Cleaning module, cleaning equipment and cleaning system

Abstract

The utility model provides a cleaning module, cleaning equipment and a cleaning system, and relates to the technical field of smart home. The cleaning module comprises a lifting mechanism and a cleaning head, the lifting mechanism comprises a fixing part, a lifting part, a mounting part and a first driving assembly, the first driving assembly is used for driving the lifting part to rotate forwards or reversely, and the lifting part is rotationally connected with the fixing part and can reciprocate between a first position and a second position in the rotating axial direction relative to the fixing part; the mounting piece is in limiting connection with the lifting piece in the axial direction and can reciprocate in the axial direction under the driving of the lifting piece; the cleaning head is connected with the mounting piece through the connecting part, and the lifting piece is provided with a first cleaning position and a second cleaning position between a first position and a second position. When the lifting part is located at the first cleaning position, the cleaning pressure of the cleaning head on the to-be-cleaned surface is smaller than that of the cleaning head on the to-be-cleaned surface when the lifting part is located at the second cleaning position. The cleaning module is compact in structure and high in space utilization rate.

Description

TECHNICAL FIELD

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

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

[0003] At present, the internal function devices of the intelligent cleaning device need to be set more; therefore, the structure of the function devices needs to be optimized so as to improve the compactness and space utilization of the internal structure of the cleaning device.

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

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

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

[0007] a lifting mechanism, the lifting mechanism comprising a fixing member, a lifting member, a mounting member and a first driving assembly, the first driving assembly being configured to drive the lifting member to rotate forward or reversely, the lifting member being rotationally connected with the fixing member and being capable of reciprocating along an axial direction of rotation between a first position and a second position relative to the fixing member; the mounting member being limitingly connected with the lifting member in the axial direction and being capable of reciprocating along the axial direction under the driving of the lifting member;

[0008] a cleaning head for cleaning a surface to be cleaned, the cleaning head comprising a connecting portion and a cleaning portion, the cleaning head being connected with the mounting member through the connecting portion; the lifting member having a first cleaning position and a second cleaning position between the first position and the second position, the cleaning pressure of the cleaning head on the surface to be cleaned being smaller when the lifting member is located at the first cleaning position than when the lifting member is located at the second cleaning position.

[0009] In an exemplary embodiment of the present disclosure, the cleaning module further comprises a rotating member and a second driving assembly, the rotating member being limitingly connected with the mounting member in a rotational direction, the second driving assembly being configured to drive the rotating member to rotate so as to drive the cleaning head to rotate through the mounting member.

[0010] In an example embodiment of the present disclosure, the rotating member is sleeved on the mounting member, the fixing member is sleeved on the rotating member, and the lifting member is sleeved on the fixing member.

[0011] In an example embodiment of the present disclosure, an external thread is formed on the fixing member, and an internal thread is formed on the lifting member, and the fixing member is threadedly connected with the lifting member.

[0012] In an example embodiment of the present disclosure, a first gear is arranged on an outer circumferential surface of the lifting member, and the first driving assembly is configured to drive the first gear to rotate so as to drive the lifting member to rotate.

[0013] In an example embodiment of the present disclosure, the first driving assembly comprises:

[0014] a second gear engaged with the first gear, and a width of a tooth of at least one of the first gear and the second gear in the axial direction is greater than or equal to a distance between the first position and the second position, so that the second gear can drive the lifting member to move between the first position and the second position through the first gear.

[0015] a first driver configured to drive the second gear to rotate.

[0016] In an example embodiment of the present disclosure, the first gear is located at an end of the lifting member away from the cleaning head in the axial direction, and a width of the tooth of the second gear in the axial direction is greater than the distance between the first position and the second position.

[0017] In an example embodiment of the present disclosure, the first driving assembly further comprises:

[0018] a first transmission gear set, and the first driver is in transmission connection with the second gear through the first transmission gear set.

[0019] In an example embodiment of the present disclosure, the lifting mechanism further comprises:

[0020] a sliding connecting member located in the mounting member and movable in the axial direction in the mounting member and in limiting connection with the mounting member in the circumferential direction, and the cleaning head is connected with the sliding connecting member.

[0021] a resilient member located between the sliding connecting member and an end of the mounting member, and the cleaning head moving in the axial direction can drive the sliding connecting member to compress the resilient member.

[0022] In an example embodiment of the present disclosure, the cleaning head is plugged with the mounting member.

[0023] In an example embodiment of the present disclosure, when the cleaning head is in contact with the surface to be cleaned, the lifting member is capable of moving towards the side of the surface to be cleaned by driving the sliding connector to compress the elastic member.

[0024] In an example embodiment of the present disclosure, when the cleaning head is subjected to external force, the cleaning head is capable of moving towards the side of the lifting mechanism by driving the sliding connector to compress the elastic member.

[0025] In an example embodiment of the present disclosure, an axial limiting structure is arranged between the sliding connector and the mounting member, and the axial limiting structure is used to form the limiting of the sliding connector exiting towards the mounting member along the axial direction.

[0026] In an example embodiment of the present disclosure, when the cleaning head is not subjected to external force, the elastic member is in a compressed state.

[0027] In an example embodiment of the present disclosure, when the cleaning head is not subjected to external force, there is a gap between the cleaning part of the cleaning head and the opposite part of the lifting member along the axial direction, so that the lifting member is capable of moving towards the side of the cleaning head by a preset distance along the axial direction when the cleaning head is in contact with the surface to be cleaned.

[0028] In an example embodiment of the present disclosure, the lifting member is sleeved on the mounting member, and a bearing is arranged between the mounting member and the lifting member; the mounting member and the lifting member are rotationally connected through the bearing and are limitingly connected in the axial direction through the bearing.

[0029] In an example embodiment of the present disclosure, the bearing comprises an outer ring and an inner ring, and the lifting mechanism further comprises:

[0030] a first limiting member connected with the lifting member and limiting the outer ring in the axial direction;

[0031] a second limiting member connected with the mounting member and limiting the inner ring in the axial direction.

[0032] In an example embodiment of the present disclosure, the first limiting member is clamped with the lifting member; and / or, the second limiting member is clamped with the mounting member.

[0033] In an example embodiment of the present disclosure, the cleaning module further comprises:

[0034] A housing is formed with a first accommodating space, the fixing member, the lifting member and the mounting member are located in the first accommodating space, and the lifting member is capable of extending out of or retracting into the accommodating space through an opening of the first accommodating space when reciprocating between a first position and a second position through the opening.

[0035] In an exemplary embodiment of the present disclosure, the cleaning module further comprises:

[0036] A sealing member is arranged on the housing and located at the opening, and is configured to seal a gap between the housing and the lifting member.

[0037] In an exemplary embodiment of the present disclosure, the housing is further formed with a second accommodating space, and the first driving assembly is arranged in the second accommodating space; and / or, the housing is further formed with a third accommodating space, and the second driving assembly is arranged in the third accommodating space.

[0038] According to another aspect of the present disclosure, there is provided a cleaning device, comprising:

[0039] A device body;

[0040] The cleaning module described above, which is connected with the device body.

[0041] According to yet another aspect of the present disclosure, there is provided a cleaning system, comprising:

[0042] The cleaning device described above;

[0043] A base station for interfacing with the cleaning device.

[0044] The cleaning module provided by the present disclosure, the lifting piece is rotationally connected with the fixing piece and can reciprocate along the axial direction of the rotation between the first position and the second position relative to the fixing piece; the mounting piece is limitingly connected with the lifting piece in the axial direction and can reciprocate along the axial direction under the driving of the lifting piece; when the lifting piece moves towards the first position, the cleaning head can be driven to move towards the raised position so that the cleaning head can be located at the raised position under the driving of the mounting piece; when the lifting piece moves towards the second position, the cleaning head can be driven to move towards the lowered position so that the cleaning head can be located at the lowered position under the driving of the mounting piece. That is, the structure for driving the cleaning head to move up and down is rotationally connected, and only has movement in the height direction of the device body, so that the lifting mechanism is compact in structure and small in space occupation, and the space utilization of the cleaning device can be improved. At the same time, when the lifting piece moves towards the second position, it can be located at the first cleaning position and the second cleaning position; when the lifting piece is lowered to the first cleaning position, the cleaning pressure of the cleaning head on the surface to be cleaned is smaller than that when the lifting piece is located at the second cleaning position; therefore, the cleaning pressure of the cleaning head on the surface to be cleaned can be adjusted by adjusting the lowered position of the lifting piece, so as to improve the cleaning effect.

[0045] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0046] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0047] Figure 1 A schematic diagram of a cleaning system provided by an embodiment of the present disclosure.

[0048] Figure 2 A front view schematic diagram of a cleaning device provided by an embodiment of the present disclosure.

[0049] Figure 3 A back view schematic diagram of a cleaning device provided by an embodiment of the present disclosure.

[0050] Figure 4 A schematic diagram of a device body and a cleaning module provided by an embodiment of the present disclosure.

[0051] Figure 5 A schematic diagram of a cleaning module provided by an embodiment of the present disclosure, in which the cleaning head is in the raised position.

[0052] Figure 6 An exploded view of a cleaning module provided for an embodiment of the present disclosure.

[0053] Figure 7 A front view of a cleaning head in a raised position provided for an embodiment of the present disclosure.

[0054] Figure 8 A cross-sectional view of a cleaning head in a raised position provided for an embodiment of the present disclosure.

[0055] Figure 9 A schematic view of a cleaning head in a first cleaning position provided for an embodiment of the present disclosure.

[0056] Figure 10 A front view of a cleaning head in a first cleaning position provided for an embodiment of the present disclosure.

[0057] Figure 11 A cross-sectional view of a cleaning head in a first cleaning position provided for an embodiment of the present disclosure.

[0058] Figure 12 A schematic view of a mounting provided for an embodiment of the present disclosure.

[0059] Figure 13 A schematic view of a rotating member provided for an embodiment of the present disclosure.

[0060] Figure 14 A schematic view of a rotating member from another perspective provided for an embodiment of the present disclosure.

[0061] Figure 15 A schematic view of a fixing member and a middle shell provided for an embodiment of the present disclosure.

[0062] Figure 16 A schematic view of a lifting member provided for an embodiment of the present disclosure.

[0063] Figure 17 A schematic view of a lifting member from another perspective provided for an embodiment of the present disclosure.

[0064] Figure 18 A schematic view of a cleaning head in a second cleaning position provided for an embodiment of the present disclosure.

[0065] Figure 19 A front view of a cleaning head in a second cleaning position provided for an embodiment of the present disclosure.

[0066] Figure 20 A cross-sectional view of a cleaning head in a second cleaning position provided for an embodiment of the present disclosure.

[0067] Figure 21A schematic view of the sliding connecting piece, the elastic piece and the mounting piece provided for an embodiment of the present disclosure.

[0068] Figure 22 A schematic view of the sliding connecting piece provided for an embodiment of the present disclosure.

[0069] Figure 23 A schematic view of the mounting piece from another perspective provided for an embodiment of the present disclosure.

[0070] Figure 24 A top view of the sliding connecting piece provided for an embodiment of the present disclosure.

[0071] Figure 25 A bottom view of the sliding connecting piece provided for an embodiment of the present disclosure.

[0072] Figure 26 A schematic view of the bottom shell provided for an embodiment of the present disclosure.

[0073] Figure 27 A schematic view of the snap ring provided for an embodiment of the present disclosure.

[0074] Figure 28 A schematic view of the limiting piece provided for an embodiment of the present disclosure.

[0075] Figure 29 A front view of the cleaning head rotating to outside of the device body through the swing arm provided for an embodiment of the present disclosure.

[0076] Figure 30 A back view of the cleaning head rotating to outside of the device body through the swing arm provided for an embodiment of the present disclosure.

[0077] Explanation of reference signs:

[0078] 10, cleaning device; 20, base station; 30, device body; 40, cleaning head; 410, cleaning part; 420, connecting part; 430, second magnetic member; 50, lifting mechanism; 511, top cover; 512, middle shell; 513, bottom shell; 5130, annular clamping groove; 5131, limiting protrusion; 5132, annular boss; 514, first containing space; 515, second containing space; 516, third containing space; 521, fixing member; 522, lifting member; 5220, limiting clamping groove; 523, mounting member; 5231, sliding groove; 5232, positioning protrusion; 5233, clamping table; 5234, clamping ring; 524, rotating member; 5241, sliding block; 525, first gear; 526, third gear; 527, second transmission gear set; 53, first driving assembly; 531, first driver; 532, first transmission gear set; 533, second gear; 54, sliding connecting member; 541, elastic clamping arm; 542, mounting structure; 543, protrusion structure; 55, elastic member; 56, first magnetic member; 571, first bearing; 572, second bearing; 573, third bearing; 58, first limiting member; 581, clamping protrusion; 59, sealing member. DETAILED DESCRIPTION

[0079] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any

[0080] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component in the drawings, these terms are used herein for convenience only and are not intended to limit the scope of the disclosure, for example, to the position of the example shown in the drawings. It is to be understood that if the device of the icon is turned upside down, the component described as being "on" would then be "under". When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure or that the structure is "directly" on the other structure or that the structure is "indirectly" on the other structure via another structure.

[0081] The terms "one", "a", "an", "the", and "at least one" are used to indicate that there is one or more of the components / elements / objects. The terms "comprising" and "having" are used to indicate an open-ended inclusion of one or more components / elements / objects. The terms "first", "second", and "third" etc. are used only to distinguish one component / element / object from another, and not to limit the number of components / elements / objects.

[0082] Embodiments of the present disclosure provide a cleaning system, such as Figures 1-3 As shown, the cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be a robot vacuum cleaner, a robot mop, a robot mop-vacuum cleaner, or the like; the cleaning device 10 can include a device body 30, a driving module, a sensing module, a control module, a cleaning module, an energy module, a human-machine interaction module, and the like. The base station 20 is used to dock the cleaning device 10, i.e., to park the cleaning device 10, so that the cleaning device 10 can perform functions such as charging, self-cleaning, parking, sewage discharge, and water replenishment on the base station 20.

[0083] In an embodiment, the device body 30 is configured to automatically move along a target direction on a travel surface, which can be a surface to be cleaned by the cleaning device 10. The cleaning device 10 can be a robot mop-vacuum cleaner, and the cleaning device 10 works on the ground.

[0084] In an embodiment, the driving module includes a driving wheel assembly, and the driving module can simultaneously control the left wheel and the right wheel. In order to more accurately control the movement of the robot, the driving module preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 30.

[0085] In an embodiment, in order to enable the automatic cleaning device 10 to more stably move on the ground or have stronger movement capability, the automatic cleaning device 10 can include one or more steering wheels; the steering wheels can be driven wheels or driving wheels, and the structural forms thereof include but are not limited to universal wheels. The steering wheels can be located in front of the driving wheel assembly. A driving motor provides power for the driving wheel assembly and / or the steering wheels.

[0086] In an embodiment, the sensing module includes a position determination device located above the device body 30, a bumper located at a front portion of the device body 30, a cliff sensor and an ultrasonic sensor located at the bottom of the device body 30, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and the like, which provide various position information and movement state information of the device body 30 to the control module. For example, the front portion of the device body 30 is provided with a bumper. When the driving wheel assembly propels the cleaning device 10 to walk on the ground during the cleaning process, the bumper detects one or more objects in the travel path of the cleaning device 10 via a sensor module, such as a collision sensor. The cleaning device 10 can control the driving structure to respond to the objects, such as steps, obstacles, and walls, detected by the collision sensor, for example, to cross the steps.

[0087] In an embodiment, the control module can comprehensively judge the current working state of the robot, such as climbing stairs, passing through a threshold, being on a carpet, being at a cliff, being stuck above or below, being full of dust, being picked up, and the like, based on distance information and speed information fed back by the buffer, cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and the like, and give specific next action strategies for different situations, so that the working of the cleaning device 10 is more in line with the requirements of the owner and has better user experience. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning mode based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), thereby improving the cleaning efficiency of the cleaning device 10.

[0088] In an embodiment, the energy module includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host is connected with a charging pile through a charging electrode arranged on the side or lower side of the body for charging.

[0089] In an embodiment, the human-computer interaction module includes keys on the host panel, which are used for function selection by the user; can also include a display screen and / or an indicator light and / or a loudspeaker, which show the current state of the machine or the function selection items to the user; and can also include a mobile phone client program. For the path navigation type cleaning device 10, the mobile phone client can show the user a map of the environment where the device is located and the position of the machine, and can provide more abundant and humanized function items to the user.

[0090] In an embodiment, the cleaning module can include a dry cleaning module or a dry and wet cleaning module. The dry cleaning module can include a roller brush assembly, an edge brush, and the like, and the wet cleaning module can include a cleaning head 40, a water tank, and the like.

[0091] At present, the lifting mechanism is widely used in the cleaning components of the cleaning device 10; in the related art, the lifting mechanism usually adopts a connecting rod and slider scheme, such as connecting a connecting rod and a slider together to transmit motion; the connecting rod and slider scheme often has a large volume ratio and needs to occupy additional space in the device body 30; at the same time, the lifting mechanism cannot adjust the ground pressure of the cleaning head, resulting in poor cleaning effect.

[0092] To solve the above technical problems, the present disclosure provides a cleaning module, such as Figures 4-11As shown, the cleaning module comprises: a lifting mechanism 50 and a cleaning head 40, the lifting mechanism 50 comprises a fixing piece 521, a lifting piece 522, a mounting piece 523 and a first driving assembly 53, the first driving assembly 53 is configured to drive the lifting piece 522 to rotate forward or reversely, the lifting piece 522 is rotationally connected with the fixing piece 521 and can reciprocate along the axial direction of rotation between a first position and a second position relative to the fixing piece 521; the mounting piece 523 is limitingly connected with the lifting piece 522 in the axial direction and can reciprocate along the axial direction under the driving of the lifting piece 522; the cleaning head 40 is connected with the mounting piece 523, and the cleaning head 40 is used for cleaning the surface to be cleaned; the lifting piece 522 has a first cleaning position and a second cleaning position between the first position and the second position, and the cleaning pressure of the cleaning head 40 on the surface to be cleaned when the lifting piece 522 is located at the first cleaning position is less than the cleaning pressure of the cleaning head 40 on the surface to be cleaned when the lifting piece 522 is located at the second cleaning position.

[0093] The cleaning head 40 is connected with the device body 30 through the lifting mechanism 50, and the cleaning head 40 can be located at a raised position close to the device body 30 or at a lowered position close to the cleaning surface under the driving of the lifting mechanism 50. By lifting or lowering the cleaning head 40, when the device body 30 moves and the cleaning head 40 does not need to perform cleaning work, for example, when obstacle crossing is performed, the cleaning head 40 can be avoided to cause obstruction, and the passing rate of obstacle crossing is improved. When the dry cleaning module and the wet cleaning module are arranged on the cleaning module, in the case of using a single cleaning mode, the wet or dry cleaning head 40 can be lifted to improve the cleaning efficiency. The cleaning module provided by the present disclosure is rotatably connected with the fixing member 521 and can reciprocate along the axial direction of rotation between the first position and the second position relative to the fixing member 521. The mounting member 523 is limitingly connected with the lifting member 522 in the axial direction and can reciprocate along the axial direction under the driving of the lifting member 522. When the lifting member 522 moves towards the first position, the cleaning head 40 can be driven to move towards the raised position, so that the cleaning head 40 can be located at the raised position under the driving of the mounting member 523. When the lifting member 522 moves towards the second position, the cleaning head 40 can be driven to move towards the lowered position, so that the cleaning head 40 can be located at the lowered position under the driving of the mounting member 523. That is, the structure for driving the cleaning head 40 to move up and down is rotatably connected, and only moves in the height direction of the device body 30, so that the lifting mechanism 50 is compact in structure and occupies small space, and the space utilization rate of the cleaning device 10 can be improved. At the same time, when the lifting member 522 moves towards the second position, it can be located at the first cleaning position and the second cleaning position. When the lifting member 522 is lowered to the first cleaning position, the cleaning pressure of the cleaning head 40 on the surface to be cleaned is smaller than that when the lifting member 522 is located at the second cleaning position. Therefore, the cleaning pressure of the cleaning head 40 on the surface to be cleaned can be adjusted by adjusting the lowered position of the lifting member 522.

[0094] It should be noted that the first position and the second position are the highest position and the lowest position of the lifting member, and between the first position and the second position, there are also the first cleaning position and the second cleaning position, and a third cleaning position can also be included to realize more levels of cleaning pressure adjustment, which is not limited by the present disclosure. When the cleaning head 40 is lifted or lowered under the driving of the lifting mechanism 50, the reciprocating distance between the raised position and the lowered position can be calibrated according to the lowest point of the contact between the cleaning device 10 and the cleaning surface, for example, the lowest point of the contact between the cleaning head 40 and the cleaning surface is closer to the cleaning surface relative to the lowest point of the contact between other parts of the cleaning device 10 and the cleaning surface, so that the cleaning head 40 can be in close contact with the cleaning surface to improve the cleaning effect. When the cleaning head 40 is in the raised position, it is spaced apart from the cleaning surface by a predetermined distance, and the device body 30 can be closely arranged, so as to avoid that when the gap between the cleaning head 40 and the device body 30 is large, foreign matters enter the gap.

[0095] In an embodiment, as shown in Figure 8 and Figure 11 The cleaning module further comprises a rotating member 524 connected with the second driving assembly in a rotation direction, and the second driving assembly is configured to drive the rotating member 524 to rotate, so as to drive the cleaning head 40 to rotate through the mounting member 523. The mounting member 523 is connected with the lifting member 522 in an axial direction and can reciprocate along the axial direction of the lifting member 522 under the driving of the lifting member 522; the mounting member 523 can rotate relative to the lifting member 522, that is, the mounting member 523 and the lifting member 522 can also rotate relative to each other when the mounting member 523 reciprocates along the axial direction under the driving of the lifting member 522; then the rotating member 524 can drive the mounting member 523 to rotate, and at this time the lifting member 522 can not reciprocate or rotate, that is, the lifting member 522 can be in a static state. For example, when the cleaning head 40 is in a lowered position for cleaning operation, the second driving assembly can be used to drive the mounting member 523 to rotate, so as to drive the cleaning head 40 to rotate for cleaning operation.

[0096] The cleaning head 40 can be provided with a mop on the cleaning part 410, and the cleaning head 40 can be rotated to effectively mop the cleaning surface through the rotating mop, so as to improve the cleaning effect. It can be understood that the cleaning head 40 can be used for dry cleaning or wet cleaning. The cleaning head 40 for wet cleaning is, for example, a rotating mop or a vibrating mop, and the cleaning head 40 for dry cleaning is, for example, a side brush or a main brush. The cleaning head 40 can be set as required, and the present disclosure does not limit the cleaning head 40.

[0097] In an embodiment, as shown in Figure 8 and Figure 11 The rotating member 524 is sleeved on the mounting member 523, the fixing member 521 is sleeved on the rotating member 524, and the lifting member 522 is sleeved on the fixing member 521. In this way, the fixing member 521, the rotating member 524, the lifting member 522 and the mounting member 523 are assembled together. When the cleaning head 40 moves to the raised position, the fixing member 521, the rotating member 524 and the mounting member 523 are substantially coincided together in the height direction, so as to reduce the space required in the height direction. In the width direction, the lifting member 522 is located at the outermost side, and the fixing member 521, the rotating member 524 and the mounting member 523 are located in the lifting member 522, so as to only occupy the width of the lifting member 522 in the width direction, so that the movement mechanism formed by the fixing member 521, the rotating member 524 and the mounting member 523 is compact and occupies a small space.

[0098] In an embodiment, as shown in Figures 12-14As shown, the outer peripheral surface of the mounting piece 523 is provided with a sliding groove 5231 extending in the axial direction, and the inner wall of the rotating piece 524 is provided with a sliding block 5241 located in the sliding groove 5231, so as to realize the limit connection of the rotating piece 524 and the mounting piece 523 in the rotation direction.

[0099] The sliding block 5241 and the sliding groove 5231 can be correspondingly provided with multiple sliding blocks 5241 and sliding grooves 5231 to improve the guiding effect and the stability of the movement of the mounting piece 523 relative to the rotating piece 524.

[0100] In an embodiment, as shown in Figures 15-17 The fixing piece 521 is provided with external threads, and the lifting piece 522 is provided with internal threads. The fixing piece 521 and the lifting piece 522 are threadedly connected. By providing threads on the fixing piece 521 and the lifting piece 522, the fixing piece 521 and the lifting piece 522 that are sleeved together form a screw and nut structure, which can make the lifting piece 522 move up and down along the axial direction of the fixing piece 521 by rotating, and accurately control the up and down movement distance of the lifting piece 522 by controlling the number of rotations, thereby improving the accuracy of the position control of the cleaning head 40.

[0101] As shown in Figure 11 The inner ring of the rotating piece 524 is provided with a first bearing 571 between the top cover 511, and the outer ring of the rotating piece 524 is provided with a second bearing 572 between the fixing piece 521, so as to realize the rotation of the rotating piece 524.

[0102] In an embodiment, as shown in Figure 13 and Figure 14 The outer peripheral surface of the rotating piece 524 is provided with a third gear 526, and the second driving assembly drives the third gear 526 to rotate, thereby driving the rotating piece 524 to rotate.

[0103] The third gear 526 and the rotating piece 524 can be integrally formed, which can improve the coaxiality of the third gear 526 and the rotating piece 524, reduce the assembly process, improve the structural strength, and reduce the cost. Of course, the third gear 526 can be sleeved on the rotating piece 524 and can be fixedly connected by bonding, clamping, welding or the like. The present disclosure does not limit this.

[0104] The second driving assembly includes a second driver and a second transmission gear set 527. The second driver can be a driving motor. The second driver is in transmission connection with the third gear 526 through the second transmission gear set 527. By arranging the second transmission gear set 527, the rotation speed ratio between the third gear 526 and the second driver can be set, and the position of the second driver is adjusted, so that the second driver is closely arranged with other components, the structural compactness between components is improved, and the space utilization is improved.

[0105] In an embodiment, as shown in Figure 16 and Figure 17 The outer circumferential surface of the lifting member 522 is provided with the first gear 525. The first driving assembly 53 is configured to drive the first gear 525 to rotate, so as to drive the lifting member 522 to rotate.

[0106] The first driving assembly 53 includes a first driver 531 and a second gear 533. The first driver 531 is configured to drive the second gear 533 to rotate. The second gear 533 is in meshing connection with the first gear 525. The width of the teeth of at least one of the first gear 525 and the second gear 533 in the axial direction is greater than or equal to the distance between the first position and the second position, so that the second gear 533 can drive the lifting member 522 to move between the first position and the second position through the first gear 525. The first driver 531 can be a driving motor, which is convenient for automatic control.

[0107] The first gear 525 is located at one end of the lifting member 522 away from the cleaning head 40 in the axial direction. The width of the teeth of the second gear 533 in the axial direction is greater than the distance between the first position and the second position. That is, the first gear 525 moves relative to the second gear 533 under the driving of the lifting member 522, and the first gear 525 is always in meshing connection with the second gear 533 when the lifting member 522 reciprocates between the first position and the second position. At the same time, the first gear 525 is located at one end of the lifting member 522 away from the cleaning head 40 in the axial direction, that is, the second gear 533 drives one end of the lifting member 522 away from the cleaning head 40 in the axial direction to move up and down. This can make the second gear 533 move close to one end of the lifting member 522 away from the cleaning head 40 in the axial direction, that is, be arranged close to one side of the equipment body 30 in the thickness direction of the equipment body 30. The structure is compact, and extra space is avoided.

[0108] The first gear 525 and the lifting member 522 can be in an integrated structure, which can improve the coaxiality of the first gear 525 and the lifting member 522, reduce the assembly procedure, improve the structural strength, and reduce the cost. Of course, the first gear 525 can be sleeved on the lifting member 522 and be fixedly connected through bonding, clamping, welding or the like. The present disclosure does not limit this.

[0109] In an embodiment, the first driving assembly 53 further comprises a first transmission gear set 532, and the first driver 531 is in transmission connection with the second gear 533 through the first transmission gear set 532. By arranging the first transmission gear set 532, the rotation speed ratio between the second gear 533 and the first driver 531 can be set, and the position of the first driver 531 can be adjusted, so that the first driver 531 is closely arranged with other components, the structural compactness between components is improved, and the space utilization is improved. The first transmission gear set 532 can comprise a worm arranged on the output shaft of the first driver 531 and a turbine connected with the worm and the second gear 533. The part of the turbine engaged with the second gear 533 can be a bevel gear.

[0110] In an embodiment, as shown in FIG. 5, the lifting mechanism 50 further comprises a sliding connecting piece 54 and an elastic piece 55. The sliding connecting piece 54 is located in the mounting piece 523 and can move axially in the mounting piece 523 and is in limiting connection with the mounting piece 523 in the circumferential direction; the cleaning head 40 is connected with the sliding connecting piece 54; the elastic piece 55 is located between the sliding connecting piece 54 and the mounting piece 523; and when the mounting piece 523 moves axially towards the sliding connecting piece 54, the elastic piece 55 can be compressed. Figures 18-21

[0111] When the lifting piece 522 is lowered to the first cleaning position and drives the cleaning head 40 to contact the ground, if the lifting piece 522 continues to move towards the second cleaning position, the mounting piece 523 can move towards the sliding connecting piece 54 to compress the elastic piece 55. The elastic restoring force of the elastic piece 55 can increase the cleaning pressure of the cleaning head 40 on the surface to be cleaned, so as to adjust the cleaning pressure of the cleaning head 40 on the surface to be cleaned and improve the cleaning effect. At the same time, when the lifting piece 522 stops moving, if the cleaning head 40 is subjected to an external force, for example, when the cleaning head 40 encounters an uneven cleaning surface during cleaning, the cleaning head 40 can drive the sliding connecting piece 54 to move upwards to compress the spring, so as to form a buffering effect through the elastic piece 55.

[0112] When the cleaning head 40 is not subjected to an external force, the elastic piece 55 is in a compressed state, that is, the elastic piece 55 provides an elastic force to the cleaning head 40 towards the cleaning surface, so that the cleaning head 40 is subjected to an initial downward pressure relative to the mounting piece 523 when not subjected to an external force. When the external force acting on the cleaning head 40 is greater than the initial downward pressure, the cleaning head 40 compresses the elastic piece 55 to move towards the raised position.

[0113] When the cleaning head 40 is not subjected to an external force, the cleaning head 40 has a gap in the axial direction between the cleaning part 410 and the part opposite to the lifting piece 522, so that the lifting piece 522 can move axially towards the cleaning head 40 by a preset distance. ​

[0114] The cleaning head 40 comprises a cleaning part 410 and a connecting part 420, and the cleaning head 40 is connected to the mounting member 523 through the connecting part 420. As shown in the figure, the cleaning part 410 of the cleaning head 40 can be provided with a sinking in the area around the connecting part 420, that is, the remaining area of the cleaning part 410 can be provided towards the device body 30 side, so as to reduce the overall thickness of the cleaning module. Figure 20

[0115] In an embodiment, an axial limiting structure is arranged between the sliding connecting member 54 and the mounting member 523, and the axial limiting structure is used to form the limiting of the sliding connecting member 54 from exiting towards the mounting member 523 in the axial direction. As shown in the figure, the top of the sliding connecting member 54 is provided with an elastic clamping arm 541, and a clamping table 5233 matched with the elastic clamping arm 541 can be arranged on the inner wall of the mounting member 523; when the sliding connecting member 54 is assembled into the accommodating space of the mounting member 523, the elastic clamping arm 541 can be located on the side of the clamping table 5233 towards the top of the mounting member 523 through the deformation of the elastic clamping arm 541, so as to form the limiting of the elastic clamping arm 541 by the clamping table 5233, and further form the limiting of the sliding connecting member 54 from exiting the mounting member 523, so that the sliding connecting member 54 can be lifted and slid in the position between the clamping table 5233 and the top of the mounting member 523. Figures 21-23

[0116] As shown in the figure, the space of the mounting member 523 for mounting the sliding connecting member 54 is in a hexagonal prism shape, and the sliding connecting member 54 is also in a hexagonal prism shape. Through the cooperation of the hexagonal prism space and the hexagonal prism structure, the limiting of the sliding connecting member 54 in the rotating direction in the mounting space of the mounting member 523 is realized. It can be understood that the mounting space formed by the mounting member 523 can also be in a rectangular or triangular shape, and the sliding connecting member 54 can also be in a rectangular or triangular shape. The shape of the mounting space formed by the mounting member 523 and the shape of the sliding connecting member 54 can be the same or different. As long as the mounting space formed by the mounting member 523 and the sliding connecting member 54 can be limited in the rotating direction, the present disclosure does not make any limitation. Figures 21-23

[0117] As shown in the figure, the elastic member 55 can be a spring, and the mounting member 523 and the sliding connecting member 54 are both formed with an accommodating space for accommodating the spring. One part of the spring is arranged in the accommodating space of the mounting member 523 and abuts against the top of the mounting member 523, and the other part of the spring is arranged in the accommodating space of the sliding connecting member 54 and abuts against the bottom of the sliding connecting member 54, so as to form the assembly of the spring. Figure 21

[0118] As shown in the figure, the elastic member 55 can be a spring, and the mounting member 523 and the sliding connecting member 54 are both formed with an accommodating space for accommodating the spring. One part of the spring is arranged in the accommodating space of the mounting member 523 and abuts against the top of the mounting member 523, and the other part of the spring is arranged in the accommodating space of the sliding connecting member 54 and abuts against the bottom of the sliding connecting member 54, so as to form the assembly of the spring. Figure 23 and Figure 24 ​​​​As shown, the bottom of the mounting piece 523 is formed with a plurality of positioning protrusions 5232, which enclose the limiting of the end of the elastic piece 55, avoiding its left and right movement. The bottom of the sliding connecting piece 54 can be provided with a plurality of protruding structures 543, and the other end of the elastic piece 55 can be located on the plurality of protruding structures 543.

[0119] In an embodiment, as shown in Figure 21 The bottom of the sliding connecting piece 54 is provided with a first magnetic piece 56, which can be magnetically connected with the second magnetic piece 430 of the cleaning head 40, thereby improving the stability of the connection between the cleaning head 40 and the mounting piece 523, especially when the cleaning head 40 and the mounting piece 523 are connected in a plug-in manner, which can improve the reliability of the plug-in of the cleaning head 40 and the mounting piece 523.

[0120] As shown in Figure 21 and Figure 25 The bottom of the sliding connecting piece 54 is provided with a mounting structure 542, which can limit the first magnetic piece 56 on the bottom of the sliding connecting piece 54. The mounting structure 542 can include a tapered structure, and the first magnetic piece 56 is sleeved on the mounting structure 542, thereby forming a limiting assembly of the first magnetic piece 56 through the tapered structure.

[0121] In an embodiment, the cleaning module further comprises a housing, the housing is formed with a first containing space, the fixing piece 521, the lifting piece 522 and the mounting piece 523 are located in the first containing space, and when the lifting piece 522 reciprocates between the first position and the second position through the opening of the first containing space, it can be extended or retracted into the containing space through the opening. Through the housing, the protection of the lifting mechanism 50 is formed, avoiding the entry of sewage, sundries and the like into the lifting mechanism 50 during the cleaning operation or during the self-cleaning of the base station 20, thereby improving the stability and service life of the lifting mechanism 50.

[0122] As shown in Figure 20 The housing can be formed by combining the top cover 511, the middle shell 512 and the bottom shell 513, so as to facilitate the assembly of each component on the housing.

[0123] As shown in Figure 15 The fixing piece 521 is located in the first containing space of the middle shell 512, and the fixing piece 521 and the middle shell 512 can be an integral molding structure. Since the outer periphery of the fixing piece 521 is provided with threads, the coaxiality of the fixing piece 521 and the lifting piece 522 can be improved, the assembly procedure can be reduced, the structural strength can be improved, and the cost can be reduced. Of course, the fixing piece 521 can also be fixedly connected with the middle shell 512 by adhesion, clamping, welding and the like, which is not limited in the present disclosure.

[0124] In one embodiment, the cleaning module further includes a seal 59, which is disposed on the housing and located at the opening. The seal 59 is configured to seal the gap between the housing and the lifting member 522, i.e., the gap between the bottom shell 513 and the lifting member 522. When the lifting member 522 moves toward the second position relative to the fixed member 521, it extends out of the bottom shell 513 through the opening. By providing the seal 59 between the bottom shell 513 and the lifting member 522, the gap between the opening of the bottom shell 513 and the lifting member 522 can be sealed, preventing sewage or foreign objects from entering the bottom shell 513, thereby improving the reliability of the lifting mechanism 50.

[0125] Among them, the sealing element 59 can be a rubber sealing ring. Since the sealing element 59 is fixedly installed at the opening of the bottom shell 513, the sealing element 59 is in close contact with the outer peripheral surface of the lifting element 522 to form a sealing effect. The rubber sealing ring can provide good sealing performance, and at the same time has a good service life and good economic maintenance in the later stage.

[0126] Among them, such as Figure 26 As shown, an annular groove 5130 for assembling the seal 59 can be provided at the opening of the bottom shell 513. The seal 59 is placed in the annular groove 5130, forming a limiting assembly of the seal 59 in the axial direction of the lifting member 522, preventing it from moving axially under the frictional force generated by the lifting member 522, and improving the sealing effect of the seal 59. The annular groove 5130 can be formed by an annular boss 5132 extending from the inner wall of the opening of the bottom shell 513 and multiple limiting protrusions 5131. The seal 59 is limited and assembled in the annular groove 5130 between the annular boss 5132 and the multiple limiting protrusions 5131.

[0127] Multiple sealing protrusions can be provided on the inner circumferential surface of the annular seal 59 facing the lifting member 522, that is, multiple annular sealing surfaces are formed between the seal 59 and the outer circumferential surface of the lifting member 522 to improve the sealing effect; at the same time, it can also improve the deformation capacity of the seal 59, thereby further improving the fit when it abuts against the outer circumferential surface of the lifting member 522, thereby further improving the sealing effect.

[0128] In one embodiment, the housing further forms a second receiving space 515, and the first driving component 53 is disposed within the second receiving space 515. The first driving component 53 is mounted on the middle shell 512, that is, the middle shell 512 forms the second receiving space 515. The housing provides protection for the first driving component 53, preventing sewage, debris, etc. from entering the first driving component 53 during cleaning operations or during the self-cleaning process of the base station 20, thereby improving the stability and service life of the first driving component 53.

[0129] In an embodiment, the shell is further formed with a third accommodating space 516, and the second driving assembly is arranged in the third accommodating space 516. The second driving assembly is assembled on the middle shell 512 and the top cover 511, that is, the third accommodating space 516 is formed by cooperation of the middle shell 512 and the top cover 511, and the protection of the second driving assembly is formed by the shell, so that sewage, sundries and the like are prevented from entering the second driving assembly during the cleaning operation or during the self-cleaning of the base station 20, and the stability and service life of the second driving assembly are improved.

[0130] The present disclosure seals and assembles the lifting mechanism 50, the first driving assembly 53 and the second driving assembly by the shell, so that the functional assemblies are substantially positioned in the shell, and the overall structure of the cleaning module is compact and the space utilization rate is high.

[0131] In an embodiment, as shown in Figure 20 , a third bearing 573 is arranged between the mounting member 523 and the lifting member 522, the mounting member 523 and the lifting member 522 are rotatably connected through the third bearing 573, and the third bearing 573 includes an inner ring and an outer ring.

[0132] As shown in Figure 20 , Figure 21 , Figure 27 and Figure 28 , the cleaning module further includes a first limiting member 58, the first limiting member 58 is connected to one end of the lifting member 522 close to the cleaning head 40, and a clamping table on the inner wall of the lifting member 522 and the first limiting member 58 form clamping limiting of the outer ring of the third bearing 573 in the axial direction; the cleaning module further includes a second limiting member, for example, a clamping ring 5234, the clamping ring 5234 is sleeved on the mounting member 523, and the clamping ring 5234 is clamped with the mounting member 523 in the axial direction; the clamping ring 5234 and the clamping table on the outer peripheral surface of the mounting member 523 form clamping limiting of the inner ring of the third bearing 573, so that the mounting member 523 and the lifting member 522 are axially limited and connected through the third bearing 573 to move synchronously in the axial direction.

[0133] The clamping ring 5234 has an opening, the outer peripheral surface of the mounting member 523 is formed with a clamping groove, and the clamping ring 5234 is located in the clamping groove to form limiting assembly of the clamping ring 5234 on the mounting member 523.

[0134] As shown in Figure 17 and Figure 28 , a plurality of limiting clamping grooves 5220 are formed on the lifting member 522, a plurality of clamping protrusions 581 are formed on the first limiting member 58, and the plurality of clamping protrusions 581 are one-to-one correspondingly located in the plurality of limiting clamping grooves 5220 to realize clamping of the first limiting member 58 and the lifting member 522. At the same time, after the first limiting member 58 and the lifting member 522 are clamped, limiting of the mounting member 523 from exiting the lifting member in the axial direction is also formed.

[0135] In an embodiment, the first driving assembly 53 further comprises a stroke sensor configured to obtain the height of the lifting member 522 ascending and descending along the axial direction. By arranging the stroke sensor, the determination of the driving stroke of the lifting member 522 can be achieved, and thus the accurate driving of the lifting member 522 can be achieved.

[0136] In the embodiment, the height of the lifting member 522 ascending and descending along the axial direction can be indirectly obtained by the stroke sensor, for example, the stroke of the output shaft of the first driver 531 or the stroke of at least one transmission gear of the first transmission gear set 532 is obtained under the condition that the transmission ratio of the first driver 531 and the first gear 525 is known. In the embodiment, the stroke sensor can be a Hall effect sensor, an optical stroke sensor, a magneto-electric stroke sensor, an incremental encoder, etc.

[0137] In an embodiment, the first driving assembly 53 further comprises an origin sensor configured to determine the reference position of the lifting member 522 moving along the axial direction. By detecting the reference position of the lifting member 522, the descending height required for accurately controlling the lifting member 522 can be based on the reference position.

[0138] In the embodiment, the origin sensor can be an optical origin sensor, a mechanical origin sensor or a magneto-electric origin sensor.

[0139] In an embodiment, a plurality of cleaning modules can be arranged on the cleaning device 10, i.e. a plurality of cleaning heads 40 can be arranged, for example, two cleaning heads 40. At least one of the plurality of cleaning heads 40 is connected to the device body 30 by the lifting mechanism 50 described above.

[0140] In an embodiment, the cleaning device 10 comprises a swing arm assembly and a driving assembly. The cleaning head 40 is connected to the swing arm, and the swing arm is rotationally connected to the device body 30. The cleaning head 40 can be rotated relative to the device body 30 between a retracted position as shown in Figure 2 and Figure 3 and an extended position as shown in Figure 29 and Figure 30 In the embodiment, the cleaning head 40 can be rotated relative to the device body between the retracted position and the extended position under the driving of the swing arm, so as to realize the edge cleaning and the corner cleaning, to cover more cleaning areas, reduce the dead angle of cleaning, and thus improve the cleaning effect.

[0141] It should be noted that the cleaning head 40 is rotated relative to the device body 30 under the driving of the swing arm between the retracted position and the extended position, for example, when the cleaning device 10 has a cylindrical structure, the cleaning head 40 is arranged close to the periphery of the cleaning device 10 in the radial direction of the cleaning device 10 in the extended position relative to the retracted position, that is, in the thickness direction of the device body 30, the overlapping area of the orthographic projection of the device body 30 and the cleaning head 40 on the preset reference plane when the swing arm is in the retracted position is greater than the overlapping area of the orthographic projection of the device body 30 and the cleaning head 40 on the preset reference plane when the swing arm is in the extended position; therefore, by rotating the cleaning head 40 to the extended position, edge cleaning and corner cleaning can be realized to cover more cleaning areas and reduce sanitary dead angles, thereby improving the cleaning effect.

[0142] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A cleaning module, characterized by The cleaning module comprises: a lifting mechanism, the lifting mechanism comprising a fixing member, a lifting member, a mounting member and a first driving assembly, the first driving assembly being configured to drive the lifting member to rotate forward or reversely, the lifting member being rotationally connected with the fixing member and being reciprocable along an axial direction of rotation between a first position and a second position relative to the fixing member; the mounting member being limitingly connected with the lifting member in the axial direction and being reciprocable along the axial direction under the driving of the lifting member; a cleaning head for cleaning a surface to be cleaned, the cleaning head comprising a connecting portion and a cleaning portion, the cleaning head being connected with the mounting member through the connecting portion; the lifting member having a first cleaning position and a second cleaning position between the first position and the second position, the cleaning pressure of the cleaning head on the surface to be cleaned being smaller when the lifting member is at the first cleaning position than when the lifting member is at the second cleaning position.

2. The cleaning module of claim 1, wherein, The cleaning module further comprises a rotating member and a second driving assembly, the rotating member being limitingly connected with the mounting member in a rotational direction, the second driving assembly being configured to drive the rotating member to rotate so as to drive the cleaning head to rotate through the mounting member.

3. The cleaning module of claim 2, wherein, The rotating member is sleeved on the mounting member, the fixing member is sleeved on the rotating member, and the lifting member is sleeved on the fixing member.

4. The cleaning module of claim 1, wherein, An external thread is formed on the fixing member, and an internal thread is formed on the lifting member, the fixing member and the lifting member being threadedly connected.

5. The cleaning module of claim 4, wherein, A first gear is arranged on an outer circumferential surface of the lifting member, the first driving assembly being configured to drive the first gear to rotate so as to drive the lifting member to rotate.

6. The cleaning module of claim 5, wherein, The first driving assembly comprises: a second gear, the second gear being engaged with the first gear, the width of the teeth of at least one of the first gear and the second gear in the axial direction being greater than or equal to the distance between the first position and the second position, so that the second gear can drive the lifting member to move between the first position and the second position through the first gear; a first driver, the first driver being configured to drive the second gear to rotate.

7. The cleaning module of claim 6, wherein, The first gear is located at an end of the lifting member away from the cleaning head in the axial direction, and the width of the teeth of the second gear in the axial direction is greater than the distance between the first position and the second position.

8. The cleaning module of claim 6, wherein, The first driving assembly further comprises: a first transmission gear set, the first driver being transmissionally connected with the second gear through the first transmission gear set.

9. The cleaning module of claim 1, wherein, The lifting mechanism further comprises: a sliding connecting member, the sliding connecting member being located in the mounting member and being movable along the axial direction in the mounting member and being limitingly connected with the mounting member in a circumferential direction; the cleaning head being connected with the sliding connecting member; a resilient member, the resilient member being located between the sliding connecting member and the mounting member; the resilient member being compressible when the mounting member moves towards the sliding connecting member along the axial direction.

10. The cleaning module of claim 9, wherein, The cleaning head is inserted with the mounting member.

11. The cleaning module of claim 9, wherein, When the cleaning head is in contact with the surface to be cleaned, the lifting member is capable of moving towards the side of the surface to be cleaned by driving the sliding connector to compress the elastic member.

12. The cleaning module of claim 9, wherein, When the cleaning head is subjected to external force, the cleaning head is capable of moving towards the side of the lifting mechanism by driving the sliding connector to compress the elastic member.

13. The cleaning module of claim 9, wherein, An axial limiting structure is arranged between the sliding connector and the mounting member, and is configured to limit the sliding connector from withdrawing towards the mounting member along the axial direction.

14. The cleaning module of claim 9, wherein, When the cleaning head is not subjected to external force, the elastic member is in a compressed state.

15. The cleaning module of claim 9, wherein, When the cleaning head is not subjected to external force, there is a gap between the cleaning part of the cleaning head and the part opposite to the lifting member along the axial direction, so that the lifting member is capable of moving towards the side of the cleaning head by a preset distance when the cleaning head is in contact with the surface to be cleaned.

16. The cleaning module of claim 9, wherein, The lifting member is sleeved on the mounting member, and a bearing is arranged between the mounting member and the lifting member; the mounting member and the lifting member are rotationally connected through the bearing and are limitingly connected in the axial direction through the bearing.

17. The cleaning module of claim 16, wherein, The bearing comprises an outer ring and an inner ring, and the lifting mechanism further comprises: a first limiting member connected with the lifting member and limiting the outer ring in the axial direction; a second limiting member connected with the mounting member and limiting the inner ring in the axial direction.

18. The cleaning module of claim 17, wherein, The first limiting member is clamped with the lifting member; and / or, the second limiting member is clamped with the mounting member.

19. The cleaning module of claim 2, wherein, The cleaning module further comprises: a housing formed with a first accommodating space, wherein the fixing member, the lifting member and the mounting member are located in the first accommodating space, and the lifting member is capable of extending out of or retracting into the accommodating space through the opening of the first accommodating space when reciprocating between the first position and the second position.

20. The cleaning module of claim 19, wherein, The cleaning module further comprises: a sealing member arranged on the housing and located at the opening, and configured to seal the gap between the housing and the lifting member.

21. The cleaning module of claim 20, wherein, The housing is further formed with a second accommodating space, and the first driving assembly is arranged in the second accommodating space; and / or, the housing is further formed with a third accommodating space, and the second driving assembly is arranged in the third accommodating space.

22. A cleaning apparatus, characterized by The cleaning device comprises: a device body; the cleaning module according to any one of claims 1-21, which is connected with the device body.

23. A cleaning system characterized by, The cleaning device comprises: the cleaning device according to claim 22; a base station configured to interface with the cleaning device.

Images