Cleaning equipment and cleaning system

Abstract

The utility model provides cleaning equipment and a cleaning system, and relates to the technical field of smart home. The cleaning equipment comprises an equipment body, a cleaning module, a lifting module and a mechanical arm module, a driving wheel assembly is arranged on the equipment body, the cleaning module is rotationally connected with the equipment body through an arm, the lifting module is arranged on the equipment body, and the lifting module is configured to drive the cleaning module to ascend and descend in the height direction relative to the equipment body through the arm; the mechanical arm module is arranged on the equipment body; in the height direction, the orthographic projection of the mechanical arm module and the orthographic projection of the arm are at least partially overlapped, and the compactness of the internal structure of the cleaning equipment is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of smart home, in particular, to a cleaning device and a cleaning system. BACKGROUND

[0002] With the development of modern society, in order to save time and maintain household hygiene, more and more people begin to purchase cleaning devices to clean household hygiene in time and conveniently. Cleaning devices can automatically complete the cleaning work of the ground in the room by means of certain artificial intelligence.

[0003] The current intelligent cleaning device has gradually possessed the functions of mechanical arm module, cleaning module lifting, etc., resulting in the need to set more functional devices inside the cleaning device; therefore, it is necessary to optimize the layout of the functional devices to improve the compactness of the internal structure of the cleaning device.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE UTILITY MODEL

[0005] The purpose of the present disclosure is to provide a cleaning device and a cleaning system.

[0006] According to one aspect of the present disclosure, a cleaning device is provided, which comprises:

[0007] a device body, wherein a driving wheel assembly is arranged on the device body;

[0008] a cleaning module, wherein the cleaning module is rotationally connected to the device body through an arm;

[0009] a lifting module, wherein the lifting module is arranged on the device body, and the lifting module is configured to drive the cleaning module to lift in a height direction relative to the device body through the arm;

[0010] a mechanical arm module, wherein the mechanical arm module is arranged on the device body; in the height direction, the orthographic projection of the mechanical arm module at least partially overlaps with the orthographic projection of the arm.

[0011] In an exemplary embodiment of the present disclosure, the cleaning module comprises a cleaning unit, and in the axial direction of the rotating shaft of the cleaning unit, two ends of the cleaning module are connected to the device body through a first arm and a second arm, respectively.

[0012] In an example embodiment of the present disclosure, the mechanical arm module comprises a plurality of mechanical arm segments connected in sequence and joints arranged between adjacent mechanical arm segments, and relative rotation of the mechanical arm segments can make the mechanical arm module present a folded state or an unfolded state.

[0013] In an example embodiment of the present disclosure, the mechanical arm segment further comprises a support arm, a connecting arm and a working arm, and the joint further comprises a first mechanical joint, a second mechanical joint and a third mechanical joint, the support arm is connected with the device body, and the connecting arm connects the support arm and the working arm; the support arm can be rotated to a folded state or an unfolded state relative to the device body under the drive of the first mechanical joint, the connecting arm can be rotated to a folded state or an unfolded state relative to the support arm under the drive of the second mechanical joint, and the working arm can be rotated to a folded state or an unfolded state relative to the connecting arm under the drive of the third mechanical joint.

[0014] In an example embodiment of the present disclosure, in the height direction, the orthographic projection of the second mechanical joint at least partially overlaps with the orthographic projection of the first arm, and / or the orthographic projection of the third mechanical joint at least partially overlaps with the orthographic projection of the second arm.

[0015] In an example embodiment of the present disclosure, in the advancing direction of the cleaning device, one side of the cleaning module is connected with the arm, and the other side is connected with the device body through a flexible member or an elastic member.

[0016] In an example embodiment of the present disclosure, the flexible member or the elastic member is formed with an air duct, and an outlet of the cleaning module is in communication with the air duct.

[0017] In an example embodiment of the present disclosure, the lifting module comprises a driving assembly and a transmission assembly, the driving assembly is arranged on the device body, and the transmission assembly is connected with the driving assembly and the cleaning module, and is used to drive the cleaning module to lift in the height direction.

[0018] In an example embodiment of the present disclosure, the transmission assembly comprises a first transmission member and a second transmission member, the first transmission member is connected with the driving assembly, and the second transmission member is connected with the cleaning module.

[0019] The first transmission member is capable of rotating between a first position and a second position under the driving of the driving assembly. When the first transmission member rotates to the first position, the first transmission member drives the second transmission member to an initial position, and the second transmission member drives the cleaning module to a raised position. When the first transmission member rotates to the second position, the first transmission member drives the second transmission member to a driving position, and the second transmission member drives the cleaning module to a lowered position.

[0020] In an example embodiment of the present disclosure, the first transmission member comprises a clamping portion, and the second transmission member comprises a connecting portion, and the clamping portion is clamped on the connecting portion.

[0021] In an example embodiment of the present disclosure, the axis of the first transmission member when rotating is the same as the direction indicated by the axis of the cleaning unit when rotating.

[0022] In an example embodiment of the present disclosure, the cleaning device further comprises:

[0023] A detection module configured to detect the position of the cleaning module relative to the device body.

[0024] In an example embodiment of the present disclosure, the detection module comprises:

[0025] A receiver and a transmitter, one of which is arranged on the device body and the other of which is arranged on the cleaning module. When the cleaning module is in the raised position or the lowered position relative to the device body, the receiver and the transmitter are in position correspondence, and the detection module outputs a position sensing signal.

[0026] According to another aspect of the present disclosure, a cleaning system is provided, which comprises:

[0027] The cleaning device described above;

[0028] A base station for interfacing with the cleaning device.

[0029] The cleaning device provided by the present disclosure is such that, in the height direction of the cleaning device, the orthographic projection of the arm module overlaps at least part of the orthographic projection of the arm, i.e. the arm and the arm module are arranged in overlap, so that the cleaning module and the arm module can be arranged in close proximity in the advancing direction of the cleaning device, thereby optimizing the layout of functional devices on the device body, improving the compactness of the structure, so that more functional devices can be arranged on the device body, and improving the market competitiveness of the product.

[0030] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure. It is to be understood that the drawings are only schematic, and that they do not purport to be to scale with respect to one another. The embodiments will be described with reference to the drawings in conjunction with a detailed description.

[0032] Figure 1 A schematic view of a cleaning system according to an embodiment of the present disclosure.

[0033] Figure 2 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0034] Figure 3 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0035] Figure 4 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0036] Figure 5 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0037] Figure 6 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0038] Figure 7 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0039] Figure 8 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0040] Figure 9 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0041] Figure 10 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0042] Figure 11 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0043] Figure 12 A schematic view of a cleaning device according to an embodiment of the present disclosure.

[0044] BRIEF DESCRIPTION OF DRAWINGS

[0045] 1, cleaning device; 2, base station;

[0046] 10, device body; 110, containing groove; 120, cover plate; 130, bottom plate;

[0047] 20, mechanical arm module; 21, mechanical arm base; 22, support arm; 23, connecting arm; 24, working arm; 25, mechanical hand; 261, first mechanical joint; 2611, driving motor; 262, second mechanical joint; 263, third mechanical joint;

[0048] 30, cleaning module; 310, mounting frame; 320, cleaning unit; 330, flexible piece; 340, driving module;

[0049] 41, first arm; 42, second arm;

[0050] 50, lifting module; 510, driving assembly; 520, first transmission piece; 530, second transmission piece; 540, mounting seat;

[0051] 60, detection module; 610, transmitter; 620, receiver. DETAILED DESCRIPTION

[0052] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any

[0053] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component of the icon, these terms are used herein for convenience only and are not intended to limit the scope of the disclosure or to imply that the described component must be in the position described. It is to be understood that, when an icon is flipped upside down, the component described as being "upper" will become the component described as being "lower". When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure or that the structure is "directly" on the other structure or that the structure is "indirectly" on the other structure via another structure.

[0054] The terms "one", "a", "an", "the", and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "including" and "having" are used to indicate the inclusion of one or more elements / components / etc. without excluding the presence of additional elements / components / etc.; the terms "first", "second", and "third" etc. are used only to distinguish one element / component / etc. from another, and not to limit their number.

[0055] Embodiments of the present disclosure provide a cleaning system, as shown in Figure 1 and Figure 2 The cleaning system includes a base station 2 and a cleaning device 1. The cleaning device 1 can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc.; the cleaning device 1 can include a device body 10, a driving module, a sensing module, a control module, a cleaning module, an energy module, a human-computer interaction module, etc. The base station 2 is used to dock the cleaning device 1, i.e. to park the cleaning device 1, and the cleaning device 1 can perform functions such as charging, self-cleaning, parking, sewage discharge, and water replenishment on the base station 2.

[0056] In some embodiments, the device body 10 is configured to automatically move along a target direction on a running surface, which can be a surface to be cleaned by the cleaning device 1. The cleaning device 1 can be a sweeping and mopping robot, and the cleaning device 1 works on the ground, which is the above-mentioned running surface.

[0057] In some embodiments, the driving module includes a driving wheel assembly, and the driving module can simultaneously control the left wheel and the right wheel. In order to more accurately control the movement of the robot, the driving module preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 10.

[0058] In some embodiments, in order to enable the cleaning device 1 to more stably move on the ground or have stronger movement capability, the cleaning device 1 can include one or more steering wheels; the steering wheel can be a driven wheel or a driving wheel, and its structure includes but is not limited to a universal wheel, and the steering wheel can be located in front of the driving wheel assembly. A driving motor provides power for the driving wheel assembly and / or the steering wheel.

[0059] In some embodiments, the perception module includes a position determining device located above the device body 10, a bumper located at the front part of the device body 10, a cliff sensor and an ultrasonic sensor located at the bottom of the device body 10, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices, which provide various position information and motion state information of the device body 10 to the control module. For example, the front part of the device body 10 is provided with a bumper, and when the driving wheel assembly propels the cleaning device 1 to walk on the ground during the cleaning process, the bumper detects one or more objects in the travel path of the cleaning device 1 via a sensor module, such as an infrared sensor, and the cleaning device 1 can control the driving structure to respond to the objects, such as climbing over a step, by detecting the objects, such as a step, an obstacle, a wall, by the bumper.

[0060] In some embodiments, the control module can comprehensively judge the current working state of the robot, such as climbing a step, passing a threshold, being on a carpet, being stuck at a cliff, being lifted up or down, being full of dust, being picked up, and the like, based on the distance information and speed information fed back by the bumper, the cliff sensor and the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like, and can give specific next action strategies for different situations, so that the work of the cleaning device 1 is more in line with the requirements of the owner and has better user experience. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 1.

[0061] In some embodiments, the energy module includes a rechargeable battery, such as a nickel-hydrogen battery or a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are connected with the single-chip microcomputer control circuit. The device body 10 is connected with the charging pile for charging through the charging electrode arranged on the side or the bottom of the body.

[0062] In some embodiments, the human-computer interaction module includes keys on the panel of the device body 10, which are used for function selection by the user; it can also include a display screen and / or an indicator light and / or a loudspeaker, which show the current state of the machine or the function selection items to the user; and it can also include a mobile phone client program. For path navigation type cleaning devices, the mobile phone client can show the user a map of the environment where the device is located, as well as the position of the machine, and can provide more rich and personalized function items to the user.

[0063] In some embodiments, the cleaning module can include a dry cleaning module or a dry and wet cleaning module. Among them, the dry cleaning module can include a rolling brush assembly, an edge brush, etc., and the wet cleaning module includes a cleaning unit, a water tank, etc.

[0064] In some embodiments, as shown in Figures 2 to 4 The cleaning device 1 is provided with a mechanical arm module 20, which is connected with the device body 10 of the cleaning device 1, so that the mechanical arm module 20 can move with the movement of the device body 10, and then can move to the working position with the device body 10, so as to realize the grabbing or moving of obstacles or garbage, and better realize the autonomous cleaning function.

[0065] As shown in Figure 3 The device body 10 of the cleaning device 1 has a containing groove 110, and the mechanical arm module 20 can be contained in the containing groove 110 or extended to the outside of the containing groove 110, that is, the mechanical arm can be extended to the outside of the containing groove 110 or contained in the containing groove 110 according to the grabbing requirement. Since the containing groove 110 is arranged on the device body 10, the structure of the device body 10 can be fully utilized, that is, the containing of the mechanical arm module 20 can be realized, the structure is simple, and the design requirement of compact structure and small volume of the cleaning device 1 can be met. At the same time, when the object does not need to be grabbed, the mechanical arm module 20 is contained in the containing groove 110, and the opening of the containing groove 110 is plugged by the cover plate 120 which can be opened and closed by electricity, which can reduce the damage of the mechanical arm caused by the collision of foreign objects, and also can avoid the entry of sewage, dust and other sundries into the containing groove 110, so as to improve the reliability and service life of the mechanical arm module 20. Among them, the mechanical arm module includes a plurality of mechanical arm segments connected in sequence and a joint arranged between adjacent mechanical arm segments; the relative rotation of the mechanical arm segments can make the mechanical arm module present a folded state or an unfolded state.

[0066] As shown in Figure 4 The mechanical arm module 20 includes a mechanical arm base 21 and a mechanical arm segment, which can include a support arm 22, a connecting arm 23 and a working arm 24, and a mechanical hand 25 can be arranged on the working arm 24. The mechanical arm base 21 is used to be connected with the device body 10 of the cleaning device 1, and the support arm 22, the connecting arm 23 and the working arm 24 are connected with the mechanical arm base 21 and the mechanical hand 25, and the support arm 22, the connecting arm 23 and the working arm 24 are arranged to be able to be flipped and rotated relative to the mechanical arm base 21, so as to realize the flexible movement of the mechanical hand 25 relative to the mechanical arm base 21, so that the mechanical hand 25 can flexibly and accurately grab the objects near the cleaning device 1.

[0067] As shown in Figure 4As shown, the joints include a first mechanical joint 261, a second mechanical joint 262, and a third mechanical joint 263. When the support arm 22 needs to be in the extended state, the first mechanical joint 261 is used to extend the support arm 22 from its folded state in the receiving groove 110 to its extended state outside the receiving groove 110. At this time, the support arm 22 can be in a state where its length direction is perpendicular to the plane of the equipment body 10. Then, the steering seat can drive the support arm 22 to rotate 0 to 90° relative to the equipment body 10, that is, the support arm 22 can drive the end-effector 25 to extend to the front or side of the equipment body 10. The support arm 22 and the connecting arm 23 are rotatably connected through the second mechanical joint 262 to perform relative pitching movements; the connecting arm 23 and the working arm 24 are rotatably connected through the third mechanical joint 263 to perform relative pitching movements. Through the cooperation of the first mechanical joint 261, the second mechanical joint 262, and the third mechanical joint 263, the position of the end-effector 25 can be adjusted, so that it can flexibly and accurately grasp objects near the cleaning equipment 1.

[0068] In some embodiments, such as Figures 5 to 7 As shown, the robotic arm module 20 and the cleaning module (e.g., a dry cleaning module including a roller brush assembly) 30 are arranged adjacent to each other on the base plate 130 of the equipment body 10.

[0069] Among them, such as Figure 8 As shown, the cleaning module 30 is connected to the equipment body 10 via an arm. The arm is rotatably connected to the equipment body 10, meaning that the cleaning module 30 can be rotatably connected to the equipment body 10 via the arm, allowing the cleaning module 30 to be raised and lowered relative to the equipment body 10 in the height direction Z of the equipment body 10 under the drive of the lifting module 50. The arm can be regarded as a connecting arm or a swing arm.

[0070] Since the cleaning equipment 1 has functions such as robotic arm module 20, cleaning module lifting, voice control, and human-machine interaction, more functional components need to be installed inside the cleaning equipment 1; therefore, the layout of the functional components needs to be optimized.

[0071] like Figure 8 and Figure 9 As shown, in the height direction Z of the cleaning equipment 1, the orthographic projection of the robotic arm module 20 on the preset reference plane overlaps at least partially with the orthographic projection of the arm on the preset reference plane. That is, the arm and the robotic arm module 20 are overlapped, so that the cleaning module 30 and the mechanical module can be set close to each other in the forward direction X of the cleaning equipment 1. This optimizes the layout of functional components on the equipment body 10, improves the structural compactness, and enables more functional components to be set on the equipment body 10, thereby enhancing the market competitiveness of the product.

[0072] When the cleaning module 30 is driven to ascend and descend by the lifting module 50, the arm is rotatably connected to the bottom plate 130 of the device body 10, so that the arm rotates relative to the bottom plate 130 along with the ascending and descending of the cleaning module 30. At this time, the arm always has an overlapping part with the orthographic projection of the mechanical arm module 20 on the preset reference plane during the rotation.

[0073] The overlapping part of the orthographic projection of the arm on the preset reference plane and the orthographic projection of the mechanical arm module 20 on the preset reference plane can be 80% to 90% of the orthographic projection of the arm on the preset reference plane, for example, 80%, 82%, 85%, 88%, 90%, and the like, so that the arm can be arranged as much as possible below the mechanical arm module 20. Of course, the proportion can also be less than 80% or greater than 90%, which is not limited in the present disclosure.

[0074] In an embodiment, as shown in Figure 8 and Figure 9 The cleaning module 30 includes a cleaning unit (for example, a roller brush) 320, and the two ends of the cleaning module 30 in the width direction Y are respectively connected to the device body 10 through the first arm 41 and the second arm 42 in the axial direction of the rotating cleaning unit 320.

[0075] The cleaning module includes a mounting frame 310, the mounting frame 310 is formed with a roller groove, the cleaning unit 320 is installed in the roller groove, and the cleaning unit 320 can sweep the debris on the ground. One end of the first arm 41 and the second arm 42 is rotatably connected to the bottom plate 130 of the device body 10, and the other end is fixedly connected to the mounting frame 310.

[0076] The first arm 41 and the second arm 42 can be integrally formed with the mounting frame 310, so as to improve the structural strength between the first arm 41, the second arm 42 and the mounting frame 310, and reduce the assembly error. Of course, the first arm 41 and the second arm 42 can be fixedly connected to the mounting frame 310 by welding, bonding, clamping, threaded connection and the like, which is not limited in the present disclosure.

[0077] In an embodiment, as shown in Figure 8 and Figure 9 In the height direction Z, the orthographic projection of the second mechanical joint 262 on the preset reference plane at least partially overlaps with the orthographic projection of the first arm 41 on the preset reference plane, or the orthographic projection of the third mechanical joint 263 on the preset reference plane at least partially overlaps with the orthographic projection of the second arm 42 on the preset reference plane, or the orthographic projection of the second mechanical joint 262 on the preset reference plane at least partially overlaps with the orthographic projection of the first arm 41 on the preset reference plane, and the orthographic projection of the third mechanical joint 263 on the preset reference plane at least partially overlaps with the orthographic projection of the second arm 42 on the preset reference plane.

[0078] The first arm 41 is arranged below the second mechanical joint 262, and the second arm 42 is arranged below the third mechanical joint 263, so that the space below the second mechanical joint 262 and the space below the third mechanical joint 263 are fully utilized, the assembly of the first arm 41 and the second arm 42 is realized, and the rotation space of the first arm 41 and the second arm 42 is met, so that the cleaning module 30 and the mechanical module are arranged in close proximity in the advancing direction X of the cleaning equipment 1, thereby optimizing the layout of the functional devices on the equipment body 10 and improving the compactness of the structure.

[0079] In an embodiment, in the advancing direction X of the cleaning equipment 1, the mechanical arm module 20 is located in front of the cleaning module 30, the side of the cleaning module 30 close to the mechanical arm module 20 is connected to the arm, and the other side is connected to the equipment body 10 through the flexible member 330 or the elastic member. When the cleaning module 30 is lifted by the lifting module 50, one side moves through the arm, and the other side moves relative to the equipment body 10 through the flexible member 330 or the elastic member, thereby realizing the lifting movement relative to the equipment body 10.

[0080] Among them, the flexible member 330 or the elastic member forms an air duct, and the outlet of the cleaning module 30 is communicated with the air duct. When the cleaning unit 320 performs cleaning work, the flexible member 330 or the elastic member forms an air duct, which can form a negative pressure at the cleaning unit 320, so as to recycle the sundries cleaned by the cleaning unit 320 into the dust bag or the dust box through the negative pressure, thereby realizing continuous cleaning work.

[0081] Among them, the flexible member 330 or the elastic member can be a rubber member, the bottom plate 130 of the equipment body 10 can also be a plastic member, and the mounting bracket 310 can also be a plastic member, that is, the two ends of the flexible member 330 or the elastic member can be connected together through the hot melting mode with the bottom plate 130 and the mounting bracket 310, thereby improving the sealing performance at the connection position. Of course, it can also be connected through bonding, clamping and the like, and the present disclosure does not limit this.

[0082] In an embodiment, as shown in Figures 10 to 12 The lifting module 50 includes a driving assembly 510 and a transmission assembly, the driving assembly 510 is arranged on the equipment body 10, and the transmission assembly is connected with the driving assembly 510 and the cleaning module 30, and is used to drive the cleaning module 30 to lift in the height direction Z.

[0083] The transmission assembly comprises a first transmission member 520 and a second transmission member 530. The first transmission member 520 is connected with the driving assembly 510, and the second transmission member 530 is connected with the cleaning module 30. The first transmission member 520 can rotate between a first position and a second position under the driving of the driving assembly 510. When the first transmission member 520 rotates to the first position, the first transmission member 520 drives the second transmission member 530 to the initial position, and the second transmission member 530 drives the cleaning module 30 to the raised position. When the first transmission member 520 rotates to the second position, the first transmission member 520 drives the second transmission member 530 to the driving position, and the second transmission member 530 drives the cleaning module 30 to the lowered position.

[0084] In an embodiment, the first transmission member 520 comprises a clamping portion, and the second transmission member 530 comprises a connecting portion. The clamping portion clamps the connecting portion. The clamping portion can clamp the connecting portion to move synchronously. The clamping portion can rotate between a first position and a second position under the driving of the driving assembly 510. When the clamping portion rotates to the first position, the clamping portion drives the connecting portion to the initial position, and the connecting portion drives the cleaning module 30 to the raised position. When the clamping portion rotates to the second position, the clamping portion drives the connecting portion to the driving position, and the connecting portion drives the cleaning module 30 to the lowered position.

[0085] The axis of the first transmission member 520 when rotating under the driving of the driving motor of the driving assembly 510 is in the same direction as the axis of the cleaning unit 320 when rotating, i.e., the axis of the first transmission member 520 when rotating is parallel or substantially parallel or coincides with the axis of the cleaning unit 320 when rotating, i.e., the first transmission member 520 can rotate around the axis of the cleaning unit 320 of the cleaning module 30 when rotating, and the connecting portion can rotate around the axis of the clamping portion when rotating under the driving of the clamping portion, thereby driving the cleaning module 30 to move between the lowered position and the raised position.

[0086] The connecting portion can be a connecting rod in a rod-shaped structure. The connecting portion can be fixed on the mounting frame 310 of the cleaning module 30 through a mounting seat 540. The mounting seat 540 and the mounting frame 310 can be detachably connected through a threaded member. The mounting seat 540 forms a containing space for assembling the connecting rod. The clamping portion of the first transmission member 520 extends into the containing space and clamps the connecting rod.

[0087] The first transmission member 520 can have a Y-shaped structure, and the end portion can form a clamping groove. The connecting rod is located in the clamping groove. The size of the clamping groove matches the size of the connecting rod, thereby avoiding a large amount of synchronous movement of the first transmission member 520 driving the second transmission member 530.

[0088] The first transmission member 520 and the second transmission member 530 are made of rubber material, which can improve the anti-skid performance and reduce the abrasion between the first transmission member 520 and the second transmission member 530, thereby improving the stability of the transmission between the first transmission member 520 and the second transmission member 530.

[0089] In an embodiment, the cleaning module 30 is further provided with a driving module 340 fixed on the mounting frame 310. The driving module 340 drives the cleaning unit (for example, the roller brush) 320 to rotate to realize the cleaning operation.

[0090] The cutting assembly is arranged on the cleaning unit 320 to cut the hair and other winding objects wound on the cleaning unit 320 during the rotation of the cleaning unit 320, so as to avoid the hair and other winding objects from winding on the cleaning unit 320 and affecting the cleaning effect of the cleaning unit 320, and also avoid the user from manually removing the hair and other winding objects wound on the cleaning unit 320, thereby improving the user experience.

[0091] In an embodiment, as shown in Figure 10 and Figure 11 The cleaning device 1 further includes a detection module 60 configured to detect the position of the cleaning module 30 relative to the device body 10. By arranging the detection module 60, it is possible to assist in judging whether the cleaning module 30 is in the lowered position or the raised position, thereby facilitating the control of the driving motor to accurately lift or lower the cleaning module 30.

[0092] In an embodiment, as shown in Figure 12 The detection module 60 includes a receiver 620 and a transmitter 610. One of the receiver 620 and the transmitter 610 is arranged on the device body 10, and the other is arranged on the cleaning module 30. When the cleaning module 30 is in the raised position or the lowered position relative to the device body 10, the receiver 620 and the transmitter 610 are positionally corresponding, and the detection module 60 outputs a position sensing signal.

[0093] It can be understood that the detection module 60 can also be a photoelectric detector, an encoder or a Hall sensor to emit a sensing signal when the cleaning module 30 is in the raised position or the lowered position relative to the device body 10, or to emit corresponding sensing signals when the cleaning module 30 is in the raised position and the lowered position relative to the device body 10, respectively.

[0094] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A cleaning apparatus, characterized by, The device comprises: a device body, a driving wheel assembly is arranged on the device body; a cleaning module, the cleaning module is rotatably connected to the device body through an arm; a lifting module, the lifting module is arranged on the device body, and is configured to drive the cleaning module to lift in the height direction relative to the device body through the arm; a mechanical arm module, the mechanical arm module is arranged on the device body; in the height direction, the orthographic projection of the mechanical arm module at least partially overlaps with the orthographic projection of the arm.

2. The cleaning apparatus of claim 1, wherein, The cleaning module comprises a cleaning unit, and in the axial direction of the rotating shaft of the cleaning unit, two ends of the cleaning module are connected to the device body through a first arm and a second arm respectively.

3. The cleaning apparatus of claim 2, wherein, The mechanical arm module comprises a plurality of mechanical arm segments connected in sequence and joints arranged between adjacent mechanical arm segments, and relative rotation of the mechanical arm segments can make the mechanical arm module present a folded state or an unfolded state.

4. The cleaning apparatus of claim 3, wherein, The mechanical arm segment further comprises a support arm, a connecting arm and a working arm, and the joint further comprises a first mechanical joint, a second mechanical joint and a third mechanical joint, the support arm is connected to the device body, and the connecting arm connects the support arm and the working arm. The support arm can be rotated to a folded state or an unfolded state relative to the device body under the drive of the first mechanical joint, the connecting arm can be rotated to a folded state or an unfolded state relative to the support arm under the drive of the second mechanical joint, and the working arm can be rotated to a folded state or an unfolded state relative to the connecting arm under the drive of the third mechanical joint.

5. The cleaning apparatus of claim 4, wherein, In the height direction, the orthographic projection of the second mechanical joint at least partially overlaps with the orthographic projection of the first arm, and / or the orthographic projection of the third mechanical joint at least partially overlaps with the orthographic projection of the second arm.

6. The cleaning apparatus of claim 1, wherein, In the advancing direction of the cleaning device, one side of the cleaning module is connected to the arm, and the other side is connected to the device body through a flexible member or an elastic member.

7. The cleaning apparatus of claim 6, wherein, The flexible member or the elastic member forms an air duct, and an outlet of the cleaning module communicates with the air duct.

8. The cleaning apparatus of claim 1, wherein, The lifting module comprises a driving assembly and a transmission assembly, the driving assembly is arranged on the device body, and the transmission assembly is connected with the driving assembly and the cleaning module, and is used to drive the cleaning module to lift in the height direction.

9. The cleaning apparatus of claim 8, wherein, The transmission assembly comprises a first transmission member and a second transmission member, the first transmission member is connected with the driving assembly, and the second transmission member is connected with the cleaning module. The first transmission member can rotate between a first position and a second position under the drive of the driving assembly, when the first transmission member rotates to the first position, the first transmission member drives the second transmission member to be located at an initial position, and the second transmission member drives the cleaning module to be located at a lifted position; when the first transmission member rotates to the second position, the first transmission member drives the second transmission member to be located at a driving position, and the second transmission member drives the cleaning module to be located at a lowered position.

10. The cleaning apparatus of claim 9, wherein, The first transmission member comprises a clamping portion, and the second transmission member comprises a connecting portion, and the clamping portion is clamped on the connecting portion.

11. The cleaning apparatus of claim 10, wherein, The cleaning module comprises a cleaning unit, and an axis of the first transmission member is in the same direction as an axis of the cleaning unit when the cleaning unit rotates.

12. The cleaning apparatus of claim 1, wherein, The cleaning device further comprises: A detection module configured to detect a position of the cleaning module relative to the device body.

13. The cleaning apparatus of claim 12, wherein, The detection module comprises: A receiver and a transmitter, one of which is arranged on the device body and the other of which is arranged on the cleaning module; when the cleaning module is in a raised position or a lowered position relative to the device body, the receiver and the transmitter are in a position corresponding to each other, and the detection module outputs a position sensing signal.

14. A cleaning system characterized by, The cleaning device comprises: The cleaning device according to any one of claims 1-13; A base station configured to interface with the cleaning device.

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