Cleaning module, cleaning equipment and cleaning system

Abstract

The embodiment of the utility model discloses a cleaning module, cleaning equipment and a cleaning system, and the cleaning module comprises a cleaning support which is provided with a first end and a second end which are arranged back to back in the axial direction; the first end of the cleaning bracket is provided with a first matching part, and the second end of the cleaning bracket is provided with a second matching part; the cleaning part is arranged at the first end of the cleaning bracket; an avoiding through hole corresponding to the first matching part in position is formed in the cleaning piece; the first matching part is used for being detachably connected with a first output part of a driving assembly of the cleaning base station through the avoiding through hole; and the second matching part is used for being detachably connected with a machine body of the cleaning equipment.

Description

TECHNICAL FIELD

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

[0002] In the related art, a sweeping robot is used to clean the ground. The sweeping robot can mop the ground through a mop structure. The mop structure of the sweeping robot needs to be cleaned frequently. Generally, the sweeping robot cooperates with a station to clean the mop structure, which makes the sweeping robot complicated to clean the mop structure. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the embodiments of the present application aim to provide a cleaning module, a cleaning device and a cleaning system.

[0004] To achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0005] The embodiments of the present application provide a cleaning module, comprising:

[0006] A cleaning support has a first end and a second end arranged back to back in the axial direction. The first end of the cleaning support has a first matching part, and the second end of the cleaning support has a second matching part.

[0007] A cleaning element is arranged at the first end of the cleaning support. The cleaning element has an avoidance through hole corresponding to the position of the first matching part.

[0008] The first matching part is used to be detachably connected with the first output part of the driving assembly of the cleaning base station through the avoidance through hole. The second matching part is used to be detachably connected with the body of the cleaning device.

[0009] In some optional implementation manners, the first matching part comprises a first connecting structure, which is used to be detachably connected with the first limiting structure of the first output part and is fixedly arranged with the first limiting structure in the rotation direction.

[0010] In some optional implementation manners, the first connecting structure comprises:

[0011] A first concave-convex structure is arranged radially at the first end of the cleaning support. The first concave-convex structure is used to cooperate with the first convex-concave structure of the first output part.

[0012] In some optional implementation manners, the third convex part of the first concave-convex structure comprises:

[0013] A second matching top surface is arranged obliquely away from the second matching part along the axis of the first matching part to the circumferential side of the first matching part.

[0014] Two second matching sides, located at opposite sides of the second matching top surface in the circumferential direction; the distance between the two second matching sides gradually increases in the direction from the top end of the third protrusion to the bottom end of the third protrusion.

[0015] In some optional implementations, the second matching side and the second matching top surface are connected by an arc surface.

[0016] In some optional implementations, the second matching top surface is a plane; or, the second matching top surface is an arc surface.

[0017] In some optional implementations, the first connecting structure further comprises:

[0018] A second concave-convex structure is arranged on the outer circumferential side of the first matching part and corresponds to the position of the first concave-convex structure; the third protrusion of the first concave-convex structure extends to the fourth protrusion of the second concave-convex structure, and the second concave-convex structure is used for matching the second concave-convex structure of the first output part.

[0019] In some optional implementations, the first concave-convex structure comprises:

[0020] A second guide bottom surface is located at the first end of the cleaning support; the second guide bottom surface is arranged to be inclined away from the second matching part in the direction from the axis of the first matching part to the circumferential side of the first matching part.

[0021] In some optional implementations, the first matching part is provided with a second mounting groove at the axis, and the first concave-convex structure is arranged on the outer circumferential side of the second mounting groove.

[0022] The cleaning module further comprises:

[0023] A second connecting piece is arranged on the second mounting groove.

[0024] The second connecting piece is used for being connected to the first connecting piece of the cleaning base station by magnetic attraction.

[0025] In some optional implementations, the first connecting structure comprises:

[0026] A second connecting piece is arranged on the first matching part; the second connecting piece is used for being connected to the first connecting piece of the first output part by magnetic attraction, and the first output part is used for fixing the cleaning module in the rotational direction position by magnetic attraction.

[0027] In some optional implementations,

[0028] The first matching part is used for connecting with a first output part of the cleaning base station by magnetic attraction, and the first output part is used for fixing the cleaning module in a rotating direction position by magnetic attraction.

[0029] In some optional implementations, further comprising:

[0030] A third connecting part is arranged on the second matching part, and the third connecting part is used for detachably connecting with a fourth connecting part of a machine body of the cleaning device.

[0031] In some optional implementations, the third connecting part is used for connecting with the fourth connecting part by magnetic attraction.

[0032] In some optional implementations, the first matching part is a recess structure, and / or the second matching part is a protruding structure.

[0033] In some optional implementations, the second matching part is used for driving the cleaning support to rotate.

[0034] In the process of driving the cleaning support to rotate by the second matching part, the cleaning part is used for contacting with a bearing surface to clean the bearing surface.

[0035] The embodiments of the present application further provide a cleaning device, which comprises a machine body and the cleaning module of the embodiments of the present application, and the second matching part of the cleaning module is detachably connected with the machine body.

[0036] In some optional implementations, the cleaning module comprises:

[0037] A third connecting part is arranged on the second matching part.

[0038] The machine body has a fourth connecting part, and the third connecting part is used for detachably connecting with the fourth connecting part.

[0039] In some optional implementations, further comprising:

[0040] A lifting device is arranged on the machine body to drive the cleaning module to move.

[0041] The fourth connecting part is arranged on the lifting device.

[0042] In some optional implementations, further comprising:

[0043] A separation structure is arranged on the lifting device, and the separation structure is used for separating the cleaning module from the lifting device, or

[0044] The fourth connecting part is an electromagnetic structure, so that the fourth connecting part and the third connecting part have a connecting state or a separation state.

[0045] In some optional implementation manners, the lifting device comprises:

[0046] a lifting assembly arranged on the body and defining a limiting hole; the fourth connecting member is arranged on the lifting assembly and located at the bottom of the limiting hole; and the second matching part is arranged to be detachably inserted into the limiting hole;

[0047] a second motor arranged on the body;

[0048] a second transmission assembly arranged on the body; and the second motor is arranged to drive the lifting assembly to move through the second transmission assembly.

[0049] In some optional implementation manners, the limiting hole is non-circular in cross section;

[0050] The lifting device further comprises:

[0051] a housing rotatably arranged on the body;

[0052] the lifting assembly is arranged on the housing;

[0053] the second motor is arranged on the housing;

[0054] the second transmission assembly is arranged on the housing;

[0055] a third motor arranged to drive the housing to rotate relative to the body along the axis of the limiting hole;

[0056] when the second matching part is separated from the limiting hole, the third motor is arranged to drive the housing to rotate so that the limiting hole and the second matching part are in circumferential position correspondence.

[0057] In some optional implementation manners, the magnetic attraction between the second matching part and the body is greater than the magnetic attraction between the first matching part and the first output part.

[0058] The embodiments of the present application also provide a cleaning system comprising a cleaning base station and the cleaning device of the embodiments of the present application, wherein the cleaning base station comprises a driving assembly;

[0059] In the cleaning state, the cleaning module is separated from the body, the cleaning module is detachably connected with the first output part of the driving assembly, and the driving assembly is arranged to drive the cleaning module to rotate.

[0060] The cleaning module of the present application, the first matching part is used for being detachably connected with the first output part of the driving assembly of the cleaning base station through the avoiding through hole. The cleaning base station can directly drive the cleaning module to rotate to clean the cleaning module without the participation of the cleaning equipment, thereby greatly improving the adaptability of the cleaning module. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 An optional structural schematic diagram of a cleaning system in an embodiment of the present application;

[0062] Figure 2 An optional structural schematic diagram of a cleaning device in an embodiment of the present application, wherein the cleaning module is in a lifting position;

[0063] Figure 3 An optional structural schematic diagram of a cleaning device in an embodiment of the present application, wherein the cleaning module is in a cleaning position;

[0064] Figure 4 An optional structural schematic diagram of a cleaning base station in an embodiment of the present application;

[0065] Figure 5 A partial structural schematic diagram of Figure 4 ;

[0066] Figure 6 An optional structural schematic diagram of the first output part in an embodiment of the present application;

[0067] Figure 7 A sectional view of Figure 4 ;

[0068] Figure 8 A partial view of Figure 7 ;

[0069] Figure 9 A partial view of Figure 7 ;

[0070] Figure 10 An optional partial structural schematic diagram of a cleaning base station in an embodiment of the present application;

[0071] Figure 11 An optional partial structural schematic diagram of a cleaning base station in an embodiment of the present application;

[0072] Figure 12 An optional structural schematic diagram of a cleaning assembly in an embodiment of the present application;

[0073] Figure 13 An optional structural exploded view of a cleaning assembly in an embodiment of the present application;

[0074] Figure 14 An optional structure sectional view of the cleaning module in the embodiment of the present application;

[0075] Figure 15 An optional structure schematic view of the cleaning module in the embodiment of the present application;

[0076] Figure 16 An optional partial structure schematic view of the cleaning module in the embodiment of the present application;

[0077] Figure 17 An optional partial structure schematic view of the cleaning device in the embodiment of the present application;

[0078] Figure 18 An optional sectional view of Figure 17 .

[0079] Fig. 10 is a sectional view of the cleaning base station; Fig. 11 is a sectional view of the body assembly; Fig. 12 is a sectional view of the first space; Fig. 13 is a sectional view of the fixed shaft; Fig. 14 is a sectional view of the connecting frame; Fig. 15 is a sectional view of the cleaning assembly; Fig. 16 is a sectional view of the cleaning disc; Fig. 17 is a sectional view of the first connecting through hole; Fig. 18 is a sectional view of the first cylindrical part; Fig. 19 is a sectional view of the cleaning space; Fig. 20 is a sectional view of the cleaning member; Fig. 21 is a sectional view of the stepped cylindrical part; Fig. 22 is a sectional view of the cleaning part; Fig. 23 is a sectional view of the cleaning support; Fig. 24 is a sectional view of the bearing; Fig. 25 is a sectional view of the shielding member; Fig. 26 is a sectional view of the driving assembly; Fig. 27 is a sectional view of the first output part; Fig. 28 is a sectional view of the first mounting slot; Fig. 29 is a sectional view of the first limiting structure; Fig. 30 is a sectional view of the first convex-concave structure; Fig. 31 is a sectional view of the first convex part; Fig. 32 is a sectional view of the first matching top surface; Fig. 33 is a sectional view of the first matching side surface; Fig. 34 is a sectional view of the second convex-concave structure; Fig. 35 is a sectional view of the second convex part; Fig. 36 is a sectional view of the first guiding bottom surface; Fig. 37 is a sectional view of the first connecting member; Fig. 38 is a sectional view of the first output shaft; Fig. 39 is a sectional view of the first motor; Fig. 40 is a sectional view of the first transmission assembly; Fig. 41 is a sectional view of the second transmission member; Fig. 42 is a sectional view of the third transmission member; Fig. 43 is a sectional view of the second output part; Fig. 44 is a sectional view of the cleaning device; Fig. 45 is a sectional view of the machine body; Fig. 46 is a sectional view of the cleaning module; Fig. 47 is a sectional view of the cleaning support; Fig. 48 is a sectional view of the first matching part; Fig. 49 is a sectional view of the second matching part; Fig. 50 is a sectional view of the cleaning member; Fig. 51 is a sectional view of the avoiding through hole; Fig. 52 is a sectional view of the first connecting structure; Fig. 53 is a sectional view of the first convex-concave structure; Fig. 54 is a sectional view of the third convex part; Fig. 55 is a sectional view of the second matching top surface; Fig. 56 is a sectional view of the second matching side surface; Fig. 57 is a sectional view of the second convex-concave structure; Fig. 58 is a sectional view of the fourth convex part; Fig. 59 is a sectional view of the second guiding bottom surface; Fig. 60 is a sectional view of the second mounting slot; Fig. 61 is a sectional view of the second connecting member; Fig. 62 is a sectional view of the third connecting member; Fig. 63 is a sectional view of the lifting device; Fig. 64 is a sectional view of the second motor; Fig. 65 is a sectional view of the second transmission assembly; Fig. 66 is a sectional view of the output gear; Fig. 67 is a sectional view of the second sliding slot; Fig. 68 is a sectional view of the lifting assembly; Fig. 69 is a sectional view of the first lifting cylinder; Fig. 70 is a sectional view of the second lifting cylinder; Fig. 71 is a sectional view of the damping member; Fig. 72 is a sectional view of the elastic member; Fig. 73 is a sectional view of the housing; Fig. 74 is a sectional view of the first sliding slot; Fig. 75 is a sectional view of the separating structure; Fig. 76 is a sectional view of the fourth connecting member; Fig. 77 is a sectional view of the driving wheel; Fig. 78 is a sectional view of the driven wheel; and Fig. 79 is a sectional view of the bearing surface. Detailed Implementation

[0080] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0081] In the embodiments described in this application, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can be an electrical connection, or a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0082] It should be noted that the terms "first," "second," and "third" used in the embodiments of this application are merely used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first," "second," and "third" can be interchanged in a specific order or sequence where permitted. It should be understood that the objects distinguished by "first," "second," and "third" can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in an order other than those illustrated or described herein.

[0083] The following combination Figures 1 to 18 The cleaning base station, cleaning module, cleaning equipment, and cleaning system described in the embodiments of this application will be described in detail.

[0084] In related technologies, robotic vacuum cleaners are used to clean floors, and they mop the floor using a mop structure. This mop structure requires frequent cleaning. Typically, the robotic vacuum cleaner works in conjunction with a cleaning station to clean the mop structure. As an example, the cleaning station provides a cleaning tank, and the robotic vacuum cleaner rotates the mop structure within the tank to clean it. Because the robotic vacuum cleaner needs to work with the cleaning station to clean the mop structure, the process is relatively complex.

[0085] like Figure 1 As shown, this application embodiment provides a cleaning system, including a cleaning base station 10 and a cleaning device 40. The cleaning device 40 includes a body 400 and a cleaning module 500 detachably disposed on the body 400. The cleaning base station 10 includes a drive assembly 300.

[0086] In the cleaning state, the cleaning module 500 is separated from the body 400 and is detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10. The drive component 300 is used to drive the cleaning module 500 to rotate in order to clean the cleaning module 500.

[0087] Here, the cleaning base station 10 may have a cleaning space 213, and the drive component 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0088] Here, the cleaning of the cleaning module 500 can be completed by cleaning the base station 10, without the participation of the cleaning device 40, so that the structure of the cleaning module 500 can be greatly reduced.

[0089] In the embodiments of the present application, the structure of the cleaning device 40 is not limited. For example, the cleaning device 40 can be a sweeping robot.

[0090] In the embodiments of the present application, in the cleaning state, at least part of the cleaning device 40 can be located in the first space 101 defined by the cleaning base station 10, as shown in Figure 1 Of course, in the cleaning state, the cleaning device 40 can also be located outside the cleaning base station 10, and here, the cleaning device 40 can be in an inactive state, and of course, the cleaning device 40 can also be in an active state; for example, the cleaning device 40 is in a sweeping state.

[0091] In the embodiments of the present application, as shown in Figure 2 and Figure 3 The cleaning device 40 can further include a driving wheel 710 and a driven wheel 720 arranged at the bottom of the body 400. The driving wheel 710 is used to drive the body 400 to travel, and the driven wheel 720 is used to support the body 400 together with the driving wheel 710. Of course, in other embodiments, the cleaning device 40 can only include the driving wheel 710, and does not include the driven wheel 720.

[0092] In the embodiments of the present application, the cleaning device 40 can further include a sweeping device arranged at the bottom of the body 400, and the sweeping device is used to sweep the bearing surface 730.

[0093] The cleaning module 500 is arranged at the bottom of the body 400 in a lifting manner, and the cleaning module 500 has a lifting position and a cleaning position relative to the body 400. As shown in Figure 2 When the cleaning module 500 is in the lifting position, the cleaning module 500 does not clean the bearing surface 730. As shown in Figure 3 When the cleaning module 500 is in the cleaning position, the cleaning module 500 can clean the bearing surface 730; here, the cleaning module 500 can rotate relative to the body 400 to contact the bearing surface 730 to clean the bearing surface 730.

[0094] Embodiment one, as shown in Figure 4As shown, the embodiment of the present application discloses a cleaning base station 10, which comprises a body assembly 100, a cleaning assembly 200 and a driving assembly 300. The cleaning assembly 200 is arranged on the body assembly 100 and defines a cleaning space 213; the driving assembly 300 is arranged on the body assembly 100; a first output part 310 of the driving assembly 300 is located in the cleaning space 213; the first output part 310 of the driving assembly 300 is used to be detachably connected with a cleaning module 500 of a cleaning device 40, so as to drive the cleaning module 500 to rotate at the cleaning space 213; through the cleaning base station 10, the cleaning of the cleaning module 500 can be completed without the participation of the cleaning device 40, so that the structure for cleaning the cleaning module 500 can be greatly reduced.

[0095] In the embodiment of the present application, the structure of the body assembly 100 is not limited. For example, the body assembly 100 can define a containing space, the cleaning assembly 200 is arranged in the containing space and defines the cleaning space 213; the driving assembly 300 is arranged in the containing space; so that the cleaning assembly 200 and the driving assembly 300 can be protected by the body assembly 100. Of course, in other embodiments, the cleaning assembly 200 can also be directly arranged on the top side of the body assembly 100, and part of the driving assembly 300 can also be arranged on the top side of the body assembly 100.

[0096] In the embodiment of the present application, the structure of the driving assembly 300 is not limited. For example, the driving assembly 300 can comprise a first motor 370, which can be fixed to the body assembly 100 through a clamping structure, a screw structure or the like. The driving shaft of the first motor 370 can directly form the first output part 310, or the first output part 310 can be arranged on the driving shaft of the first motor 370. For another example, the driving assembly 300 further comprises the first motor 370 and a first transmission assembly 380, the first motor 370 is connected with the first output part 310 through the first transmission assembly 380.

[0097] As an example, as shown in Figure 4 and Figure 5 The cleaning assembly 200 defines two cleaning spaces 213, the body assembly 100 defines a first containing space for containing the cleaning assembly 200 and a second containing space; the driving assembly 300 further comprises the first motor 370 and the first transmission assembly 380, the first motor 370 is arranged in the second containing space, and the first motor 370 is connected with the two first output parts 310 through the first transmission assembly 380; the two first output parts 310 are correspondingly located in the two cleaning spaces 213; through one motor, the two first output parts 310 are driven to rotate at the same time, so that the cleaning of the two cleaning modules 500 through one motor can be realized.

[0098] Here, the second accommodating space and the first accommodating space are arranged at least partially overlapping in the height direction, and the projection areas of the second accommodating space and the first accommodating space on the bearing surface 730 are arranged staggeredly, that is, the second accommodating space and the first accommodating space can be located at the same level in the height direction, so that the arrangement size of the body assembly 100 in the height direction can be reduced, and the light and thin arrangement of the body assembly 100 in the area of the cleaning assembly 200 and the driving assembly 300 can be realized.

[0099] In some optional implementation of the embodiment of the present application, after the driving assembly 300 drives the cleaning module 500 to rotate forward for a set time, the driving assembly 300 is further configured to drive the cleaning module 500 to rotate reversely, so that the driving assembly 300 can realize the bidirectional rotation of the cleaning module 500, and the cleaning effect of the cleaning module 500 can be improved.

[0100] Here, the set time is not limited. For example, the set time can be 1 minute, 30 seconds, or 2 minutes.

[0101] In the embodiment of the present application, the structure of the first output portion 310 is not limited, as long as the first output portion 310 can be detachably connected with the cleaning module 500 of the cleaning device 40, and the driving assembly 300 can drive the cleaning module 500 to rotate through the first output portion 310. For example, the first output portion 310 is configured to be connected with the first connecting portion 520 of the cleaning module 500 through magnetic attraction, and the first output portion 310 is configured to fix the cleaning module 500 in the rotational direction position through magnetic attraction. Here, the first output portion 310 and the first connecting portion 520 can both be magnetic structures, and the magnetism of the first output portion 310 and the first connecting portion 520 can be opposite. Of course, the first output portion 310 and the first connecting portion 520 can only have one magnetic structure and the other be a ferrous structure.

[0102] Example one, the first output portion 310 can include a first limiting structure 320; the first limiting structure 320 is configured to be detachably connected with the first connecting structure 550 of the cleaning module 500 and fixedly arranged with the first connecting structure 550 in the rotational direction.

[0103] When the first limiting structure 320 is detachably connected with the first connecting structure 550 of the cleaning module 500, the first output portion 310 can drive the cleaning module 500 to rotate through the connection of the first limiting structure 320 and the first connecting structure 550.

[0104] In example one, the form of the first limiting structure 320 is not limited.

[0105] For example, as shown in Figure 6As shown, the first limiting structure 320 can include a first convex-concave structure 321 arranged radially on the top side of the first output part 310, and the first convex-concave structure 321 is used to cooperate with the first concave-convex structure 551 of the cleaning module 500.

[0106] When the first convex-concave structure 321 cooperates with the first concave-convex structure 551 of the cleaning module 500, the first output part 310 is fixedly arranged with the cleaning module 500 in the rotation direction, and the first output part 310 can drive the cleaning module 500 to rotate by cooperating with the first concave-convex structure 551 through the first convex-concave structure 321, so as to realize cleaning of the cleaning module 500.

[0107] In the present example, the specific shape of the first convex-concave structure 321 is not limited. For example, as shown in FIG. 3B, the first convex-concave structure 321 can include a first convex part 3211 and a first concave part 3212. Figure 6 As shown, the first convex part 3211 of the first convex-concave structure 321 can include a first cooperation top surface 3212 and two first cooperation side surfaces 3213. The first cooperation top surface 3212 is arranged to be inclined to the bottom side of the first output part 310 along the axis of the first output part 310 to the circumferential side direction of the first output part 310; the two first cooperation side surfaces 3213 are located on the opposite sides of the first cooperation top surface 3212 in the circumferential direction; and the distance between the two first cooperation side surfaces 3213 gradually increases in the direction from the top end of the first convex part 3211 to the bottom end of the first convex part 3211. Thus, the first cooperation top surface 3212 and the two first cooperation side surfaces 3213 can provide a guiding effect for cooperation of the first concave-convex structure 551 with the first convex-concave structure 321.

[0108] In an application, after the cleaning device 40 drives to the position corresponding to the first output part 310 of the cleaning module 500, here, the first connection structure 550 of the cleaning module 500 is located directly above the first output part 310, when the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-concave structure 321 based on the guiding effect provided by the first cooperation top surface 3212 and the two first cooperation side surfaces 3213 of the first convex-concave structure 321, here, the convex part of the first concave-convex structure 551 can automatically slide into the concave area of the first convex-concave structure 321 based on the guiding effect provided by the first cooperation top surface 3212 and the two first cooperation side surfaces 3213, so as to realize automatic cooperation and connection of the first concave-convex structure 551 with the first convex-concave structure 321.

[0109] In the present example, the first cooperation side surface 3213 and the first cooperation top surface 3212 can be connected by an arc surface, so that the first concave-convex structure 551 and the first convex-concave structure 321 are more smoothly automatically cooperated and connected. Of course, the first cooperation side surface 3213 and the first cooperation top surface 3212 can also be connected by an inclined surface.

[0110] In the present example, the first mating top surface 3212 can be a flat surface for ease of processing. Here, in the process of mating connection of the first convex-concave structure 551 and the first convex-concave structure 321, if the third convex part 5511 of the first convex-concave structure 551 is in contact with the first mating top surface 3212 and cannot enter the recessed area of the first convex-concave structure 321, when the first output part 310 of the driving assembly 300 starts to rotate, the first convex-concave structure 321 will rotate to be misaligned with the first convex-concave structure 551, and based on the gravity of the cleaning module 500, the third convex part 5511 of the first convex-concave structure 551 will enter the recessed area of the first convex-concave structure 321, thereby realizing the mating connection of the first convex-concave structure 551 and the first convex-concave structure 321. Of course, the first mating top surface 3212 can also be a curved surface, and here, the third convex part 5511 of the first convex-concave structure 551 will directly enter the recessed area of the first convex-concave structure 321 based on the guiding effect of the first mating top surface 3212.

[0111] In the present example, the first convex-concave structure 321 can include a first guide bottom surface 330. The first guide bottom surface 330 is located on the top side of the first output part 310; the first guide bottom surface 330 is inclinedly arranged towards the bottom side of the first output part 310 along the axis of the first output part 310 to the circumferential side of the first output part 310, so as to make the first convex-concave structure 321 and the first convex-concave structure 551 more closely matched through the first guide bottom surface 330.

[0112] Here, the first guide bottom surface 330 is an inclined surface, and the first convex-concave structure 321 forms a structure similar to a frustum through the first guide bottom surface 330, so as to make the axis of the first convex-concave structure 321 and the axis of the first convex-concave structure 551 more aligned, and make the first convex-concave structure 321 and the first convex-concave structure 551 more closely matched and connected.

[0113] Of course, in other examples, the first guide bottom surface 330 can also be a flat surface.

[0114] In the present example, the first limiting structure 320 can further include a second convex-concave structure 322, which is arranged on the outer circumferential side of the first output part 310 and corresponds to the position of the first convex-concave structure 321; the first convex part 3211 of the first convex-concave structure 321 extends to the second convex part 3221 of the second convex-concave structure 322, and the second convex-concave structure 322 is used for mating with the second convex-concave structure 552 of the cleaning module 500.

[0115] When the first convex-concave structure 321 cooperates with the first concave-convex structure 551 of the cleaning module 500, the second convex-concave structure 322 cooperates with the second concave-convex structure 552, and the first output portion 310 is more reliably arranged in the rotation direction with the cleaning module 500. The first output portion 310 can more reliably drive the cleaning module 500 to rotate by cooperation of the first convex-concave structure 321 and the first concave-convex structure 551 and cooperation of the second convex-concave structure 322 and the second concave-convex structure 552, so that the cleaning module 500 can be more reliably cleaned.

[0116] Here, since the first convex portion 3211 of the first convex-concave structure 321 extends to the second convex portion 3221 of the second convex-concave structure 322, the second convex portion 3221 of the second convex-concave structure 322 automatically enters the recessed area of the second concave-convex structure 552 based on the guiding effect of the first convex-concave structure 321.

[0117] In the present example, as shown in Figure 6 The top side of the first output portion 310 can be provided with a first mounting groove 311 at the axis, and the first convex-concave structure 321 is arranged at the outer circumferential side of the first mounting groove 311; the driving assembly 300 can further include a first connecting piece 351 arranged at the first mounting groove 311; the first connecting piece 351 is used to provide the second connecting piece 581 of the cleaning module 500 with magnetic attraction force moving towards the side close to the first connecting piece 351, as shown in Figure 7 The magnetic attraction force between the first connecting piece 351 and the second connecting piece 581 can better align and connect the first output portion 310 and the first connecting structure 550 of the cleaning module 500, and can also better align the axis of the first output portion 310 and the axis of the first connecting structure 550, so that the first convex-concave structure 321 and the first concave-convex structure 551 are more closely fitted.

[0118] The first connecting piece 351 can be arranged at the first mounting groove 311 by bonding, clamping or the like. The structure of the first connecting piece 351 and the second connecting piece 581 is not limited. For example, the first connecting piece 351 and the second connecting piece 581 can both be magnetic structures, and the magnetism of the first connecting piece 351 and the second connecting piece 581 can be opposite. Of course, only one of the first connecting piece 351 and the second connecting piece 581 can be a magnetic structure, and the other can be an iron structure.

[0119] In the present example, the first output portion 310 and the first connecting structure 550 of the cleaning module 500 can be better aligned and connected through the first mating top surface 3212 and the two first mating side surfaces 3213; the first output portion 310 and the first connecting structure 550 of the cleaning module 500 can also be better aligned and connected through the first guide bottom surface 330; and the first output portion 310 and the first connecting structure 550 of the cleaning module 500 can also be better aligned and connected through the first connecting member 351 and the second connecting member 581. Here, the cleaning base station 10 can be provided with one of the above three groups of structures, or any two of the above three groups of structures, or all of the above three groups of structures.

[0120] In other examples, the first output portion 310 and the first connecting structure 550 of the cleaning module 500 can also not be provided with alignment structures. As an example, the first limiting structure 320 can include a first convex-concave structure 321. The cleaning device 40 can detect the relative position of the first convex-concave structure 321 of the first output portion 310 in the circumferential direction, and the relative position of the first concave-convex structure 551 in the circumferential direction. Here, the cleaning device 40 is configured to drive the first concave-convex structure 551 to rotate in the circumferential direction to correspond to the positions of the first concave-convex structure 551 and the first convex-concave structure 321 in the circumferential direction, and then separate the cleaning module 500 from the body 400, so that the first concave-convex structure 551 of the cleaning module 500 and the first convex-concave structure 321 are exactly connected. Here, the cleaning device 40 can detect the relative position of the first convex-concave structure 321 in the circumferential direction through a position sensor or an image detection assembly. The cleaning device 40 can detect the relative position of the first concave-convex structure 551 in the circumferential direction through a position sensor or an image detection assembly. Here, the cleaning device 40 is configured to drive the first concave-convex structure 551 to rotate in the circumferential direction to correspond to the positions of the first concave-convex structure 551 and the first convex-concave structure 321 in the circumferential direction in any manner. For example, the cleaning device 40 can further include a lifting device 600, which can be rotatably arranged on the body 400 of the cleaning device 40, and the lifting device 600 is configured to drive the cleaning module 500 to work. The cleaning device 40 can drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor, so that the positions of the first concave-convex structure 551 and the first convex-concave structure 321 in the circumferential direction correspond.

[0121] Of course, in other examples, the first limiting structure 320 can also be other forms of structures.

[0122] For example, the first limiting structure 320 can include a first connecting piece 351, the first connecting piece 351 being arranged on the first output part 310, the first connecting piece 351 being configured to be connected to a second connecting piece 581 of the cleaning module 500 by magnetic attraction, and the first output part 310 being configured to fix the cleaning module 500 in the rotating direction by magnetic attraction. Here, the first output part 310 can drive the cleaning module 500 to rotate by magnetic attraction between the first connecting piece 351 and the second connecting piece 581, and the first output part 310 does not need to be provided with other limiting structures, so that the structure of the first output part 310 can be greatly simplified.

[0123] Here, the first connecting piece 351 can be directly arranged at the axis of the top side of the first output part 310, and the first connecting piece 351 can be in a visible state or not in the visible state. Here, the first output part 310 can include a first annular inclined surface or not include the first annular inclined surface. When the first output part 310 includes the first annular inclined surface, the first annular inclined surface can be located at the outer circumferential side of the first connecting piece 351, and the first annular inclined surface is configured to cooperate with a second annular inclined surface of a first cooperating part 520 of the cleaning module 500; the first annular inclined surface and the second annular inclined surface of the first cooperating part 520 are configured to cooperate to make the first cooperating part 520 more aligned with the axis of the first output part 310.

[0124] In some optional implementations of the embodiments of the present application, the first output part 310 can include an electromagnetic structure, so that the first output part 310 and the cleaning module 500 have a connected state or a disconnected state; so as to realize that the cleaning module 500 is separated from the first output part 310 and connected to the machine body 400. Here, when the first output part 310 and the cleaning module 500 are in contact, the first output part 310 and the cleaning module 500 have magnetic attraction in the case of being powered on and are in the connected state; in the case of being powered off, the first output part 310 and the cleaning module 500 have no magnetic attraction and are in the disconnected state. In an application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output part 310 is powered on, and after the cleaning of the cleaning module 500 is completed, the electromagnetic structure of the first output part 310 is powered off, so that the cleaning module 500 is connected to the machine body 400 of the cleaning device 400.

[0125] In some optional implementations of the embodiments of the present application, the driving assembly 300 can include a first output shaft 360.

[0126] Here, the first output part 310 can be part of the first output shaft 360, and here, the part of the first output shaft 360 forms the first output part 310, so that the structure of the driving assembly 300 can be greatly reduced. Of course, the first output part 310 can also be arranged on the first output shaft 360 by means of clamping, insertion, bonding, or the like, so that the processing and manufacturing of the driving assembly 300 can be facilitated.

[0127] In the embodiment of the present application, the structure of the cleaning assembly 200 is not limited. For example, the cleaning assembly 200 can be detachably arranged on the body assembly 100 by means of clamping, insertion, or the like, so that the cleaning assembly 200 can be detached from the cleaning base station 10 for thorough cleaning; the cleaning assembly 200 is provided with a first connecting through hole 211; and the first output part 310 is used to detachably connect with the cleaning module 500 through the first connecting through hole 211. Of course, the cleaning assembly 200 can also be directly fixed on the body assembly 100 by means of bonding, welding, or the like, and cannot be detached.

[0128] In some optional implementation manners of the embodiment of the present application, the cleaning assembly 200 can include: a cleaning disc 210, which can be detachably arranged on the body assembly 100 and is provided with a first connecting through hole 211; and the cleaning disc 210 defines a cleaning space 213, so that the cleaning module 500 can be cleaned through the cleaning disc 210.

[0129] In the implementation manner, the cleaning disc 210 can be detachably arranged on the body assembly 100 by means of clamping, insertion, or the like, so that the cleaning disc 210 can be detached from the cleaning base station 10 for thorough cleaning. Of course, in other implementation manners, the cleaning disc 210 can also be directly fixed on the body assembly 100 by means of bonding, welding, or the like, and cannot be detached.

[0130] In the implementation manner, the cleaning disc 210 can be used to contain cleaning liquid. The cleaning module 500 can be cleaned by contacting with the cleaning liquid. The form of the cleaning liquid is not limited. For example, the cleaning liquid can include at least one of water and cleaning agent.

[0131] In the implementation manner, the cleaning assembly 200 can further include: a cleaning member 220, which is rotatably arranged in the cleaning space 213; the cleaning member 220 is used to clean the cleaning space 213; the second output part 390 of the driving assembly 300 is connected with the cleaning member 220 through the first connecting through hole 211, so as to drive the cleaning member 220 to rotate; the cleaning space 213 can be automatically cleaned through the cleaning member 220, so that the automatic cleaning capability of the cleaning assembly 200 can be greatly improved; and meanwhile, the driving assembly 300 can drive both the cleaning module 500 and the cleaning member 220 to rotate, so that the structure of the cleaning base station 10 can be greatly reduced.

[0132] Of course, in other examples, the cleaning assembly 200 may also drive the cleaning component 220 to rotate in other ways. For example, the cleaning assembly 200 may drive the cleaning component 220 to rotate via another drive motor.

[0133] In this implementation, the second output part 390 of the drive component 300 is connected to the cleaning component 220 through the first connecting through hole 211, and the implementation method of driving the cleaning component 220 to rotate is not limited.

[0134] For example, the drive assembly 300 may include: a first output shaft 360 located at the first connecting through hole 211; a second output part 390 disposed on the first output shaft 360; and a first output part 310 disposed at the top end of the first output shaft 360; thereby driving the first output part 310 and the second output part 390 to rotate simultaneously through the first output shaft 360 of the drive assembly 300.

[0135] It should be noted that the top side and bottom side described in the embodiments of this application refer to the side where the equipment is placed on the bearing surface 730. With the bearing surface 730 as a reference, the bottom side refers to the side closer to the bearing surface 730, and the top side refers to the side away from the bearing surface 730.

[0136] In this example, the second output part 390 and the first output part 310 can be directly fixed to the first output shaft 360 by means of adhesive bonding, snap-fitting, etc.

[0137] In this example, the second output unit 390 and the cleaning component 220 can be connected by snap-fit, plug-in, adhesive or other means.

[0138] Example 2, such as Figure 7 As shown, the cleaning disc 210 may have a first cylindrical portion 212 located within the cleaning space 213 on the periphery of the first connecting through hole 211; at least a portion of the second output portion 390 is located within the cavity of the first cylindrical portion 212, and the cleaning member 220 is sleeved outside the first cylindrical portion 212 and blocks the gap between the second output portion 390 and the first cylindrical portion 212, so that the cleaning fluid can be prevented from entering the first output shaft 360 through the first cylindrical portion 212, the second output portion 390 and the cleaning member 220.

[0139] In Example 2, the first cylindrical portion 212 prevents cleaning fluid from entering the first output shaft 360 from the first connection hole.

[0140] In Example 2, by fitting the cleaning component 220 outside the first cylindrical portion 212 and blocking the gap between the second output portion 390 and the first cylindrical portion 212, it is possible to prevent the cleaning fluid from entering the first output shaft 360 from the gap between the second output portion 390 and the first cylindrical portion 212 during the cleaning process of the cleaning module 500.

[0141] In the second example, the shape of the second output portion 390 is not limited. For example, the second output portion 390 can be a cylindrical structure.

[0142] In the second example, the shape of the cleaning member 220 is not limited. For example, the cleaning member 220 can be a cylindrical structure.

[0143] As an example, as shown in Figure 8 and Figure 9 , the second output portion 390 can be a stepped cylindrical structure, the second output portion 390 is sleeved outside the first output shaft 360, the large end of the second output portion 390 is located in the cavity of the first cylindrical portion 212, and the small end of the second output portion 390 is located outside the first cylindrical portion 212; at least part of the first output portion 310 is located on the side of the small end of the second output portion 390 away from the large end of the second output portion 390; the cleaning member 220 can include a stepped cylindrical portion 221 and a cleaning portion 222, the large end of the stepped cylindrical portion 221 is sleeved outside the first cylindrical portion 212, and the small end of the stepped cylindrical portion 221 is sleeved outside the small end of the second output portion 390; the cleaning portion 222 is in a strip shape and is arranged outside the large end of the stepped cylindrical portion 221; thus, the stepped cylindrical portion 221 of the cleaning member 220 can prevent the cleaning liquid from entering the first output shaft 360, and the cleaning portion 222 can clean the cleaning space 213.

[0144] In the second example, as shown in Figure 10 , the cleaning assembly 200 can further include a cleaning support 230 arranged on the top side of the cleaning disc 210 and used to contact the cleaning module 500; the cleaning support 230 has a first mounting hole 231 corresponding to the position of the first connecting through hole 211, and the small end of the stepped cylindrical portion 221 can be rotatably arranged at the first mounting hole 231.

[0145] Here, the cleaning support 230 can be provided with a channel for leading out the cleaning liquid, so that the cleaning module 500 can be splashed with the cleaning liquid when the cleaning module 500 contacts the cleaning support 230. The cleaning support 230 can also be provided with a cleaning protrusion, so that the cleaning module 500 can be cleaned by contacting and rubbing the cleaning protrusion.

[0146] Here, the small end of the stepped cylindrical portion 221 can be rotatably arranged at the first mounting hole 231 through a bearing 240.

[0147] When the cleaning member 220 is a cylindrical structure, the cleaning member 220 can also be rotatably arranged at the first mounting hole 231 through a bearing structure. Of course, in other examples, the cleaning member 220 can also be rotatably arranged at the first cylindrical portion 212 through a bearing structure.

[0148] In the second example, as shown in Figure 9 and Figure 10 , the cleaning assembly 200 can further include a cleaning support 230 arranged on the top side of the cleaning disc 210 and used to contact the cleaning module 500; the cleaning support 230 has a first mounting hole 231 corresponding to the position of the first connecting through hole 211, and the small end of the stepped cylindrical portion 221 can be rotatably arranged at the first mounting hole 231.As shown, the cleaning assembly 200 can further include a shielding member 250, the shielding member 250 is arranged on the cleaning bracket 230, the shielding member 250 covers the top side of the gap between the cleaning bracket 230 and the small end of the second output portion 390, the shielding member 250 has a first through hole 251, at least part of the first output portion 310 is connected to the cleaning module 500 through the first through hole 251 in a detachable manner, and the shielding member 250 can further prevent the cleaning liquid from entering the first output shaft 360.

[0149] Here, the shielding member 250 can be arranged on the cleaning bracket 230 by means of insertion, clamping or the like.

[0150] In the present example, the connection manner of the second output portion 390 to the first output shaft is not limited. For example, the second output portion 390 is in a cylindrical shape and is sleeved outside the first output shaft 360. As an example, the second output portion 390 can be directly arranged on the first output shaft by means of adhesion, clamping or the like. As another example, the cleaning base station 10 can further include a first transmission member, the first transmission member is arranged on the first output shaft and is connected to the second output portion 390 in a cooperative manner. Here, the first transmission member and the second output portion 390 can be connected in a cooperative manner by means of convex-concave structure or gear structure. As another example, as shown in FIG. 6, the cleaning base station 10 can further include a second transmission member 381 and at least two third transmission members 382. The second transmission member 381 is arranged on the first output shaft by means of adhesion, clamping or the like, and the at least two third transmission members 382 are rotatably arranged on the body assembly 100. The third transmission members 382 are respectively connected to the second transmission member 381 and the second output portion 390 in a cooperative manner by means of convex-concave structure, gear structure or the like. Here, the at least two third transmission members 382 can be rotatably arranged on the body assembly 100 by means of a rotating shaft structure. Figure 8 and Figure 11 As shown, the cleaning base station 10 can further include a second transmission member 381 and at least two third transmission members 382. The second transmission member 381 is arranged on the first output shaft by means of adhesion, clamping or the like, and the at least two third transmission members 382 are rotatably arranged on the body assembly 100. The third transmission members 382 are respectively connected to the second transmission member 381 and the second output portion 390 in a cooperative manner by means of convex-concave structure, gear structure or the like. Here, the at least two third transmission members 382 can be rotatably arranged on the body assembly 100 by means of a rotating shaft structure.

[0151] In an application, the cleaning base station 10 can further include a second transmission member 381, at least two fixed shafts 110, at least two third transmission members 382 and a connecting frame 120. The second transmission member 381 is arranged on the first output shaft 360, the at least two fixed shafts 110 are arranged on the outer side of the second transmission member 381 along the circumferential direction of the second transmission member 381, the first ends of the fixed shafts 110 are fixed to the body assembly 100, the at least two third transmission members 382 are respectively rotatably arranged on the at least two fixed shafts 110, the connecting frame 120 is respectively connected to the second ends of the at least two fixed shafts 110, the second output portion 390 is in a cylindrical shape and is sleeved outside the at least two third transmission members 382, the third transmission members 382 are respectively connected to the second transmission member 381 and the second output portion 390 in a cooperative manner, and the stability of the positions of the at least two fixed shafts 110 can be improved by means of the connecting frame 120. Of course, the cleaning base station 10 can also not include the connecting frame 120.

[0152] Here, the rotation direction of the first output shaft 360 and the rotation direction of the second output part 390 are opposite, and the ability of the cleaning member 220 to clean the cleaning space 213 can be improved.

[0153] Here, the second transmission member 381 can be a sun gear, the third transmission member 382 can be a planet gear, and the connecting frame 120 can be a planet carrier.

[0154] In the present implementation, as shown in Figure 12 The cleaning assembly 200 can be directly inserted and arranged, so that the cleaning assembly 200 can be completely detached from the cleaning base station 10 as a whole, so as to completely clean the cleaning assembly 200.

[0155] In the present implementation, as shown in Figure 13 The cleaning support 230 can also be directly inserted and arranged, so that the cleaning support 230 can be individually detached from the cleaning base station 10, so as to completely clean the cleaning support 230. The cleaning member 220 can also be directly inserted and arranged. After the cleaning support 230 is detached, the cleaning member 220 can also be individually detached from the cleaning disc 210, so as to completely clean the cleaning member 220.

[0156] Of course, in other embodiments, the cleaning assembly 200 can also not include the cleaning support 230.

[0157] As an example, the cleaning base station can also include a cleaning support 230, which is arranged at the top side of the cleaning space 213 and is used to contact the cleaning module 500, so that the cleaning module 500 is more completely cleaned by contacting the cleaning support 230 and the cleaning module 500.

[0158] Of course, in other examples, the cleaning module 500 can be rotated in one direction or in both directions at the cleaning space 213 to achieve cleaning of the cleaning module 500.

[0159] Here, the cleaning support 230 can be detachably arranged or fixedly arranged. The cleaning support 230 can be detachably arranged in the body assembly 100 by means of insertion, clamping, threaded structure, etc. The cleaning support 230 can also be fixedly arranged in the body assembly 100 by means of bonding, welding, etc. When the cleaning support 230 is detachably arranged, the cleaning support 230 can be conveniently detached for complete cleaning.

[0160] Embodiment two, as shown in Figure 14As shown, the embodiment of the present application also discloses a cleaning module 500, comprising a cleaning support 510 and a cleaning piece 540. The cleaning support 510 has a first matching part 520 and a second matching part 530 arranged oppositely in the axial direction; the cleaning piece 540 is arranged at the first end of the cleaning support 510; the cleaning piece 540 is provided with an avoiding through hole 541 corresponding to the position of the first matching part 520; the first matching part 520 is used for being detachably connected with the first output part 310 of the driving assembly 300 of the cleaning base station 10 through the avoiding through hole 541; and the second matching part 530 is used for being detachably connected with the body 400 of the cleaning device 40.

[0161] In the embodiment of the present application, the cleaning module 500 can be detachably connected with the body 400 of the cleaning device 40 to clean the bearing surface 730, and the cleaning module 500 can also be detachably connected with the first output part 310 of the driving assembly 300 of the cleaning base station 10 to clean the cleaning module 500. Meanwhile, the cleaning base station 10 can directly drive the cleaning module 500 to rotate through the first output part 310 of the driving assembly 300 to clean the cleaning module 500, without the participation of the cleaning device 40, so that the adaptability of the cleaning module 500 can be greatly improved.

[0162] In the embodiment of the present application, the structure of the cleaning support 510 is not limited. For example, the cleaning support 510 can be a disc structure.

[0163] As an example, the cleaning support 510 has a first end and a second end arranged oppositely in the axial direction; the first end of the cleaning support 510 has the first matching part 520, and the second end of the cleaning support 510 has the second matching part 530.

[0164] In the embodiment of the present application, the structure of the cleaning piece 540 is not limited. For example, the cleaning piece 540 can be a fabric structure, so that the cleaning piece 540 can clean the bearing surface 730. As an example, the cleaning piece 540 can be a mop.

[0165] Here, the cleaning piece 540 can be arranged at the first end of the cleaning support 510 by means of adhesion, clamping or the like.

[0166] In the embodiment of the present application, the structure of the first matching part 520 is not limited, as long as the first matching part 520 can be detachably connected with the first output part 310 of the driving assembly 300. For example, the first matching part 520 is used for being connected with the first output part 310 of the cleaning base station 10 by magnetic attraction, the first output part 310 is used for fixing the position of the cleaning module 500 in the rotating direction by magnetic attraction, and the first output part 310 can directly drive the cleaning module 500 to rotate based on the magnetic attraction between the first matching part 520 and the first output part 310.

[0167] The shape of the first matching portion 520 is not limited. For example, the first matching portion 520 can be a concave structure, and correspondingly, the first output portion 310 can be a convex structure. For another example, the first matching portion 520 can be a convex structure, and correspondingly, the first output portion 310 can be a concave structure.

[0168] In the embodiment of the present application, the second matching portion 530 is used to drive the cleaning support 510 to rotate, and in the process of driving the cleaning support 510 to rotate, the cleaning member 540 is used to contact the bearing surface to clean the bearing surface. In the process of the cleaning member 540 contacting the bearing surface, the cleaning member 540 and the bearing surface have a frictional force, and the cleaning member 540 cleans the bearing surface by rubbing the bearing surface.

[0169] The structure of the second matching portion 530 is not limited, as long as the second matching portion 530 can be detachably connected with the machine body 400 of the cleaning device 40. For example, the cleaning device 40 can further include a lifting device 600 arranged on the machine body 400, and the lifting device 600 is used to drive the cleaning module 500 to work to clean the bearing surface 730. The second matching portion 530 and the lifting device 600 can be connected by magnetic attraction, and the lifting device 600 is used to fix the cleaning module 500 in the rotating direction by the magnetic attraction, and the lifting device 600 can directly drive the cleaning module 500 to work by rotating based on the magnetic attraction.

[0170] For another example, the second matching portion 530 can be a concave structure, and correspondingly, the lifting device 600 of the machine body 400 can have a convex structure. For another example, the second matching portion 530 can be a convex structure, and correspondingly, the lifting device 600 of the machine body 400 can have a concave structure. As an example, as shown in Figure 14 and Figure 15 The second matching portion 530 can be a strip structure arranged along the axial direction of the cleaning module 500.

[0171] Example three, the first matching portion 520 can include a first connecting structure 550, and the first connecting structure 550 is used to be detachably connected with the first limiting structure 320 of the first output portion 310 and is fixedly arranged with the first limiting structure 320 in the rotating direction.

[0172] In example three, the form of the first connecting structure 550 is not limited.

[0173] For example, as shown in Figure 16 The first connecting structure 550 can include a first concave-convex structure 551 arranged radially at the first end of the cleaning support 510, and the first concave-convex structure 551 is used to cooperate with the first convex-concave structure 321 of the first output portion 310.

[0174] In this example, the specific shape of the first concave-convex structure 551 is not limited. For example, as shown... Figure 16 As shown, the third protrusion 5511 of the first concave-convex structure 551 includes a second mating top surface 5512 and two second mating side surfaces 5513. The second mating top surface 5512 is inclined along the axis of the first mating portion 520 to the circumferential side of the first mating portion 520 away from the second mating portion 530; the two second mating side surfaces 5513 are located on opposite sides of the second mating top surface 5512 in the circumferential direction; the distance between the two second mating side surfaces 5513 gradually increases in the direction from the top end of the third protrusion 5511 to the bottom end of the third protrusion 5511. Thus, the second mating top surface 5512 and the two second mating side surfaces 5513 can provide a guiding function for the mating of the first concave-convex structure 551 with the first convex-concave structure 321.

[0175] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output section 310, the first connecting structure 550 of the cleaning module 500 is located directly above the first output section 310. When the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513. Here, the protruding part of the first concave-convex structure 551 can automatically slide into the recessed area of ​​the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513, thereby realizing the automatic cooperation and connection between the first concave-convex structure 551 and the first convex-concave structure 321.

[0176] In this example, the second mating side surface 5513 and the second mating top surface 5512 can be connected by an arc surface to allow the first concave-convex structure 551 and the first convex-concave structure 321 to automatically and smoothly engage. Of course, the second mating side surface 5513 and the second mating top surface 5512 can also be connected by an inclined surface.

[0177] In this example, the second mating top surface 5512 can also be a plane to facilitate processing. Here, during the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321, if the second mating top surface 5512 of the first concave-convex structure 551 is in contact with the first mating top surface 3212 but cannot enter the recessed area of ​​the first convex-concave structure 321, after the first output part 310 of the drive component 300 starts to rotate, the first convex-concave structure 321 will rotate to be offset from the first concave-convex structure 551. Based on the gravity of the cleaning module 500, the third protrusion 5511 of the first concave-convex structure 551 will enter the recessed area of ​​the first convex-concave structure 321, thereby realizing the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321. Of course, the second mating top surface 5512 can also be an arc surface. Here, the third protrusion 5511 of the first concave-convex structure 551 will directly enter the recessed area of ​​the first convex-concave structure 321 based on the guiding effect of the second mating top surface 5512.

[0178] In this example, the first concave-convex structure 551 may include a second guide bottom surface 560, which is located at the first end of the cleaning bracket 510. The second guide bottom surface 560 is inclined away from the second mating part 530 along the axis of the first mating part 520 to the circumferential direction of the first mating part 520, so that the first concave-convex structure 321 and the first concave-convex structure 551 can fit more tightly through the second guide bottom surface 560.

[0179] Here, the second guide bottom surface 560 is an inclined surface. The second guide bottom surface 560 makes the first concave-convex structure 551 form a space similar to a frustum, so that the axis of the first convex-concave structure 321 and the axis of the first concave-convex structure 551 are more aligned, and the first convex-concave structure 321 and the first concave-convex structure 551 are more closely connected.

[0180] Of course, the second guide bottom surface 560 can also be a plane.

[0181] In this example, the first connection structure 550 may further include: a second concave-convex structure 552, which is disposed on the outer periphery of the first mating part 520 and corresponds to the position of the first concave-convex structure 551; the third protrusion 5511 of the first concave-convex structure 551 extends to the fourth protrusion 5521 of the second concave-convex structure 552, and the second concave-convex structure 552 is used to mate with the second convex-concave structure 322 of the first output part 310.

[0182] Here, since the third protrusion 5511 of the first concave-convex structure 551 extends to the fourth protrusion 5521 of the second concave-convex structure 552, the fourth protrusion 5521 of the second concave-convex structure 552 will automatically enter the recessed area of ​​the second concave-convex structure 322 based on the guiding effect of the first concave-convex structure 551.

[0183] In the present example, the first fitting part 520 can be provided with a second mounting groove 570 at the axis, and the first concave-convex structure 551 is arranged at the outer circumferential side of the second mounting groove 570; the cleaning module 500 can further include a second connecting piece 581 arranged in the second mounting groove 570; the second connecting piece 581 is used to be connected with the first connecting piece 351 of the cleaning base station 10 through magnetic attraction, as shown in Figure 7 and Figure 9 The first output part 310 and the first connecting structure 550 of the cleaning module 500 can be better aligned and connected through the magnetic attraction between the first connecting piece 351 and the second connecting piece 581, and the axis of the first output part 310 and the axis of the first connecting structure 550 can be better aligned, so that the first convex-concave structure 321 and the first concave-convex structure 551 can be more closely fitted.

[0184] The second connecting piece 581 can be arranged in the second mounting groove 570 through bonding, clamping or other ways.

[0185] In the present example, the first output part 310 and the first connecting structure 550 of the cleaning module 500 can be better aligned and connected through the second fitting top surface 5512 and the two second fitting side surfaces 5513; the first output part 310 and the first connecting structure 550 of the cleaning module 500 can also be better aligned and connected through the second guide bottom surface 560, and the first output part 310 and the first connecting structure 550 of the cleaning module 500 can be better aligned and connected through the first connecting piece 351 and the second connecting piece 581. Here, the cleaning module 500 can be provided with one of the above three groups of structures, or any two of the above three groups of structures, or all of the above three groups of structures.

[0186] In other examples, the first output portion 310 and the first connecting structure 550 of the cleaning module 500 can also not be provided with the alignment structure. As an example, the first limiting structure 320 can include a first convex-concave structure 321. The cleaning device 40 can detect the relative position of the first convex-concave structure 321 of the first output portion 310 in the circumferential direction and the relative position of the first concave-convex structure 551 in the circumferential direction, and the cleaning device 40 is configured to drive the first concave-convex structure 551 to rotate in the circumferential direction to correspond to the position of the first concave-convex structure 551 and the first convex-concave structure 321 in the circumferential direction, and then separate the cleaning module 500 from the body 400, so that the first concave-convex structure 551 of the cleaning module 500 and the first convex-concave structure 321 are connected in place. Here, the cleaning device 40 can detect the relative position of the first convex-concave structure 321 in the circumferential direction through a position sensor or an image detection assembly. The cleaning device 40 can detect the relative position of the first concave-convex structure 551 in the circumferential direction through a position sensor or an image detection assembly. Here, the cleaning device 40 is configured to drive the first concave-convex structure 551 to rotate in the circumferential direction to correspond to the position of the first concave-convex structure 551 and the first convex-concave structure 321 in the circumferential direction, which is not limited. For example, the cleaning device 40 can further include a lifting device 600, which can be rotatably arranged on the body 400 of the cleaning device 40, and the lifting device 600 is configured to drive the cleaning module 500 to work. The cleaning device 40 can drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor, so that the first concave-convex structure 551 and the first convex-concave structure 321 correspond in position in the circumferential direction.

[0187] Of course, in other examples, the first connecting structure 550 can also be other forms of structures.

[0188] For example, the first connecting structure 550 can include a second connecting piece 581 arranged on the first matching portion 520, and the second connecting piece 581 is configured to be connected to the first connecting piece 351 of the first output portion 310 through magnetic attraction, and the first output portion 310 is configured to fix the cleaning module 500 in position in the rotating direction through magnetic attraction. Here, the first output portion 310 can drive the cleaning module 500 to rotate through the magnetic attraction between the first connecting piece 351 and the second connecting piece 581, and the first matching portion 520 does not need to be provided with other limiting structures, so that the structure of the first matching portion 520 can be greatly simplified.

[0189] Here, the second connecting member 581 can be directly arranged at the axis of the first matching portion 520, and the second connecting member 581 can be in a state of being exposed or not being exposed. Here, the first matching portion 520 can include a second annular inclined surface or not include the second annular inclined surface. When the first matching portion 520 includes the second annular inclined surface, the second annular inclined surface can be located at the outer circumferential side of the second connecting member 581, so as to be matched with the first annular inclined surface of the first output portion 310 through the second annular inclined surface of the first matching portion 520, to make the axis of the first matching portion 520 more aligned with the axis of the first output portion 310.

[0190] In some optional implementation manners of the embodiment of the present application, the cleaning module 500 can further include a third connecting member 582 arranged at the second matching portion 530, and the third connecting member 582 is used to be detachably connected with a fourth connecting member 660 of the machine body 400 of the cleaning device 40.

[0191] Of course, in other implementation manners, the second matching portion 530 can also be detachably connected with the machine body 400 of the cleaning device 40 through clamping, magnetic attraction or the like.

[0192] In the implementation manner, the third connecting member 582 can be arranged at the second matching portion 530 through clamping, bonding or the like.

[0193] In the implementation manner, the detachable connection between the third connecting member 582 and the fourth connecting member 660 is not limited. For example, the third connecting member 582 and the fourth connecting member 660 can be detachably connected through clamping. For another example, the third connecting member 582 is used to be connected with the fourth connecting member 660 through magnetic attraction, and here, the third connecting member 582 and the fourth connecting member 660 can both be magnetic structures, and the magnetism of the third connecting member 582 and the fourth connecting member 660 can be opposite. Of course, the third connecting member 582 and the fourth connecting member 660 can only have one of them be a magnetic structure, and the other be an iron structure.

[0194] The present application also discloses a cleaning device 40, which includes a machine body 400 and the cleaning module 500 of the present application, and the second matching portion 530 of the cleaning module 500 is detachably connected with the machine body 400.

[0195] In the embodiment of the present application, the detachable connection between the second matching portion 530 and the machine body 400 has been described above, and will not be described here. As an example, the cleaning module 500 can include a third connecting member 582 arranged at the second matching portion 530, and the machine body 400 has a fourth connecting member 660, and the third connecting member 582 is used to be detachably connected with the fourth connecting member 660.

[0196] In some optional implementation of the embodiment of the present application, the cleaning device 40 can further comprise a lifting device 600, which is arranged on the machine body 400 to drive the cleaning module 500 to move; and a fourth connecting member 660 arranged on the lifting device 600.

[0197] In the implementation, the fourth connecting member 660 can be arranged on the lifting device 600 by means of clamping, bonding or the like.

[0198] In the implementation, the lifting device 600 can be fixed on the machine body 400 by means of a threaded structure or a clamping structure. Of course, the lifting device 600 can also be movably arranged on the machine body 400. As an example, the lifting device 600 can be rotatably arranged on the machine body 400.

[0199] In the implementation, the structure of the lifting device 600 is not limited. The lifting device 600 is similar to the structure for driving the mop of a robot vacuum cleaner to lift in the related art, which will not be described herein again. The lifting device 600 can drive the cleaning module 500 to move to a lifting position and a cleaning position relative to the machine body 400, and the lifting device 600 can drive the cleaning module 500 to rotate.

[0200] For example, as shown in Figure 17 and Figure 18 , the lifting device 600 can comprise a lifting assembly 630, a second motor 610 and a second transmission assembly 620. The lifting assembly 630 is arranged on the machine body 400 and defines a limiting hole; the fourth connecting member 660 is arranged on the lifting assembly 630 and located at the bottom of the limiting hole; the second matching portion 530 is used for being detachably inserted into the limiting hole; the second motor 610 can be arranged on the machine body 400; the second transmission assembly 620 can be arranged on the machine body 400; and the second motor 610 is used for driving the lifting assembly 630 to move through the second transmission assembly 620.

[0201] In the example, the structure of the second transmission assembly 620 is not limited. For example, the second transmission assembly 620 can comprise at least one gear, the second motor 610 is used for driving the gear of the second transmission assembly 620 to rotate, and the gear is used for driving the lifting assembly 630 to move to realize driving the cleaning module 500 to work.

[0202] In the example, the second motor 610 can be fixed on the machine body 400 by means of clamping, a threaded structure or the like, and the lifting assembly 630 can be movably arranged on the machine body 400. The second transmission assembly 620 can be movably arranged on the machine body 400.

[0203] In the example, the structure of the lifting assembly 630 is not limited. For example, as shown in Figure 18As shown, the lifting device 600 can further include a housing 640; the second transmission assembly 620 can include an output gear 621, and the lifting assembly 630 can include a first lifting cylinder 631, a second lifting cylinder 632, a damping member 633, and an elastic member 634. The housing 640 is provided with a first sliding groove 641 in the first direction, the first lifting cylinder 631 is movably arranged in the first sliding groove 641, and the damping member 633 and the elastic member 634 are further arranged in the first sliding groove 641. The elastic member 634 is arranged on the housing 640, and the damping member 633 is clamped between the elastic member 634 and the flange of the first lifting cylinder 631 to provide a friction force to the first lifting cylinder 631. Here, the elastic member 634 is located on the side of the flange of the first lifting cylinder 631 facing the bottom surface of the machine body 400. The driving shaft of the second motor 610 is used to drive the output gear 621 to rotate, the output gear 621 is provided with a second sliding groove 6211 in the first direction, the second sliding groove 6211 is coaxially arranged with the first lifting cylinder 631, the second sliding groove 6211 is located on the side of the first sliding groove 641 away from the bottom surface of the machine body 400, the second lifting cylinder 632 is movably inserted into the second sliding groove 6211 and the cavity of the first lifting cylinder 631, and the second lifting cylinder 632 and the first lifting cylinder 631 are matched through a screw structure; the second motor 610 is used to drive the output gear 621 to drive the second lifting cylinder 632 to rotate, because the second lifting cylinder 632 and the first lifting cylinder 631 are matched through a screw structure, and the first lifting cylinder 631 has a friction force with the damping member 633, the second lifting cylinder 632 and the first lifting cylinder 631 have a speed difference, and the second lifting cylinder 632 can rotate and move along the axial direction of the second sliding groove 6211. The fourth connecting member 660 is arranged on the second lifting cylinder 632, so as to realize the switching of the cleaning module 500 between the lifting position and the cleaning position. When the second lifting cylinder 632 rotates to the cleaning position, the second lifting cylinder 632 and the first lifting cylinder 631 cannot rotate relative to each other through the end of the screw structure or the limiting part arranged on the first lifting cylinder 631, here, the second lifting cylinder 632 does not descend any more, and the second lifting cylinder 632 can drive the cleaning module 500 to rotate in the cleaning position to realize the cleaning of the bearing surface 730. Here, the second motor 610 can be fixed to the housing 640 through a clamping structure, a threaded structure, etc., and the second transmission assembly 620 can be rotatably arranged in the housing 640 through a rotating shaft group structure. Of course, the lifting device 600 can also not include the housing 640, here, the second motor 610, the second transmission assembly 620, and the lifting assembly 630 can be directly arranged on the machine body 400, and the machine body 400 is provided with a first sliding groove 641 in the first direction. Here, the first direction is not limited. For example, the first direction can be the height direction of the machine body 400. For another example, the first direction can be the direction perpendicular to the bottom surface of the machine body 400.

[0204] In the present example, the cross section of the limiting hole can be non-circular, so that the limiting hole can provide a rotation direction limit for the second fitting part 530, so that the lifting assembly 630 can more stably drive the cleaning module 500 to rotate. Of course, the cross section of the limiting hole can also be circular, and here, the lifting assembly 630 can drive the cleaning module 500 to rotate based on the connection force between the third connecting piece 582 and the fourth connecting piece 660.

[0205] As an example, the cross section of the limiting hole is non-circular, and the lifting device 600 can further include: a housing 640, the housing 640 being rotatably arranged on the body 400; the lifting assembly 630 being arranged on the housing 640; the second motor 610 being arranged on the housing 640; the second transmission assembly 620 being arranged on the housing 640; a third motor, the third motor being configured to drive the housing 640 to rotate relative to the body 400 about the axis of the limiting hole; and the third motor being configured to drive the housing 640 to rotate when the second fitting part 530 is separated from the limiting hole, so that the limiting hole and the second fitting part 530 correspond in the circumferential position, and here, the second motor 610 can be further configured to drive the lifting assembly 630 to lower, so as to realize the automatic connection of the third connecting piece 582 and the fourth connecting piece 660.

[0206] Here, the axis of the cleaning module 500, the axis of the first connecting structure 550, and the axis of the limiting hole can be the same. The third motor is also configured to drive the lifting device 600 to rotate about the axis of the first connecting structure 550.

[0207] Of course, in other examples, the cleaning module 500 can also be installed on the body 400 in a manual manner, that is, the second fitting part 530 and the limiting hole can also be manually aligned by the user.

[0208] The lifting assembly 630, the second motor 610, and the second transmission assembly 620 have been described above, and will not be described again here.

[0209] Here, the manner in which the housing 640 is rotatably arranged on the body 400 is not limited. For example, the body 400 can define a first mounting space, the first mounting space being coaxially arranged with the limiting hole, and part of the housing 640 can be rotatably arranged in the first mounting space, and the third motor can drive the housing 640 to rotate relative to the first mounting space through a third transmission assembly. Here, the outside of the housing 640 can have a gear part that meshes with the gear structure of the third transmission assembly.

[0210] In the present implementation, the cleaning device 40 can further include: a separation structure 650, the separation structure 650 being arranged on the lifting device 600; and the separation structure 650 being configured to separate the cleaning module 500 and the lifting device 600, so that the cleaning module 500 can be automatically separated from the body 400.

[0211] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output unit 310, the first mating part 520 of the cleaning module 500 is located directly above the first output unit 310. By automatically separating the cleaning module 500 from the body 400, the first mating part 520 and the first output unit 310 can automatically engage and connect, thereby realizing the automatic cleaning of the cleaning module 500.

[0212] Here, the implementation method for the cleaning device 40 to travel to the position corresponding to the cleaning module 500 and the first output unit 310 is not limited. For example, the cleaning device 40 can travel to the target position based on the navigation structure provided on the body 400, where the first mating part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 correspond to each other. Alternatively, the cleaning device 40 can detect the position of the first output unit 310 based on the detection component provided on the body 400, and travel to the position corresponding to the first mating part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 based on the detection component's position of the first output unit 310.

[0213] In this implementation, the form of the separation structure 650 is not limited. As long as the separation structure 650 can separate the cleaning module 500 and the lifting device 600, it is acceptable.

[0214] For example, such as Figure 18 As shown, the separation structure 650 can be disposed on the housing 640. Of course, the separation structure 650 can also be disposed on the body 400. After the second motor 610 drives the lifting assembly 630 to rise to the raised position, the second motor 610 can continue to drive the lifting assembly 630 to rise. Here, the separation structure 650 can contact the cleaning bracket 510 of the cleaning module 500 so that the cleaning module 500 can no longer rise with the lifting assembly 630, thereby forcing the cleaning module 500 to automatically separate from the body 400.

[0215] Here, the separation structure 650 can be a cylindrical structure. Of course, the separation structure 650 can also be at least two block-shaped structures arranged along the periphery of the housing 640.

[0216] In other examples, the separation structure 650 can also be slidably disposed outside the lifting device 600. The separation structure 650 can be driven by a telescopic hydraulic cylinder or a telescopic pneumatic cylinder to slide relative to the lifting device 600, so as to contact the cleaning bracket 510 of the cleaning module 500 and force the cleaning module 500 to automatically separate from the body 400. Of course, the separation structure 650 can also be driven by a fourth motor. Here, the fourth motor can drive the turbine to rotate, and the separation structure 650 can be provided with a rack that meshes with the turbine.

[0217] Of course, the cleaning device 40 can also not be provided with the separation structure 650. For example, the fourth connecting member 660 can be an electromagnetic structure, so that the fourth connecting member 660 and the third connecting member 582 have a connected state or a separated state. When the fourth connecting member 660 is powered, the fourth connecting member 660 has magnetism, and the fourth connecting member 660 and the third connecting member 582 can be connected through magnetic force. When the fourth connecting member 660 is powered off, the fourth connecting member 660 has no magnetism, and there is no magnetic force between the fourth connecting member 660 and the third connecting member 582. At this time, the cleaning module 500 can be automatically separated from the machine body 400 based on gravity.

[0218] In some optional implementations of the embodiments of the present application, the magnetic attraction force with which the second cooperating part 530 is detachably connected with the machine body 400 is greater than the magnetic attraction force with which the first cooperating part 520 is used to be detachably connected with the first output part 310, so that after the cleaning module 500 finishes cleaning, the cleaning module 500 is separated from the first output part 310 and is automatically connected with the machine body 400.

[0219] In an application, after the cleaning device 40 drives to a position corresponding to the first output part 310 of the cleaning module 500, here, the first cooperating part 520 of the cleaning module 500 is located directly above the first output part 310, after the cleaning module 500 is separated from the machine body 400 of the cleaning device 40, the first cooperating part 520 and the first output part 310 are automatically connected, and the first output part 310 is used to drive the cleaning module 500 to clean at the cleaning space 213. Here, the cleaning device 40 can be located in the cleaning base station 10, of course, the cleaning device 40 can also be located outside the cleaning base station 10, for example, the cleaning device 40 is located outside the cleaning base station 10 to clean the bearing surface 730; after the cleaning module 500 finishes cleaning, the cleaning device 40 can drive again to a position corresponding to the first output part 310 of the cleaning module 500, and the second motor 610 is used to drive the lifting assembly 630 to descend to the second cooperating part 530 to contact with the lifting assembly 630, so that the lifting assembly 630 is connected with the cleaning module 500, and is also used to drive the lifting assembly 630 to ascend to a lifting position, so that the first cooperating part 520 is separated from the first output part 310.

[0220] Of course, in other implementations, the cleaning module 500 can also be separated from the first output part 310 and connected with the machine body 400 through other manners.

[0221] For example, the first output portion 310 may include an electromagnetic structure to allow the first output portion 310 and the first mating portion 520 to be in a connected or disconnected state; thereby enabling the first mating portion 520 to separate from the first output portion 310 and connect to the body 400. Here, the first output portion 310 and the first mating portion 520 are in contact. When energized, the first output portion 310 and the first mating portion 520 are connected due to magnetic attraction; when de-energized, the first output portion 310 and the first mating portion 520 are disconnected due to the absence of magnetic attraction. In one application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output portion 310 is energized, and after the first mating portion 520 is cleaned, the electromagnetic structure of the first output portion 310 is de-energized so that the first mating portion 520 can connect to the body 400 of the cleaning device 40.

[0222] Example 3, as follows Figure 1 As shown, this application also describes a cleaning system, which includes a cleaning base station 10 and a cleaning device 40. The cleaning device 40 includes a housing 400 and a cleaning module 500 detachably disposed on the housing 400. The cleaning base station 10 includes a drive assembly 300.

[0223] In the cleaning state, the cleaning module 500 is separated from the body 400 and is detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10. The drive component 300 is used to drive the cleaning module 500 to rotate so as to clean the cleaning module 500.

[0224] Here, the cleaning base station 10 may have a cleaning space 213, and the drive component 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0225] Here, the cleaning module 500 can be cleaned by the cleaning base station 10 without the need for the cleaning equipment 40, which greatly simplifies the structure of the cleaning module 500.

[0226] As an example, in the first cleaning state, the drive component 300 drives the cleaning module 500 to rotate in the cleaning space 213, and the cleaning device 40 is located outside the cleaning base station 10, and the cleaning device 40 can be in a cleaning state. As yet another example, Figure 1As shown, in the second cleaning state, the driving assembly 300 is configured to drive the cleaning module 500 to rotate at the cleaning space 213, and the cleaning device 40 is located in the first space 101 defined by the cleaning base station 10, so that the machine body 400 of the cleaning device 40 is detachably connected with the cleaning module 500 after the cleaning of the cleaning module 500 is completed, and the cleaning device 40 continues to clean the bearing surface 730. Here, the bearing surface 730 refers to a surface on which the cleaning device 40 is borne, for example, the bearing surface 730 can be a ground surface or a table surface.

[0227] The cleaning base station 10 and the cleaning device 40 have been described in the above embodiments, and will not be described herein.

[0228] In some optional implementations of the embodiments of the present application, after the cleaning device 40 drives to a position corresponding to the cleaning module 500 and the first output portion 310, the cleaning device 40 controls the cleaning module 500 to be separated from the machine body 400; the first connecting portion 520 of the cleaning module 500 is detachably connected with the first output portion 310, and the driving assembly 300 is configured to drive the cleaning module 500 to rotate at the cleaning space 213.

[0229] In the implementations, the implementations in which the cleaning device 40 drives to a position corresponding to the cleaning module 500 and the first output portion 310 have been described in the above embodiments, and will not be described herein.

[0230] In the implementations, the manner in which the cleaning device 40 controls the cleaning module 500 to be separated from the machine body 400 is not limited. For example, the cleaning device 40 can control the separation structure 650 to move relative to the cleaning module 500, so as to separate the cleaning module 500 from the lifting device 600. As an example, the cleaning device 40 drives the lifting assembly 630 to ascend by the second motor 610, so that the cleaning module 500 and the separation structure 650 are in contact, and the cleaning module 500 is separated from the machine body 400 by the separation structure 650. As another example, the cleaning device 40 can control the fourth connecting member 660 to be in a power-off state, so that the fourth connecting member 660 and the third connecting member 582 are in a separated state, and the cleaning module 500 is separated from the machine body 400.

[0231] In some optional implementations of the embodiments of the present application, the cleaning module 500 can include a cleaning support 510, the cleaning support 510 having a first connecting portion 520 and a second connecting portion 530 arranged in an axial direction and facing away from each other; the first connecting portion 520 is configured to be detachably connected with the first output portion 310, and the second connecting portion 530 is configured to be detachably connected with the machine body 400.

[0232] Here, the first output part 310 can include a first limiting structure 320, and the first matching part 520 can include a first connecting structure 550, the first limiting structure 320 being used to be detachably connected with the first connecting structure 550 and being fixedly arranged with the first connecting structure 550 in the rotating direction.

[0233] Here, the cleaning system can further include a first connecting member 351 and a second connecting member 581, the first connecting member 351 being arranged on the first output part 310, the second connecting member 581 being arranged on the first matching part 520, the first connecting member 351 being used to be connected with the second connecting member 581 through magnetic attraction, and the first output part 310 being used to fix the cleaning module 500 in the rotating direction position through magnetic attraction.

[0234] The above-mentioned embodiments have described the cleaning support 510, the first matching part 520, the second matching part 530, the first limiting structure 320, the first connecting structure 550, the first connecting member 351 and the second connecting member 581, and no further description is given here.

[0235] The above-mentioned embodiments have described the cleaning support 510, the first matching part 520, the second matching part 530, the first limiting structure 320, the first connecting structure 550, the first connecting member 351 and the second connecting member 581, and no further description is given here.

[0235] The above-mentioned embodiments have described the cleaning support 510, the first matching part 520, the second matching part 530, the first limiting structure 320, the first connecting structure 550, the first connecting member 351 and the second connecting member 581, and no further description is given here.

[0235] The above-mentioned embodiments have described the cleaning support 510, the first matching part 520, the second matching part 530, the first limiting structure 320, the first connecting structure 550, the first connecting member 351 and the second connecting member 581, and no further description is given here.

[0235] The above-mentioned embodiments have described the cleaning support 510, the first matching part 520, the second matching part 530, the first limiting structure 320, the first connecting structure 550, the first connecting member 351 and the second connecting member 581, and no further description is given here.

[0235] The above-mentioned embodiments have described the cleaning support 510, the first matching part 520, the second matching part 530, the first limiting structure 320, the first connecting structure 550, the first connecting member

Claims

1. A cleaning module, characterized in that, The cleaning module comprises: a cleaning support having a first end and a second end arranged in an axial direction; the first end of the cleaning support has a first fitting part, and the second end of the cleaning support has a second fitting part; a cleaning piece arranged at the first end of the cleaning support, the cleaning piece being provided with a through hole corresponding to the position of the first fitting part; the first fitting part is used for being detachably connected with a first output part of a driving assembly of a cleaning base station through the through hole, and the second fitting part is used for being detachably connected with a machine body of a cleaning device.

2. The cleaning module of claim 1, wherein, The first fitting part comprises a first connecting structure used for being detachably connected with a first limiting structure of the first output part and fixedly arranged with the first limiting structure in a rotating direction.

3. The cleaning module of claim 2, wherein, The first connecting structure comprises: a first concave-convex structure arranged at the first end of the cleaning support in a radial manner, and the first concave-convex structure is used for cooperating with a first convex-concave structure of the first output part.

4. The cleaning module of claim 3, wherein, The third convex part of the first concave-convex structure comprises: a second fitting top surface arranged away from the second fitting part in a direction from an axis of the first fitting part to a circumferential side of the first fitting part; two second fitting side surfaces located at opposite sides of the second fitting top surface in a circumferential direction, and the distance between the two second fitting side surfaces gradually increases in a direction from a top end of the third convex part to a bottom end of the third convex part.

5. The cleaning module of claim 4, wherein, The second fitting side surface and the second fitting top surface are connected through an arc surface.

6. The cleaning module of claim 4, wherein, The second fitting top surface is a plane, or the second fitting top surface is an arc surface.

7. The cleaning module of claim 3, wherein, The first connecting structure further comprises: a second concave-convex structure arranged at an outer circumferential side of the first fitting part and corresponding to the position of the first concave-convex structure, and the third convex part of the first concave-convex structure extends to a fourth convex part of the second concave-convex structure, and the second concave-convex structure is used for cooperating with a second convex-concave structure of the first output part.

8. The cleaning module of claim 3, wherein, The first concave-convex structure comprises: a second guiding bottom surface located at the first end of the cleaning support, and the second guiding bottom surface is arranged away from the second fitting part in a direction from the axis of the first fitting part to the circumferential side of the first fitting part.

9. The cleaning module of claim 3, wherein, The first fitting part is provided with a second mounting groove at the axis, and the first concave-convex structure is arranged at an outer circumferential side of the second mounting groove. The cleaning module further comprises: a second connecting piece arranged at the second mounting groove; the second connecting piece is used for being connected with a first connecting piece of the cleaning base station through magnetic attraction.

10. The cleaning module of claim 2, wherein, The first connecting structure comprises: a second connecting piece arranged at the first fitting part, and the second connecting piece is used for being connected with a first connecting piece of the first output part through magnetic attraction, and the first output part is used for fixing the position of the cleaning module in the rotating direction through magnetic attraction.

11. The cleaning module according to claim 2, wherein: the first fitting part is used for being connected with the first output part of the cleaning base station through magnetic attraction, and the first output part is used for fixing the position of the cleaning module in the rotating direction through magnetic attraction.

12. The cleaning module of claim 1, wherein, Further comprising: A third connecting member is arranged on the second connecting member, and is used to detachably connect with a fourth connecting member of a machine body of the cleaning device.

13. The cleaning module of claim 12, wherein, The third connecting member is used to connect with the fourth connecting member through magnetic attraction.

14. The cleaning module of claim 1, wherein, The first connecting member is a concave structure, and / or the second connecting member is a convex structure.

15. The cleaning module of any one of claims 1 to 14, wherein, The second connecting member is used to drive the cleaning support to rotate. During the process that the second connecting member drives the cleaning support to rotate, the cleaning member is used to contact with the bearing surface to clean the bearing surface.

16. A cleaning apparatus, characterized by The machine body and the cleaning module of any one of claims 1-15 are detachably connected through the second connecting member of the cleaning module. The cleaning module comprises:

17. The cleaning apparatus of claim 16, wherein, A third connecting member is arranged on the second connecting member; The machine body has a fourth connecting member, and the third connecting member is used to detachably connect with the fourth connecting member. Further comprising:

18. The cleaning apparatus of claim 17, wherein, A lifting device is arranged on the machine body to drive the cleaning module to move; The fourth connecting member is arranged on the lifting device. Further comprising:

19. The cleaning apparatus of claim 18, wherein, A separation structure is arranged on the lifting device; The separation structure is used to separate the cleaning module and the lifting device; Alternatively, The fourth connecting member is an electromagnetic structure, so that the fourth connecting member and the third connecting member have a connected state or a separated state. Further comprising:

20. The cleaning apparatus of claim 18, wherein, The lifting device comprises: A lifting assembly is arranged on the machine body and defines a limiting hole; the fourth connecting member is arranged on the lifting assembly and located at the bottom of the limiting hole; and the second connecting member is used to be detachably inserted into the limiting hole; A second motor is arranged on the machine body; A second transmission assembly is arranged on the machine body; and the second motor is used to drive the lifting assembly to move through the second transmission assembly. The cross section of the limiting hole is non-circular; 21. The cleaning apparatus of claim 20, wherein, The lifting device further comprises: A housing is rotatably arranged on the machine body; The lifting assembly is arranged on the housing; The second motor is arranged on the housing; The second transmission assembly is arranged on the housing; A third motor is used to drive the housing to rotate relative to the machine body along the axis of the limiting hole; When the second connecting member is separated from the limiting hole, the third motor is used to drive the housing to rotate, so that the limiting hole and the second connecting member correspond in the circumferential position. The magnetic attraction between the second connecting member and the machine body is greater than the magnetic attraction between the first connecting member and the first output member.

22. A cleaning apparatus as claimed in any one of claims 16 to 21, wherein, The cleaning device comprises a cleaning base station and any one of claims 16-22, and the cleaning base station comprises a driving assembly; 23. A cleaning system characterized by, In the cleaning state, the cleaning module is separated from the machine body, the cleaning module is detachably connected with the first output member of the driving assembly, and the driving assembly is used to drive the cleaning module to rotate. ​

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