, and the swing member 2 and the cleaning member 200 can jointly form an outer swing module of the side brush, so as to realize the edge cleaning function by the rotating cleaning member 200; and when the swing member 2 is switched from the inner retracted position to the outer swing position, the cleaning member 200 mounted thereon can be projected to the outside of the edge of the body 20 of the cleaning robot, so as to better clean the corner area by the cleaning member 200. Specifically, the cleaning member 200 can be a brush structure or the like.

[0064] In some embodiments, referring to Figure 3 and Figure 4 , the swing member 2 has a balance position between the outer swing position and the inner retracted position, and the elastic member 4 is in an elastic energy storage state when the swing member 2 is located at the balance position; the driving member drives the swing member 2 to swing towards the outer swing position and beyond the balance position, the elastic member 4 is released and drives the swing member 2 to swing to the outer swing position and remain at the outer swing position; the driving member drives the swing member 2 to swing towards the inner retracted position and beyond the balance position, the elastic member 4 is released and drives the swing member 2 to swing to the inner retracted position and remain at the inner retracted position.

[0065] It should be noted that in actual application, the swing member 2 will not usually remain at the balance position, that is, the balance position is only a position that the swing member 2 will pass through in the process of switchably swinging between the inner retracted position and the outer swing position. When the swing member 2 is located at the balance position, the ideal force balance state is reached, and at this time, the elastic member 4 is in an elastic energy storage state, but will not exert an elastic force on the swing member 2 towards the inner retracted position or towards the outer swing position.

[0066] When the driving member drives the swing member 2 to swing towards the outer swing position and beyond the balance position, the balance state is broken, at this time, the swing member 2 swings from the balance position to the outer swing position, and drives the elastic member 4 to swing together, so that the elastic member 4 leaves the balance position, and after the elastic member 4 leaves the balance position, it is released, thereby driving the swing member 2 to swing to the outer swing position and remain at the outer swing position; similarly, when the driving member drives the swing member 2 to swing towards the inner retracted position and beyond the balance position, the balance state is broken, at this time, the swing member 2 swings from the balance position to the inner retracted position, and drives the elastic member 4 to swing together, so that the elastic member 4 leaves the balance position, and after the elastic member 4 leaves the balance position, it is released, thereby driving the swing member 2 to swing to the inner retracted position and remain at the inner retracted position. In this way, the elastic force of the elastic member 4 is utilized to keep the swing member 2 at the outer swing position or the inner retracted position.

[0067] In some embodiments, referring to Figure 3 and Figure 4 , one end of the elastic member 4 is connected with the swing member 2, and the other end is connected with the fixed member 1; referring to Figure 5 andFigure 6 As shown, the swing member 2 and the fixed member 1 are connected through the rotation shaft 212, and the swing member 2 swings relative to the fixed member 1 with the rotation shaft 212 as the axis. When the swing member 2 is at the balance position, the elastic member 4 is in the stretched state, and the projections of the two end portions of the elastic member 4 on the fixed member 1 are on the same straight line with the projection of the rotation shaft 212 on the fixed member 1.

[0068] Referring to Figure 5 and Figure 6 , the positions of the rotation shaft 212 on the swing member 2 and the fixed member 1 are shown. Referring to Figure 3 and Figure 4 , a in the diagram represents the projection position of the rotation shaft 212 on the back of the swing member 2. When the swing member 2 is at the balance position, the projections of the two end portions of the elastic member 4 on the fixed member 1 are on the same straight line with the projection of the rotation shaft 212 on the fixed member 1 (or the swing member 2).

[0069] In this way, when the swing member 2 is at the balance position, the elastic member 4 is in the stretched state, that is, the elastic member 4 is in the elastic energy storage state, and the projections of the two end portions of the elastic member 4 on the fixed member 1 are on the same straight line with the projection of the rotation shaft 212 on the fixed member 1. At this time, the elastic member 4 does not exert the elastic force on the swing member 2 towards the inward swing position or the outward swing position.

[0070] Referring to Figure 2 , in specific implementation, the elastic member 4 can be a tension spring. Specifically, the two end portions of the tension spring can be respectively formed with a ring, the fixed member 1 is provided with a first hanging portion, the swing member 2 is provided with a second hanging portion, and the rings of the two end portions of the tension spring are respectively hung on the first hanging portion and the second hanging portion, so as to realize the connection of the tension spring between the fixed member 1 and the swing member 2. In order to realize the provision of the holding force for the swing member 2 by the elastic force of the elastic member 4, the tension spring can be in the stretched state in the whole swing range.

[0071] In specific implementation, the rotation shaft 212 can be located between the two end portions of the elastic member 4, and the setting position of the rotation shaft 212 is shown in Figure 3 and Figure 4 . In this way, when the swing member 2 swings to the left and passes the balance position, the elastic member 4 also swings to the left with the swing member 2; when the swing member 2 swings to the right and passes the balance position, the elastic member 4 also swings to the right with the swing member 2. Of course, the positional relationship between the rotation shaft 212 and the two end portions of the elastic member 4 is not limited to the above, and it is also feasible to arrange the two end portions of the elastic member 4 on the same side of the rotation shaft 212.

[0072] In addition, the elastic member 4 is not limited to a tension spring, and can be a compression spring or other elastic structure. As long as the elastic member 4 has a balance position within the swing range of the fixed member 1, and the elastic member 4 can be in the energy releasing state when it is on either side of the balance position.

[0073] In some embodiments, referring to Figure 5 and Figure 6 , the swing member 2 and the fixed member 1 are connected by a rotating shaft 212; the fixed member 1 is provided with a sliding groove 103 around the rotating shaft 212, and the swing member 2 is provided with a push member 203, which is arranged in the sliding groove 103 and reciprocates in the sliding groove 103 along with the swing of the swing member 2. In this way, the sliding angle of the push member 203 is limited by the sliding groove 103, so that the swing member 2 can only swing within a certain angle range. Specifically, the sliding groove 103 can be an arc-shaped sliding groove.

[0074] In specific implementation, referring to Figure 5 and Figure 6 , the push member 203 can include a first pulley 204 and a second pulley 205, which are coaxially arranged and rotationally connected, and the diameter of the first pulley 204 is greater than that of the second pulley 205; the second pulley 205 is fixedly connected to the swing member 2 and passes through the sliding groove 103 on the fixed member 1, and the first pulley 204 is installed on the end of the second pulley 205 away from the swing member 2 and is rotationally connected to the second pulley 205. In this way, when the first pulley 204 is pushed, it will drive the second pulley 205 to move along the sliding groove 103, thereby driving the swing member 2 to swing relative to the fixed member 1, and the first pulley 204 will rotate relative to the second pulley 205 to facilitate the pushing action of the first pulley 204.

[0075] In specific implementation, in order to limit the swing angle of the swing member 2, the fixed member 1 can be provided with a first limiting rib 104 and a second limiting rib 105, which are located on both sides of the swing direction of the swing member 2, and the first limiting rib 104 and the second limiting rib 105 can be arranged in a spread shape, so that when the swing member 2 swings towards the outward swing position, the first limiting rib 104 limits the swing member 2 to the inward swing position; when the swing member 2 swings towards the inward swing position, the second limiting rib 105 limits the swing member 2 to the outward swing position.

[0076] In some embodiments, referring to Figures 7 to 10As shown, the driving member includes a driving motor 3, and a first transmission assembly is arranged between the driving motor 3 and the swing member 2; the driving motor 3 rotates in a first clockwise direction, and the first transmission assembly drives the swing member 2 to swing from the inward retracted position to the outward swing position; the driving motor 3 rotates in a second clockwise direction, and the first transmission assembly drives the swing member 2 to swing from the outward swing position to the inward retracted position.

[0077] In specific implementations, the first clockwise direction can be a forward rotation direction, and the second clockwise direction can be a reverse rotation direction. That is, when the driving motor 3 rotates forward, the first transmission assembly drives the swing member 2 to swing to the outward swing position; when the driving motor 3 rotates reversely, the first transmission assembly drives the swing member 2 to swing to the inward retracted position. In this way, the same driving motor 3 is used to realize forward and reverse rotation, and the swing member 2 is driven to realize switching between inward retraction and outward swing.

[0078] Referring to Figure 1 and Figure 7 As shown, the fixed member 1 can adopt a gear box structure, and the fixed member 1 can include a first base 101 and a first cover 102. The first base 101 can form a containing cavity for containing the first transmission assembly, and the first cover 102 is arranged on the first base 101. Figure 7 As shown, it is a structure schematic view of the side-sweeping outward swing assembly 10 of an embodiment of the present application after the first cover 102 of the fixed member 1 is removed.

[0079] In some embodiments, referring to Figure 7 and Figure 8 As shown, the first transmission assembly includes a main transmission member 11, a first clutch transmission assembly 12, and a second clutch transmission assembly 13. The driving motor 3 is in transmission connection with the main transmission member 11, and the first clutch transmission assembly 12 and the second clutch transmission assembly 13 are both in transmission connection with the main transmission member 11. The driving motor 3 switches the rotation direction to make the main transmission member 11 drive the first clutch transmission assembly 12 and the second clutch transmission assembly 13 to switch the clutch state.

[0080] Specifically, when the driving motor 3 rotates in the first clockwise direction, the first clutch transmission assembly 12 is in an engaged state, and the second clutch transmission assembly 13 is in a disconnected state. The main transmission member 11 drives the swing member 2 to swing from the inward retracted position to the outward swing position through the first clutch transmission assembly 12. When the driving motor 3 rotates in the second clockwise direction, the second clutch transmission assembly 13 is in an engaged state, and the first clutch transmission assembly 12 is in a disconnected state. The main transmission member 11 drives the swing member 2 to swing from the outward swing position to the inward retracted position through the second clutch transmission assembly 13. In this way, by switching the engaged state of the first clutch transmission assembly 12 and the second clutch transmission assembly 13, the same driving motor 3 is used to realize forward and reverse rotation, and the swing member 2 is driven to realize switching between outward swing and inward retraction.

[0081] In some embodiments, referring toFigures 7 to 10 As shown, the main transmission member 11 can include a driving gear 110, which can be mounted on the output shaft of the driving motor 3, or a driving gear can be provided on the output shaft of the driving motor 3, and the driving gear 110 meshes with the driving gear to transmit power.

[0082] The first clutch transmission assembly 12 can include a first ratchet gear set, which includes coaxially arranged first and second gears 120 and 121, one of which is provided with a ratchet tooth, and the other is provided with a ratchet tooth groove; the second clutch transmission assembly 13 can include a second ratchet gear set, which includes coaxially arranged third and fourth gears 130 and 131, one of which is provided with a ratchet tooth, and the other is provided with a ratchet tooth groove.

[0083] The driving gear 110 meshes with the first and third gears 120 and 130, and the driving gear 110, the first gear 120 and the third gear 130 are all helical gears, which will generate axial force during meshing rotation; the axial relative position of the second gear 121 to the first gear 120 and the axial relative position of the fourth gear 131 to the third gear 130 are opposite, so that the axial force of the first gear 120 is opposite to the axial force of the third gear 130, and the axial force of the second gear 121 is opposite to the axial force of the fourth gear 131. Figure 9 and Figure 10 As an example, the second gear 121 is located below the first gear 120, and the fourth gear 131 is located above the third gear 130.

[0084] When the driving motor 3 rotates in the first clockwise direction, it drives the driving gear 110 to rotate in the second clockwise direction, and the axial force of the first gear 120 tends to the second gear 121, pushing the first and second gears 120 and 121 to mesh and transmit power through the cooperation of the ratchet tooth and the ratchet tooth groove, and the first ratchet gear set is in the engaged state and can transmit power; the axial force of the third gear 130 is the same as that of the first gear 120, and the axial force tends to the same side, but because the fourth gear 131 engaged with it is installed in the opposite position, the third gear 130 is separated from the engagement with the fourth gear 131 due to the axial force, and the second ratchet gear set is in the disconnected state, so it cannot transmit power, and therefore the second ratchet gear set has no power transmission. Similarly, when the driving motor 3 rotates in the second clockwise direction, the second ratchet gear set is in the engaged state and can transmit power, and the first ratchet gear set is in the disconnected state and has no power transmission.

[0085] In some embodiments, with reference to Figure 7 and Figure 8As shown, the first transmission assembly includes a first cam 140 and a second cam 141, and the swing member 2 is provided with a poking member 203; the driving motor 3 rotates in the first clockwise direction, drives the first cam 140 to rotate, the first cam 140 pokes the poking member 203, so that the swing member 2 swings from the inward retracted position to the outward swing position; the driving motor 3 rotates in the second clockwise direction, drives the second cam 141 to rotate, the second cam 141 pokes the poking member 203, so that the swing member 2 swings from the outward swing position to the inward retracted position. In this way, the driving motor 3 drives the first cam 140 or the second cam 141 to rotate, so as to drive the swing member 2 to switch between the outward swing position and the inward retracted position.

[0086] In a specific implementation, the first clutch transmission assembly 12 can be used to drive the first cam 140 to rotate, and the second clutch transmission assembly 13 can be used to drive the second cam 141 to rotate. Specifically, in addition to the first ratchet gear set, the first clutch transmission assembly 12 can further include a first transmission gear set, which includes a plurality of gears, for example, three gears, namely a fifth gear 122, a sixth gear 123 and a seventh gear 124, which are sequentially meshed, wherein the fifth gear 122 is meshed and driven by the second gear 121, and the seventh gear 124 is coaxially arranged with and connected to the first cam 140, for example, through a D-shaped shaft. In addition to the second ratchet gear set, the second clutch transmission assembly 13 can further include a second transmission gear set, which includes a plurality of gears, for example, three gears, namely an eighth gear 132, a ninth gear 133 and a tenth gear 134, which are sequentially meshed. Among them, the eighth gear 132 is meshed and driven by the fourth gear 131, and the tenth gear 134 is coaxially arranged with and connected to the second cam 141, for example, through a D-shaped shaft.

[0087] The driving motor 3 rotates in the first clockwise direction, drives the driving gear 110 to rotate in the second clockwise direction, the first gear 120 is subjected to an axial force tending to the second gear 121, pushes the first gear 120 and the second gear 121 to be meshed and driven by the cooperation of the ratchet and the ratchet groove, the first ratchet gear set is in the engaged state and can transmit power, the second gear 121 drives the fifth gear 122, the fifth gear 122 drives the sixth gear 123, the sixth gear 123 drives the seventh gear 124, the seventh gear 124 drives the first cam 140 to rotate through the D-shaped shaft, so that the swing member 2 swings from the inward retracted position to the outward swing position by the first cam 140 poking the poking member 203; while the third gear 130 is subjected to the same axial force as the first gear 120, the axial force tends to the same side, but because the fourth gear 131 meshed with it is installed in the reverse position, causing the third gear 130 to disengage from the meshing with the fourth gear 131 due to the axial force, realizing that the second ratchet gear set is in the disconnected state, so it cannot transmit power, therefore the second ratchet gear set has no power transmission, and the second cam 141 does not rotate.

[0088] When the driving motor 3 rotates in the second clockwise direction, the driving motor 3 drives the driving gear 110 to rotate in the second clockwise direction, the third gear 130 is subjected to the axial force tending to the fourth gear 131, the third gear 130 and the fourth gear 131 are driven to mesh and transmit power through the engagement of the ratchet and the ratchet groove, the second ratchet set is in the engaged state and can transmit power, the fourth gear 131 drives the eighth gear 132, the eighth gear 132 drives the ninth gear 133, the ninth gear 133 drives the tenth gear 134, the tenth gear 134 drives the second cam 141 to rotate through the D-shaped shaft, so that the second cam 141 drives the driving member 203 to swing, and the swinging member 2 swings from the outer swing position to the inner swing position; the axial force acting on the first gear 120 is the same as that acting on the third gear 130, and the axial force tends to the same side, but because the second gear 121 engaged with the first gear 120 is installed in the reverse position, the first gear 120 is disengaged from the second gear 121 due to the axial force, so that the first ratchet set is in the disengaged state and cannot transmit power, and thus the first ratchet set cannot transmit power, and the first cam 140 does not rotate.

[0089] Therefore, no matter whether the driving motor 3 rotates forward or reversely, only one ratchet set of the first ratchet set and the second ratchet set can receive power, and only one of the first cam 140 and the second cam 141 can be driven to swing. After the cam rotates to drive the driving member 203, the driving member 203 drives the swinging member 2 to tilt to the reverse side, and the swinging member 2 is subjected to the elastic force of the elastic member 4, so that the elastic force of the elastic member 4 completely pulls the swinging member 2 to the side. When the driving motor 3 reverses, the other side ratchet set rotates, so that the swinging member 2 swings to the reverse side.

[0090] It can be understood that when the driving motor 3 rotates forward, the second cam 141 does not rotate, and the first cam 140 rotates idly without being subjected to other resistance; when the driving motor 3 reverses, the first cam 140 does not rotate, and the second cam 141 rotates idly without being subjected to other resistance. Therefore, no matter whether the driving motor 3 rotates forward or reverses, the driving motor 3 does not need to be adjusted and subjected to other loads, and the service life of the driving motor 3 is not affected, so that the service life of the driving motor 3 is greatly prolonged.

[0091] In some embodiments, referring to Figures 11 to 16 It is shown that the second transmission assembly is provided between the driving motor 3 and the swinging member 2, the second transmission assembly is in transmission connection with the cleaning member 200, and the driving motor 3 rotates in any one of the first clockwise direction and the second clockwise direction, so that the second transmission assembly drives the cleaning member 200 to rotate in the set clockwise direction. That is, no matter whether the driving motor 3 rotates forward or reverses, the driving motor 3 drives the cleaning member 200 to rotate in the set direction.

[0092] Specifically, referring to Figure 12As shown, the second transmission assembly includes a third clutch transmission assembly 21, which is in transmission connection with the cleaning member 200; the third clutch transmission assembly 21 has a first engagement position and a second engagement position, the driving motor 3 switches the rotation direction, the third clutch transmission assembly 21 switches between the first engagement position and the second engagement position, so that the driving motor 3 rotates in any one of the first and second clockwise directions, and the third clutch transmission assembly 21 drives the cleaning member 200 to rotate in the set clockwise direction. In this way, the third clutch transmission assembly 21 is always driven to rotate in the set clockwise direction by switching the engagement position of the third clutch transmission assembly 21.

[0093] Specifically, the second transmission assembly can include a main transmission member 11 located on the fixed member 1 and a third clutch transmission assembly 21 located on the swing member 2. The driving motor 3 can transmit power to the third clutch transmission assembly 21 on the swing member 2 through the main transmission member 11 on the fixed member 1, so as to drive the cleaning member 200 to rotate through the third clutch transmission assembly 21 on the swing member 2.

[0094] In specific implementations, the fixed member 1 and the swing member 2 can both be box structures, the fixed member 1 can include a first base 101 and a first cover 102 covering the first base 101, and the first base 101 has a receiving cavity for receiving the main transmission member 11; the swing member 2 can include a second base 201 and a second cover 202 covering the second base 201, and the second base 201 has a receiving cavity for receiving the third clutch transmission assembly 21.

[0095] In some embodiments, the main transmission member 11 located on the fixed member 1 can be a main transmission gear set, which specifically can include a driving gear 110, a first driven gear 111 and a second driven gear 112, the driving gear 110 is in transmission connection with the output shaft of the driving motor 3, or a driving wheel is provided on the output shaft of the driving motor 3, the driving gear 110 is in meshing transmission with the driving wheel, the driving gear 110 is in meshing transmission with the first driven gear 111, the first driven gear 111 is in meshing transmission with the second driven gear 112, and the second driven gear 112 is in transmission connection with the third clutch transmission assembly 21 on the swing member 2. Specifically, the third clutch transmission assembly 21 on the swing member 2 can include a third driven gear 210, the second driven gear 112 on the fixed member 1 and the third driven gear 210 on the swing member 2 have an assembly relationship, specifically, the second driven gear 112 and the third driven gear 210 can be coaxially arranged and installed on the same installation shaft, which can not only transmit power but also serve as a rotation shaft 212 between the fixed member 1 and the swing member 2.

[0096] Specifically, the third clutch transmission assembly 21 can include a third driven gear 210, a fourth driven gear 211, a first meshing gear 220 and a second meshing gear 230, the first meshing gear 220, the second meshing gear 230 and the fourth driven gear 211 are coaxially arranged and located on both sides of the fourth driven gear 211 respectively, and one of the fourth driven gear 211 and the first meshing gear 220 is provided with a first ratchet and the other is provided with a first ratchet groove, one of the fourth driven gear 211 and the second meshing gear 230 is provided with a second ratchet and the other is provided with a second ratchet groove, that is, the fourth driven gear 211 is a double-sided ratchet gear, and the two sides of the fourth driven gear 211 are two opposite ratchet mechanisms, while the first meshing gear 220 and the second meshing gear 230 are both single-sided gears with ratchet mechanisms. The third driven gear 210 and the fourth driven gear 211 are both helical gears, and an axial force is generated during helical gear transmission. The fourth driven gear 211 has a certain up-and-down movement space between the first meshing gear 220 and the second meshing gear 230, and when the fourth driven gear 211 is subjected to an axial force, it can move up and down in the axial direction between the first meshing gear 220 and the second meshing gear 230.

[0097] Referring to Figure 14 When the axial force transmitted by the third driven gear 210 to the fourth driven gear 211 is directed towards the first meshing gear 220, the fourth driven gear 211 and the first meshing gear 220 are engaged by ratchet, that is, the third clutch transmission assembly 21 is in the first engagement position, and the power of the driving motor 3 is transmitted to the cleaning member 200 through the first meshing gear 220.

[0098] Referring to Figure 15 When the axial force transmitted by the third driven gear 210 to the fourth driven gear 211 is directed towards the second meshing gear 230, the fourth driven gear 211 and the second meshing gear 230 are engaged by ratchet, that is, the third clutch transmission assembly 21 is in the second engagement position, and the power of the driving motor 3 is transmitted to the cleaning member 200 through the second meshing gear 230.

[0099] In order to realize that the driving motor 3 can drive the cleaning member 200 to rotate in the set direction when the driving motor 3 is reversed, referring to Figure 13 and Figure 16As shown, in addition to the above structure, the third clutch transmission assembly 21 further comprises a third transmission gear set and a fourth transmission gear set arranged on the swing member 2, the third transmission gear set comprises an even number of gears, for example, two gears, namely, an eleventh gear 221 and a twelfth gear 222, the fourth transmission gear set comprises an odd number of gears, for example, one gear, namely, a thirteenth gear 231, and the cleaning member 200 is provided with a side sweeping gear 240, wherein the first meshing gear 220 is engaged with the eleventh gear 221, the eleventh gear 221 is engaged with the twelfth gear 222, the twelfth gear 222 is engaged with the side sweeping gear 240, the second meshing gear 230 is engaged with the thirteenth gear 231, and the thirteenth gear 231 is also engaged with the side sweeping gear 240, and these gears form a complete transmission chain. According to the gear transmission logic, the gears on the gear chain are turned in the same direction with one gear interval, so it can be deduced that the first meshing gear 220 and the second meshing gear 230 are synchronously rotated and turned in opposite directions.

[0100] If it is required that the side sweeping gear 240 keeps rotating forward, the gears in the gear chain on the swing member 2, i.e., the side sweeping gear 240, the second meshing gear 230, the eleventh gear 221 rotate forward, and the thirteenth gear 231, the twelfth gear 222 and the second meshing gear 230 rotate reversely.

[0101] The one-way transmission of the ratchet teeth of the second meshing gear 230 only accepts the transmission force in the reverse direction, and the one-way transmission of the ratchet teeth of the first meshing gear 220 only accepts the transmission force in the forward direction. Therefore, no matter whether the driving motor 3 rotates forward or reversely, the side sweeping gear 240 can always keep rotating forward.

[0102] In some embodiments, with reference to Figure 11 As shown, the driving member can comprise the driving motor 3, a first transmission assembly and a second transmission assembly, the driving motor 3 drives the swing member 2 to switchably swing between the outer swing position and the inner retraction position through the first transmission assembly, and the driving motor 3 drives the cleaning member 200 to rotate in the set direction through the second transmission assembly, so as to realize the rotation of the cleaning member 200 in the set direction and the outer swing and inner retraction actions of the swing member 2 by using the same driving motor 3, and the mechanism logic is simple and the cost is controllable.

[0103] In some embodiments, in the outer swing position, the swing member 2 has an adjusting state of adaptively swinging towards the inner retraction position, so as to avoid the swing member 2 from colliding with the obstacles and being damaged.

[0104] In some embodiments, with reference to Figure 17As shown, the driving member comprises a driving motor 3, and a first transmission assembly is arranged between the driving motor 3 and the swing member 2. The first transmission assembly comprises a first cam 140 and a second cam 141. The swing member 2 is provided with a pushing member 203, and the fixed member 1 is provided with a sliding groove 103. The pushing member 203 is arranged in the sliding groove 103. When the driving motor 3 rotates in a first clockwise direction, the first cam 140 is driven to rotate, and the first cam 140 pushes the pushing member 203. The pushing member 203 slides in the sliding groove 103, so as to drive the swing member 2 to swing from the inward retracted position to the outward swing position. When the driving motor 3 rotates in a second clockwise direction, the second cam 141 is driven to rotate, and the second cam 141 pushes the pushing member 203. The pushing member 203 reversely slides in the sliding groove 103, so as to drive the swing member 2 to swing from the outward swing position to the inward retracted position.

[0105] In specific implementation, when the pushing member 203 is at the central position of the fixed member 1 along the swing direction of the swing member 2, the swing member 2 reaches the ideal force balance state at this moment, and this balance position is marked as the balance point 0°. After the first cam 140 / second cam 141 applies a pushing force to the pushing member 203, the swing member 2 is inclined to the left / right from the balance point 0°. In the angle range between the balance point 0° and the left / right most side, the cam on the side does not operate, and the swing member 2 can be adaptively swung in the angle range between the left / right most side and the rotation coverage range of the first cam 140 / second cam 141 which applies the pushing force, according to the balance between the resistance and the elastic force of the elastic member 4.

[0106] For example, the first cam 140 is the right cam, and the second cam 141 is the left cam. Figure 17 For example, the first cam 140 is the right cam, and the second cam 141 is the left cam.

[0107] It should be noted that in order to realize the elastic force of the elastic member 4 to keep the swing member 2 in the outer swing position or the inner retracted position, the driving force of the driving motor 3 applied to the swing member 2 through the cam needs to ensure that the swing member 2 can pass the balance point 0°, so in the specific implementation, the maximum distance of the cam driving the movement of the push member 203 can be set to make the swing member 2 pass the balance point 0°, in this case, the swing member 2 can adaptively swing between the leftmost / rightmost side to the range outside the cam rotation coverage area of the applied thrust.

[0108] In this way, through the combination of the cam and the elastic member 4, the swing member 2 can adaptively adjust the angle, and can switch between active and passive swing modes at any time; and the adaptive angle of the swing member 2 does not affect the rotation of the driving motor 3, effectively protecting the swing member 2 from being damaged by collision with obstacles, and prolonging the service life of the driving motor 3.

[0109] It should be noted that the driving member is not limited to the driving motor 3, and other driving methods such as driving cylinders can also be used for driving; the first transmission assembly and the second transmission assembly are not limited to the above transmission structure, as long as they can realize the swing of the swing member 2 to the outer swing position or the inner retracted position by the driving member cooperating with the first transmission assembly, and the rotation of the cleaning member 200 in the set direction by the driving member cooperating with the second transmission assembly.

[0110] Referring to Figure 18 and Figure 19 Some other embodiments of the present application provide a cleaning robot, which comprises a body 20 and a main cleaning assembly 30 mounted on the body 20, further comprising the edge-sweeping and outer-swinging assembly 10 of any of the above embodiments, the edge-sweeping and outer-swinging assembly 10 is mounted at the edge side edge of the body 20, and the fixed member 1 of the edge-sweeping and outer-swinging assembly 10 is fixedly connected with the body 20.

[0111] Specifically, the swing member 2 of the edge-sweeping and outer-swinging assembly 10 has an outer swing position and an inner retracted position, in the normal state, referring to Figure 18 , the swing member 2 of the edge-sweeping and outer-swinging assembly 10 can be kept in the inner retracted position; when it is necessary to clean the corner area such as the wall edge, referring to Figure 19 , the swing member 2 can be driven by the driving member to move to the outer swing position, and the elastic force of the elastic member 4 can keep the swing member 2 in the outer swing position.

[0112] It has to be noted that, in the present document, relational terms are intended only to convey a possible relationship between elements or

[0113] The above description is merely that of a specific implementation to enable a person skilled in the art to understand or implement the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A side-sweeping and outward-swinging assembly, comprising a fixed part, a swinging part, a driving part and an elastic part, the swinging part being movably connected to the fixed part, a cleaning part being rotatably mounted on the swinging part, the swinging part having an outward-swinging position and an inward-retracting position relative to the fixed part, the driving part being connected to the fixed part for applying a driving force to the swinging part to swing the swinging part relative to the fixed part, characterized in that, The elastic member is connected between the fixed member and the swing member and swings with the swing member; The driving member drives the swing member to swing towards the outer swing position, and the elastic force of the elastic member keeps the swing member at the outer swing position; the driving member drives the swing member to swing towards the inner collection position, and the elastic force of the elastic member keeps the swing member at the inner collection position.

2. The edge-scan outswing assembly of claim 1, wherein, The swing member has a balance position between the outer swing position and the inner collection position, and the elastic member is in an elastic energy storage state when the swing member is at the balance position; The driving member drives the swing member to swing towards the outer swing position and beyond the balance position, the elastic member releases energy and drives the swing member to swing to the outer swing position and keep at the outer swing position; the driving member drives the swing member to swing towards the inner collection position and beyond the balance position, the elastic member releases energy and drives the swing member to swing to the inner collection position and keep at the inner collection position.

3. The edge-scan outswing assembly of claim 2, wherein, One end of the elastic member is connected with the swing member, and the other end is connected with the fixed member, and the swing member and the fixed member are connected through a rotating shaft; When the swing member is at the balance position, the elastic member is in a stretched state, and the projections of the two ends of the elastic member on the fixed member are on the same straight line with the projection of the rotating shaft on the fixed member.

4. The edge-scan outswing assembly of claim 1, wherein, The driving member includes a driving motor, and a first transmission assembly is arranged between the driving motor and the swing member; The driving motor rotates in a first clockwise direction to drive the first transmission assembly to drive the swing member to swing from the inner collection position to the outer swing position; and the driving motor rotates in a second clockwise direction to drive the first transmission assembly to drive the swing member to swing from the outer swing position to the inner collection position.

5. The edge-scan outswing assembly of claim 4, wherein, The first transmission assembly includes a main transmission member, a first clutch transmission assembly and a second clutch transmission assembly, the driving motor is in transmission connection with the main transmission member, the first clutch transmission assembly and the second clutch transmission assembly are both in transmission connection with the main transmission member, and the driving motor switches the rotating direction to drive the main transmission member to switch the clutching state of the first clutch transmission assembly and the second clutch transmission assembly.

6. The edge-scan outswing assembly of claim 4, wherein, The first transmission assembly includes a first cam and a second cam, and a pushing member is arranged on the swing member; The driving motor rotates in the first clockwise direction to drive the first cam to rotate, the first cam pushes the pushing member to drive the swing member to swing from the inner collection position to the outer swing position; and the driving motor rotates in the second clockwise direction to drive the second cam to rotate, the second cam pushes the pushing member to drive the swing member to swing from the outer swing position to the inner collection position.

7. The edge-scan outswing assembly of claim 4, wherein, A second transmission assembly is arranged between the driving motor and the swing member, and the second transmission assembly includes a third clutch transmission assembly, and the third clutch transmission assembly is in transmission connection with the cleaning member. The third clutch transmission assembly has a first engagement position and a second engagement position, the driving motor switches the rotating direction, the third clutch transmission assembly switches between the first engagement position and the second engagement position to make the driving motor rotate in either of the first and second hour directions, and the third clutch transmission assembly drives the cleaning member to rotate in a set hour direction.

8. The edge-scan outswing assembly of claim 1, wherein, The swing member and the fixed member are connected through a rotating shaft; The fixed member is provided with a sliding groove around the rotating shaft, the swing member is provided with a pushing member, the pushing member is arranged in the sliding groove, and the pushing member reciprocates in the sliding groove along with the swing of the swing member.

9. The edge-scan outswing assembly of claim 1, wherein, In the outer swing position, the swing member has an adjusting state of automatically swinging towards the inner retraction position to avoid obstacles.

10. A cleaning robot comprising a body and a main cleaning assembly mounted on the body, characterized in that, The edge-sweeping outer swing assembly is mounted at the edge side of the machine body, and the fixed member of the edge-sweeping outer swing assembly is fixedly connected with the machine body.

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