Cleaning equipment and cleaning system

Abstract

The utility model provides cleaning equipment and a cleaning system, and relates to the technical field of smart home. The cleaning equipment comprises an equipment body, a swing arm, a driving assembly, an elastic piece and a cleaning head, and the swing arm is rotationally connected with the equipment body and can rotate between a first position and a second position relative to the equipment body; the driving assembly comprises a driver and a pushing part, the pushing part is driven by the driver to linearly move between a third position and a fourth position, and the driver is a driving motor; when the pushing piece moves towards the fourth position, the pushing piece drives the swing arm to synchronously rotate towards the second position through the elastic piece; when the pushing piece moves towards the third position, the pushing piece drives the swing arm to rotate towards the first position; the cleaning head is connected with the swing arm, and when the swing arm is located at the first position, the cleaning head is located at the retracting position; when the swing arm is located at the second position, the cleaning head is located at the extending position. The cleaning equipment is compact in structure and high in space utilization rate.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and more specifically, to a cleaning device and cleaning system. Background Technology

[0002] With the development of modern society, in order to save time and maintain household hygiene, more and more people are buying cleaning equipment to clean their homes promptly and conveniently. These cleaning devices, equipped with a degree of artificial intelligence, can automatically clean floors throughout the room.

[0003] Current smart cleaning equipment has gradually acquired functions such as mop extension, voice control, and LED lighting effects, which has led to the need to incorporate more functional components inside the cleaning equipment. Therefore, it is necessary to optimize the structure of these functional components to improve the compactness of the internal structure of the cleaning equipment.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

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

[0006] According to one aspect of this disclosure, a cleaning apparatus is provided, the cleaning apparatus comprising:

[0007] Equipment body;

[0008] A swing arm, which is rotatably connected to the device body and can rotate relative to the device body between a first position and a second position;

[0009] A drive assembly, comprising a driver and a pusher, wherein the pusher moves linearly between a third position and a fourth position under the drive of the driver, and the driver is a drive motor;

[0010] The elastic element allows the pushing member to move toward the fourth position, causing the swing arm to rotate toward the second position via the elastic element; and the pushing member to move toward the third position causes the swing arm to rotate toward the first position.

[0011] The cleaning head is connected to the swing arm. When the swing arm is in the first position, the cleaning head is in a retracted position relative to the device body; when the swing arm is in the second position, the cleaning head is in an extended position relative to the device body.

[0012] In one exemplary embodiment of this disclosure, the elastic element is in a compressed state when the swing arm is in any position between the first position and the second position.

[0013] In one exemplary embodiment of this disclosure, the cleaning head can drive the swing arm to rotate toward the first position under the action of an external force, and compress the elastic element during the rotation of the swing arm.

[0014] In one exemplary embodiment of this disclosure, when the external force on the cleaning head is removed or is less than the elastic force of the elastic member, the swing arm rotates toward the second position under the elastic force of the elastic member.

[0015] In an exemplary embodiment of this disclosure, the swing arm is further provided with a cam, the cam being coaxially arranged and fixedly connected with the rotating part of the swing arm; when the pusher moves toward the third position, the pusher pushes the cam to rotate so as to drive the swing arm to rotate toward the first position.

[0016] In one exemplary embodiment of this disclosure, when the pusher moves toward the fourth position, the pusher drives the swing arm to rotate synchronously toward the second position via the elastic member.

[0017] In one exemplary embodiment of this disclosure, a protrusion is formed on the cam, and a pushing portion is formed on the pushing member; when the pushing member moves toward the third position, the pushing portion drives the protrusion to move, so as to drive the cam to rotate through the protrusion.

[0018] In one exemplary embodiment of this disclosure, when the pusher is in the fourth position and the cleaning head is rotated toward the retracted position by an external force, the protrusion can move relative to the pusher, while the pusher remains stationary relative to the device body.

[0019] In one exemplary embodiment of this disclosure, when the pusher is in the fourth position and the cleaning head is rotated toward the retracted position by an external force, the protrusion separates from the pusher and moves relative to the pusher.

[0020] In one exemplary embodiment of this disclosure, the pusher is further provided with a clearance portion. When the pusher is in the fourth position and the cleaning head is rotated toward the retracted position by an external force, the pusher is stationary relative to the device body, and the protrusion can rotate relative to the pusher through the clearance portion.

[0021] In one exemplary embodiment of this disclosure, the cleaning head can drive the swing arm to rotate to the first position under the action of an external force.

[0022] In one exemplary embodiment of this disclosure, the cam is further provided with a recess, and when the pusher moves between at least a portion of the positions between the third position and the fourth position, at least a portion of the pusher is located in the recess.

[0023] In one exemplary embodiment of this disclosure, when the pusher is located in the third position, the extending direction of the protrusion is perpendicular or substantially perpendicular to the direction from the third position to the fourth position.

[0024] In one exemplary embodiment of this disclosure, one end of the elastic member moves synchronously with the pusher, and the other end moves synchronously with the swing arm or the cam.

[0025] In one exemplary embodiment of this disclosure, one end of the elastic member is connected to the pusher, and the other end of the elastic member is connected to the swing arm or the cam.

[0026] In one exemplary embodiment of this disclosure, the pusher has a push portion formed thereon, the push portion has a slot or a hole, and one end of the elastic member is located in the slot or the hole.

[0027] In one exemplary embodiment of this disclosure, the elastic element is a torsion spring.

[0028] In one exemplary embodiment of this disclosure, the driving component further includes:

[0029] The transmission component connects the pusher and the driver via the transmission component, and the pusher can move linearly between the third position and the fourth position under the drive of the transmission component.

[0030] In an exemplary embodiment of this disclosure, the transmission component includes a lead screw and a nut threaded together, the nut being fixedly connected to the pusher; the device body is provided with a limiting member, the limiting member being configured to restrict the nut from rotating in the rotational direction of the lead screw; the lead screw is rotatable under the drive of the driver, so as to drive the pusher to move linearly between the third position and the fourth position via the nut.

[0031] In one exemplary embodiment of this disclosure, the nut and the pusher are integrally formed.

[0032] In one exemplary embodiment of this disclosure, the transmission member includes a rack and a gear meshing together. The rack is fixedly connected to the pusher. Under the drive of the driver, the gear can drive the rack to reciprocate along a straight line, thereby driving the pusher to move linearly between the third position and the fourth position.

[0033] In one exemplary embodiment of this disclosure, the transmission component includes a crankshaft and a wheel. One end of the crankshaft is rotatably connected to the pusher, and the other end is rotatably connected to the wheel. The wheel is connected to the output shaft of the driver. When the wheel rotates under the drive of the output shaft, the end of the crankshaft connected to the wheel performs a circular motion around the output shaft to drive the pusher to move linearly between the third position and the fourth position.

[0034] In one exemplary embodiment of this disclosure, the device body is provided with a limiting structure, which is configured to restrict the swing arm from rotating between the first position and the second position.

[0035] In an exemplary embodiment of this disclosure, the device body is provided with a mounting bracket, and a limiting groove is formed on the mounting bracket. At least a portion of the swing arm is located in the limiting groove and is rotatably connected to the mounting bracket. In the rotation direction of the swing arm, the groove walls at both ends of the limiting groove serve as the limiting structure to limit the swing arm.

[0036] According to one aspect of this disclosure, a cleaning system is provided, which includes the cleaning equipment described above;

[0037] A base station, which is used to interface with the cleaning equipment.

[0038] The cleaning device disclosed herein features a swing arm rotatably connected to the device body, capable of being positioned between a first and a second position relative to the device body. This means the cleaning head, driven by the swing arm, can rotate between a retracted and extended position relative to the device body, enabling edge and corner cleaning to cover a wider cleaning area, reduce blind spots, and improve cleaning effectiveness. When the cleaning head needs to move from the extended to the retracted position, a pusher, driven by a driver, moves linearly from a fourth position to a third position, pushing the swing arm to the first position. When the cleaning head needs to move from the retracted to the extended position, the pusher, driven by the driver, moves linearly from the third position to the fourth position, at which point the pusher, through a pusher elastic element, causes the swing arm to rotate toward the second position. It can be seen that during the switching between the extended and retracted positions of the cleaning head, the pusher moves linearly under the drive of the driver, resulting in high precision, a simple structure, and a significant reduction in the size of the drive components, thereby improving the space utilization of the cleaning device and making its structure more compact. Simultaneously, the linear movement of the pusher enhances the stability of the cleaning head's movement.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0041] Figure 1 A schematic diagram of a cleaning system provided in one embodiment of this disclosure.

[0042] Figure 2 This is a frontal schematic diagram of a cleaning device with the cleaning head in the retracted position, provided as an embodiment of the present disclosure.

[0043] Figure 3 This is a rear view of a cleaning device provided in an embodiment of the present disclosure with the cleaning head in the retracted position.

[0044] Figure 4 This is a frontal schematic diagram of a cleaning device with the cleaning head in the extended position, provided as an embodiment of the present disclosure.

[0045] Figure 5 This is a schematic diagram of the back of a cleaning device provided in an embodiment of the present disclosure, showing the cleaning head in the extended position.

[0046] Figure 6 This is a front view of a cleaning device with the swing arm in a first position, according to an embodiment of the present disclosure.

[0047] Figure 7 This is a front view of a cleaning device with the swing arm in a second position, according to an embodiment of the present disclosure.

[0048] Figure 8 This is a front view of the swing arm in a first position, according to an embodiment of the present disclosure.

[0049] Figure 9 This is a front view of the swing arm in a second position, according to an embodiment of the present disclosure.

[0050] Figure 10 This is a rear view of the swing arm in a first position, according to an embodiment of the present disclosure.

[0051] Figure 11 This is a rear view of the swing arm in a second position, according to an embodiment of the present disclosure.

[0052] Figure 12 This is a rear view of the swing arm in a second position, provided as an embodiment of the present disclosure.

[0053] Figure 13 An exploded view of a swing arm, drive assembly, elastic element, and mounting bracket provided for one embodiment of this disclosure.

[0054] Explanation of reference numerals in the attached figures:

[0055] 10. Cleaning equipment; 20. Base station;

[0056] 11. Equipment body; 12. Cleaning head;

[0057] 13. Drive assembly; 131. Pushing element; 132. Driver; 133. Lead screw; 134. Nut; 135. Transmission assembly; 1311. Pushing part; 1312. Locking hole; 1313. Clearance part; 1314. Groove;

[0058] 14. Swing arm; 141. Locking protrusion; 142. Housing; 143. Drive mechanism;

[0059] 15. Mounting bracket; 151. Limiting groove; 152. Mounting part;

[0060] 16. Cam; 161. Protrusion; 162. Recess;

[0061] 17. Elastic components. Detailed Implementation

[0062] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0063] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0064] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0065] Embodiments of this disclosure provide a cleaning system, such as Figure 1 As shown, the cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo; the cleaning device 10 may include a device body 11, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 20 is used to dock with the cleaning device 10, allowing it to be parked. The cleaning device 10 can perform functions such as charging, self-cleaning, docking, wastewater discharge, and water replenishment on the base station 20.

[0066] In one embodiment, the device body 11 is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 10. If the cleaning device 10 is a sweeping and mopping robot, then the cleaning device 10 operates on the ground.

[0067] In one embodiment, the drive module includes a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 11.

[0068] In one embodiment, to enable the automatic cleaning device 10 to move more stably or with greater mobility on the ground, the automatic cleaning device 10 may include one or more steering wheels; wherein, the steering wheels may be driven wheels or driving wheels, and their structural forms include, but are not limited to, casters, and the steering wheels may be located in front of the driving wheel assembly. A drive motor provides power to the driving wheel assembly and / or the steering wheels.

[0069] In one embodiment, the sensing module includes a position determination device located above the device body 11, a buffer located on the forward portion of the device body 11, and a cliff sensor and various sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers located at the bottom of the device body 11, providing the control module with various position and motion state information of the device body 11. For example, the forward portion of the device body 11 is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 10 to walk on the ground, the buffer 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 pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure causes the cleaning device 10 to respond to the objects, such as stepping over steps.

[0070] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 10 work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 10.

[0071] In one embodiment, the energy module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.

[0072] In one embodiment, the human-machine interaction module includes buttons on the main panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available function options to the user; and it may also include a mobile client application. For the path navigation cleaning device 10, the mobile client can display a map of the environment where the device is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0073] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head 12, a water tank, etc.

[0074] Currently, telescopic mechanisms are widely used in the cleaning components of cleaning equipment 10. In related technologies, telescopic mechanisms typically employ gear transmission schemes, such as transmitting torque and motion through a reducer, spur gear, and cam 16 mechanism. When the mop actively retracts, the retraction mechanism needs to overcome the tension spring force, increasing the motor torque requirement. Especially when the telescopic mechanism requires large torque and large turning angle, gear transmission schemes often have a large volume ratio, and noise and vibration problems are difficult to solve. Moreover, the increased tension of the tension spring further increases its volume to ensure its lifespan and torque transmission, requiring additional space.

[0075] To address the aforementioned technical problems, embodiments of this disclosure provide a cleaning device 10, such as... Figures 2 to 13 As shown, the cleaning device 10 includes: a device body 11, a swing arm 14, a drive assembly 13, an elastic element 17, and a cleaning head 12. The cleaning head 12 is connected to the swing arm 14, and the swing arm 14 is rotatably connected to the device body 11 and can rotate relative to the device body 11 between a first position and a second position. When the swing arm 14 is in the first position, the cleaning head 12 is in a retracted position relative to the device body 11; when the swing arm 14 is in the second position, the cleaning head 12 is in an extended position relative to the device body 11. The drive assembly 13 includes a driver 132 and a pusher 131. The pusher 131 can reciprocate linearly between a third position and a fourth position under the drive of the driver 132. When the pusher 131 moves toward the fourth position under the action of the driver 132, the pusher 131 drives the swing arm 14 to rotate synchronously toward the second position through the elastic element 17; when the pusher 131 moves toward the third position, the pusher 131 drives the swing arm 14 to rotate toward the first position.

[0076] The cleaning device 10 provided in this disclosure has a swing arm 14 rotatably connected to the device body 11, which can drive the cleaning head 12 to be positioned relative to the device body 11 as follows: Figure 6 The retraction position shown is as follows Figure 7As shown in the extended position, the cleaning head 12, driven by the swing arm 14, can rotate relative to the device body 11 between the retracted position and the extended position, achieving edge cleaning and corner cleaning to cover more cleaning areas, reduce blind spots, and thus improve cleaning effect. When the cleaning head 12 needs to move from the retracted position to the extended position, the pusher 131, driven by the driver 132, moves in a straight line from the third position to the fourth position. The pusher 131 drives the swing arm 14 to rotate synchronously towards the second position via the elastic member 17. When the cleaning head 12 needs to move from the extended position to the retracted position, the pusher 131, driven by the driver 132, moves in a straight line from the fourth position to the third position. The pusher 131 drives the swing arm 14 to rotate towards the retracted position.

[0077] As can be seen, during the movement of the cleaning head 12 between the retracted position and the extended position, the pusher 131 moves in a straight line under the drive of the driver 132. It has high precision and simple structure, which can greatly reduce the volume of the drive assembly 13, thereby improving the space utilization of the cleaning device 10 and making the structure of the cleaning device 10 more compact. At the same time, the linear movement of the pusher 131 can improve the stability of the movement of the cleaning head 12.

[0078] It should be noted that the cleaning head 12 rotates relative to the device body 11 between a first position and a second position under the drive of the swing arm 14. For example, when the cleaning device 10 has a cylindrical structure, the cleaning head 12, in the second position relative to the first position, is positioned radially closer to the periphery of the cleaning device 10. That is, in the thickness direction of the device body 11, the overlapping area of ​​the orthographic projections of the device body 11 and the cleaning head 12 on the preset reference plane when the swing arm 14 is in the first position is greater than the overlapping area of ​​the orthographic projections of the device body 11 and the cleaning head 12 on the preset reference plane when the swing arm 14 is in the second position. Therefore, by rotating the cleaning head 12 to the second position, edge cleaning and corner cleaning can be achieved, covering more cleaning areas, reducing dead corners, and thus improving the cleaning effect.

[0079] In one embodiment, as the pushing member 131 moves toward the third position, it drives the swing arm 14 to rotate toward the first position. At this time, one end of the elastic member 17 can move synchronously with the pushing member 131, and the other end of the elastic member 17 can move synchronously with the swing arm 14. When the pushing member 131 drives the swing arm 14 to rotate toward the second position through the elastic member, both ends of the elastic member 17 move synchronously with the pushing member 131 and the swing arm 14. That is, when the pushing member 131 moves from the third position to the fourth position, it can push one end of the elastic member 17 to move synchronously. Under the action of the elastic force of the elastic member itself, the other end of the elastic member 17 can drive the swing arm 14 to move synchronously when it moves.

[0080] One end of the elastic element 17 is connected to the pusher 131, and the other end is connected to the swing arm 14. When the cleaning head 12 needs to move from the retracted position to the extended position, the pusher 131 pushes the end of the elastic element 17 during its linear movement. The elastic element 17 generates a compressive force under the push force of the pusher 131. Under the action of the compressive force provided by the pusher 131, the elastic element 17 drives the swing arm 14 to rotate, thereby moving the swing arm 14 towards the second position. When the cleaning head 12 needs to move from the extended position to the retracted position, the pusher 131 drives the swing arm 14 to rotate towards the first position.

[0081] The elastic element 17 can be a torsion spring, which can be sleeved on the pivot of the swing arm 14, saving space for installing the elastic element 17, thereby further improving the compactness of the structure, reducing the volume, and improving the space utilization of the cleaning equipment 10. When the cleaning head 12 needs to move from the retracted position to the extended position, the pusher 131 pushes the torsion arm of the torsion spring during linear movement. The torsion arm generates torque under the push force of the pusher 131. Under the action of the torque provided by the pusher 131, the torsion spring drives the swing arm 14 to rotate, thereby moving the swing arm 14 towards the second position. When the cleaning head 12 needs to move from the extended position to the retracted position, the pusher 131 drives the swing arm 14 to rotate towards the first position.

[0082] In one embodiment, the swing arm 14 is in any position between the first position and the second position, and the elastic element 17 is in a compressed state. The elastic restoring force of the elastic element 17 in the compressed state can apply an elastic force to the swing arm 14 to rotate toward the second position. When the cleaning head 12 needs to move from the retracted position to the extended position, the pusher 131 pushes the elastic element 17 during linear movement. The elastic element 17 located between the pusher 131 and the swing arm 14 is compressed by the pusher 131. Since the elastic element 17 itself is in a compressed state, the elastic element 17 can directly drive the swing arm 14 to rotate synchronously under the action of the compressive force provided by the pusher 131, thereby moving the swing arm 14 toward the second position. When the cleaning head 12 needs to move from the extended position to the retracted position, the pusher 131 drives the swing arm 14 to rotate toward the first position.

[0083] In one embodiment, the swing arm 14 is configured to rotate from a second position to a first position under the action of an external force, and compress the elastic element 17 during the rotation. That is, when the cleaning head 12 is in the extended position, when it is interfered with by an obstacle or other external force, it can rotate towards the retracted position by compressing the elastic element 17, i.e., towards the inside of the device body 11, thereby creating a buffer effect when it contacts the obstacle, preventing damage during collision or other external force interference. When the obstacle is bypassed, or the external force is removed, or the external force is less than the elastic force of the elastic element, the swing arm 14 can rotate towards the second position or return to the second position under the elastic force of the elastic element 17, i.e., the cleaning head 12 can return to the extended position to continue cleaning operations. During the rotation of the swing arm 14 towards the retracted position, the pusher 131 does not obstruct the rotation of the swing arm 14; the swing arm 14 only needs to overcome the elastic force of the elastic element 17.

[0084] Since the swing arm 14 is in any position between the first and second positions, the elastic element 17 is always in a compressed state, meaning it is compressed when assembled. Therefore, when the swing arm 14 is in the second position, the elastic element 17 applies an elastic force to the swing arm 14, causing it to rotate away from the first position. This means that when the cleaning head 12 is subjected to external forces such as obstacles, the cleaning head 12 will only compress the elastic element 17 and rotate towards the retracted position when the pushing force on the cleaning head 12 is greater than this elastic force. In other words, when the pushing force on the cleaning head 12 is less than this elastic force, or when the cleaning head 12 is not subjected to external forces such as obstacles, the cleaning head 12 can stably remain in the extended position under this elastic force. This prevents the cleaning head 12 from moving relative to the device body 11 due to changes in friction with the surface to be cleaned, improving the stability of the cleaning head 12 during cleaning operations and thus enhancing the cleaning effect. It is understandable that the elastic force should be able to enable the cleaning head 12 to move from the retracted position to the extended position. Under the action of the thrust provided by the pusher 131, the elastic member 17 can directly drive the swing arm 14 to rotate synchronously, so as to avoid the movement of the pusher 131 and the swing arm 14 being out of sync.

[0085] In one embodiment, the drive assembly 13 further includes a transmission member, through which the pusher 131 and the driver 132 are connected. The pusher 131 can move linearly between a third position and a fourth position under the drive of the transmission member. Connecting the driver 132 and the pusher 131 through the transmission member facilitates the layout of the pusher 131 and the driver 132, thereby further improving the structural compactness of the cleaning device 10. The following will provide an exemplary description of possible implementations of the transmission member.

[0086] In one embodiment, such as Figure 10 and Figure 11As shown, the transmission component includes a lead screw 133 and a nut 134 threaded together. The nut 134 is fixedly connected to the pusher 131. The lead screw 133 can rotate under the drive of the driver 132, so as to drive the pusher 131 to move linearly between the third position and the fourth position via the nut 134. The scheme of using the lead screw 133 and the nut 134 realizes the linear motion of the pusher 131. The transmission ratio of the lead screw 133 and the nut 134 is high, which can significantly reduce the size of the drive assembly 13. At the same time, the lead screw 133 and the nut 134 provide smooth transmission, high precision, and simple structure, which can ensure the smooth movement of the cleaning head 12. The device body 11 is provided with a limiting component, which is configured to restrict the rotation of the nut 134 in the rotation direction of the lead screw 133.

[0087] The driver 132 can be a drive motor, with the output shaft of the drive motor directly connected, i.e., the output shaft and the lead screw 133 are coaxially arranged; or, the output shaft of the drive motor and the lead screw 133 are connected by a transmission assembly 135. The transmission assembly 135 can be a gear set transmission, which has high transmission efficiency and stable structure. It can also be a belt pulley transmission, chain transmission, etc. This disclosure does not limit this.

[0088] When, for example, a gear set is used to connect the drive motor and the lead screw 133, the drive motor and the lead screw 133 can be arranged vertically along the thickness direction of the equipment body 11, which can reduce the volume of the drive assembly 13. It can be seen that the drive motor and the lead screw 133 are connected by a transmission assembly 135, which facilitates the layout of the drive motor relative to the lead screw 133 within the equipment body 11, thereby improving the space utilization of the cleaning equipment 10 and making its structure more compact.

[0089] The drive motor can rotate forward or reverse to drive the lead screw 133 to rotate forward or reverse, thereby enabling the nut 134 to reciprocate on the lead screw 133, and thus achieving the purpose of driving the pusher 131 to move linearly between the third position and the fourth position.

[0090] The nut 134 is connected to the end of the pusher 131 near the lead screw 133. The nut 134 and the pusher 131 can be an integrally formed structure to improve the coaxiality of the pusher 131 and the nut 134. Of course, the nut 134 and the pusher 131 can also be a separate structure, which can be fixedly connected by means of bonding, welding, snap-fitting, threaded connection, etc.

[0091] In another embodiment, the transmission component may include a rack and a gear meshing together. The rack is fixedly connected to the pusher 131, and the gear, driven by the driver 132, can drive the rack to reciprocate along a straight line, thereby driving the pusher 131 to move linearly between the third position and the fourth position. The rack and gear scheme achieves linear motion of the pusher 131. The rack and gear has a high transmission ratio, which can significantly reduce the size of the drive assembly 13. At the same time, the rack and gear transmission is smooth, precise, and simple in structure, ensuring the smooth movement of the cleaning head 12.

[0092] Among them, the gear can be directly connected to the output shaft of the drive motor, or connected to the output shaft of the drive motor through a gear set; the rack and the pusher 131 are fixedly connected, and the rack and the pusher 131 can be an integrally formed structure; of course, the rack and the pusher 131 can also be a separate structure, and fixedly connected by means of bonding, welding, snap-fitting, threaded connection, etc.

[0093] In another embodiment, the transmission component may include a crankshaft and a rotary wheel. One end of the crankshaft is rotatably connected to the pusher 131, and the other end is rotatably connected to the rotary wheel. The rotary wheel is connected to the output shaft of the driver 132. When the rotary wheel rotates under the drive of the output shaft, the end of the crankshaft connected to the rotary wheel performs a circular motion around the output shaft, thereby driving the pusher 131 to move linearly between the third position and the fourth position. The crankshaft and rotary wheel scheme achieves the linear motion of the pusher 131. The high transmission ratio of the crankshaft and rotary wheel reduces the size of the drive assembly 13. At the same time, the crankshaft and rotary wheel transmission is smooth, precise, and simple in structure, ensuring the smooth movement of the cleaning head 12.

[0094] The output shaft of the drive motor is directly connected to the rotating wheel, or connected to the rotating wheel through the transmission assembly 135 to drive the rotation. The transmission assembly 135 is, for example, a gear set transmission, which has high transmission efficiency and stable structure. It can also be a belt pulley transmission, chain transmission, etc. This disclosure does not limit it.

[0095] In one embodiment, the device body 11 is provided with a groove, and the pusher 131 is located in the groove to form a guide for the pusher 131 to move along a straight line between a third position and a fourth position.

[0096] Among them, such as Figures 6 to 11 As shown, the equipment body 11 is provided with a mounting bracket 15, and the swing arm 14 is rotatably connected to the mounting bracket 15. A sliding groove is formed on the mounting bracket 15, meaning that the mounting bracket 15 can serve as part of a telescopic mechanism. The telescopic mechanism is connected to the equipment body 11 through the mounting bracket 15, and the swing arm 14 is indirectly connected to the equipment body 11 through the mounting bracket 15. It is understood that the swing arm 14 can also be directly connected to the equipment body 11, and this disclosure does not limit this.

[0097] The groove can be an open structure that can provide support for the pusher 131 while simultaneously providing a limit in at least one direction, such as limiting one side of the pusher 131 in the width direction.

[0098] The mounting bracket 15 has a portion of its structure that acts as a limiting element, restricting the nut 134 from rotating in the direction of rotation of the lead screw 133. When the nut 134 and the pusher 131 are integrally formed, this portion of the mounting bracket 15 can also restrict the nut 134 and / or the pusher 131 from rotating in the direction of rotation of the lead screw 133.

[0099] In one embodiment, the device body 11 is provided with a limiting structure, which is configured to restrict the rotation of the swing arm 14 between a first position and a second position. By setting the limiting structure, the rotation of the swing arm 14 can be restricted. Since the swing arm 14 rotates by the elastic force of the elastic member 17 when it moves toward the second position, the limiting mechanism can limit the rotation angle of the swing arm 14 under the elastic force. When the swing arm 14 rotates to the second position and abuts against the limiting structure, the elastic member 17 also has elastic potential energy to drive the swing arm 14 to rotate. That is, when the swing arm 14 is in the second position, the elastic member 17 applies an elastic preload force to the swing arm 14 in a direction away from the first position.

[0100] In this design, a limiting groove 151 is provided on the device, and at least a portion of the swing arm 14 is located in the limiting groove 151. In the rotation direction of the swing arm 14, the groove walls at both ends of the limiting groove 151 limit the swing arm 14. Through the limiting groove 151, on the one hand, the groove walls limit the rotation of the swing arm 14, and on the other hand, they accommodate the swing arm 14, improving the space utilization of the cleaning device 10 and making the structure of the cleaning device 10 more compact.

[0101] Among them, such as Figures 6-9 As shown, the device body 11 is provided with a mounting bracket 15, and the swing arm 14 is rotatably connected to the mounting bracket 15. A limiting groove 151 is formed on the mounting bracket 15. The limiting groove 151 formed by the mounting bracket 15 serves as a limiting structure, thereby limiting the rotation of the swing arm 14 and accommodating the swing arm 14. At the same time, the mounting bracket 15 can protect the swing arm 14.

[0102] It is understandable that the limiting structure can also be a protrusion on the device body 11, with protrusions set at both ends of the rotation range of the swing arm 14 to limit the rotation range.

[0103] In one embodiment, such as Figure 10 and Figure 11As shown, the rocker arm 14 is provided with a cam 16, which is coaxially arranged and fixedly connected to the rotating part of the rocker arm 14. When the pusher 131 moves from the fourth position to the third position, the pusher 131 pushes the cam 16, thereby driving the rocker arm 14 to the first position. When the pusher 131 moves towards the fourth position, the pusher 131 drives the rocker arm 14 to rotate towards the second position through the elastic member 17. The rotation control of the rocker arm 14 is achieved by the cooperation of the cam 16 and the pusher 131, which simplifies the structure of the rocker arm 14 and facilitates its setting. At the same time, the cam 16 can be set to match the pusher 131 without modifying the rocker arm 14, which can reduce production costs and improve the adaptability of the drive component 13.

[0104] In this configuration, the pusher 131 moves toward the fourth position, and the pusher 131 drives the swing arm 14 to rotate synchronously toward the second position via the elastic element 17. Alternatively, the pusher 131 can directly drive the swing arm 14 to rotate synchronously toward the second position via the elastic element 17, or the pusher 131 can drive the cam 16 to rotate via the elastic element 17, and the cam 16 can drive the swing arm 14 to rotate synchronously toward the second position. By having the pusher 131 drive the swing arm 14 to rotate synchronously toward the second position via the elastic element 17, that is, when the pusher 131 begins to move toward the fourth position and starts to drive one end of the elastic element 17, the elastic element 17, due to sufficient initial compression, can directly drive the connected swing arm 14 or cam 16 to move synchronously. This ensures that when the swing arm 14 needs to extend, the pusher 131 and the swing arm 14 can move synchronously, thus avoiding the situation where the initial compression of the elastic element 17 is insufficient, and the pusher 131 drives the elastic element 17 to rotate synchronously. When one end of the drive assembly starts moving, the other end does not move because the resistance experienced by the rocker arm 14 is greater than the initial compression. The rocker arm 14 or cam 16 only moves when the elastic force generated by the pusher 131 compressing the elastic element 17 exceeds the resistance. This results in a time difference between the movement of the pusher 131 and the rocker arm 14 or cam 16, leading to an increase in the stroke of the pusher 131 when the extension stroke of the rocker arm 14 is constant, which is detrimental to reducing the volume of the drive assembly 13. The initial compression of the elastic element 17 is the amount of compression it experiences when installed between the pusher 131 and the rocker arm 14. This compression can be adjusted according to actual needs, and this disclosure does not impose any limitations on it.

[0105] Among them, such as Figure 10 and Figure 11As shown, a protrusion 161 is formed on the cam 16, and a pushing part 1311 is formed on the pusher 131. The pushing part 1311 is configured to push the protrusion 161 to rotate. When the pusher 131 moves from the fourth position to the third position, the pushing part 1311 pushes the protrusion 161 to drive the cam 16 to rotate, and then drives the rocker arm 14 to rotate to the first position through the cam 16.

[0106] Among them, such as Figure 11 As shown, when the pusher 131 is in the fourth position, the pusher 131 will not obstruct the cam 16 from rotating toward the first position under the drive of the swing arm 14. The cam 16 can rotate freely under the drive of the swing arm 14. That is, when the cleaning head 12 is subjected to an obstacle or other external force, it can rotate toward the retracted position by compressing the elastic member 17.

[0107] When the pusher 131 is in the fourth position, and the cleaning head 12 rotates toward the retracted position under the action of an external force, the protrusion 161 can move relative to the pusher 131, while the pusher 131 remains stationary relative to the device body 11. Driven by the swing arm 14, the cam 16 can freely rotate relative to the pusher 131 toward the third position, meaning that when the cleaning head 12 is subjected to an obstacle or other external force, it can rotate toward the retracted position by compressing the elastic member 17.

[0108] When the pusher 131 is in the fourth position, and the cleaning head 12 rotates toward the retracted position under the action of an external force, the protrusion 161 separates from the pusher 131 and moves relative to the pusher 131. Driven by the rocker arm 14, the cam 16 can rotate freely toward the third position relative to the pusher 131 without interfering with the pusher 131.

[0109] Among them, such as Figure 11 As shown, the pusher 131 also has a relief portion 1313, which is recessed along the radial direction of the lead screw 133. When the cleaning head 12 rotates toward the retracted position under the action of an external force, the protrusion 161, driven by the rotation of the swing arm 14 toward the first position, can rotate toward the lead screw 133 via the relief portion 1313, and the pusher 131 remains stationary relative to the device body 11. By setting the relief portion 1313, interference between the protrusion 161 and the pusher 131 can be avoided, and the pusher 131 and the cam 16 can be set relatively close to each other, thereby further improving the compactness of the structure, reducing the volume, and improving the space utilization of the cleaning device 10.

[0110] Among them, such as Figure 11 As shown, the clearance portion 1313 can be arc-shaped and recessed, that is, during the rotation of the protrusion 161, the gap between the end of the protrusion 161 facing the pusher 131 and the clearance portion 1313 can be the same or substantially the same.

[0111] Among them, such as Figure 10 As shown, when the pusher 131 is in the third position, the extension direction of the protrusion 161 is perpendicular or substantially perpendicular to the direction from the third position to the fourth position, that is, the protrusion 161 is in the dead point position, which can ensure that the position of the cleaning head 12 remains unchanged when a non-destructive external force is applied to the cleaning head 12.

[0112] When the pusher 131 is in the third position, the protrusion 161 of the cam 16 can be located at the position where the pusher 1311 and the avoidance 1313 are connected on the pusher 131. A groove 1314 can be formed at this position to accommodate the protrusion 161. The pusher 1311 restricts the protrusion 161 of the cam 16 from rotating toward the second position under the drive of the swing arm 14. This ensures that when the pusher 131 is in the third position and is not driven, the cleaning head 12 is in the first position and its position remains unchanged when an external force is applied to the cleaning head 12.

[0113] Among them, such as Figure 10 and Figure 11 As shown, a recess 162 is also formed on the cam 16. When the pusher 131 moves between at least a portion of the positions between the third and fourth positions, at least a portion of the pusher 1311 is located in the recess. By providing the recess 162, during the rotation of the cam 16, the pusher 1311 of the pusher 131 is avoided, thereby allowing the pusher 131 to be positioned relatively close to the cam 16, thereby further improving the compactness of the structure, reducing the volume, and improving the space utilization of the cleaning device 10.

[0114] The cam 16 can be fixedly connected to the pivot of the rocker arm 14 with screws, facilitating assembly and subsequent maintenance. Multiple screws, such as two, can be used for connection; since torsional force is generated between the cam 16 and the rocker arm 14 when they rotate, multiple screws prevent misalignment in the direction of rotation. Of course, the pivot of the cam 16 and the rocker arm 14 can also be fixedly connected by snap-fit, bonding, welding, or as a single integral structure; this disclosure does not impose any limitations on this.

[0115] The mounting bracket 15 is provided with a mounting part 152, and the pivot of the swing arm 14 is rotatably connected to the mounting part 152. The cam 16 and the swing arm 14 can be located on both sides of the mounting part 152, so that the cam 16 can form a limiting assembly of the pivot of the swing arm 14 on the mounting part 152 along the axial direction of the pivot.

[0116] In one embodiment, the torsion spring includes two torsion arms, one of which can be connected to the rocker arm 14 or the cam 16, and the other torsion arm is connected to the pusher 1311. During the movement of the pusher 131 from the third position to the fourth position, it can drive the torsion arm of the torsion spring to move towards the fourth position, thereby enabling the other torsion arm of the torsion spring to drive the rocker arm 14 to rotate towards the second position. During the movement of the pusher 131 from the fourth position to the third position, the pusher 131 can drive the torsion arm of the torsion spring to move towards the third position.

[0117] The pusher 1311 is provided with a locking part, which is a slot or hole 1312. One end of the elastic member 17 is located in the slot or hole 1312, that is, one torsion arm of the torsion spring is located in the slot or hole 1312, which facilitates the assembly and subsequent maintenance of the torsion spring.

[0118] In one embodiment, such as Figure 12 As shown, one end of the elastic element 17 is connected to the swing arm 14, and the other end is connected to the pusher 131. That is, one torsion arm of the torsion spring is connected to the swing arm 14, and the other torsion arm is connected to the pusher 1311. At this time, the torsion spring is sleeved on the pivot of the swing arm 14 and is located between the mounting part 152 of the mounting bracket 15 and the swing arm 14.

[0119] Among them, such as Figure 12 As shown, when one of the torsion arms of the torsion spring is connected to the rocker arm 14, a locking protrusion 141 can be provided on the rocker arm 14 to form a limiting assembly for the torsion arm.

[0120] In one embodiment, one end of the elastic member 17 is connected to the cam 16, and the other end is connected to the pusher 131. That is, one torsion arm of the torsion spring is connected to the cam 16, and the other torsion arm is connected to the pusher 1311. At this time, the torsion spring is sleeved on the pivot of the swing arm 14 and is located between the mounting part 152 of the mounting bracket 15 and the cam 16.

[0121] In one embodiment, an elastic element 17 can be provided between the mounting portion 152 of the mounting bracket 15 and the swing arm 14, and between the mounting portion 152 of the mounting bracket 15 and the cam 16, respectively. That is, a torsion spring can be provided, with one torsion arm of one torsion spring connected to the swing arm 14 and the other torsion arm connected to the push portion 1311; and one torsion arm of the other torsion spring connected to the cam 16 and the other torsion arm connected to the push portion 1311, which can enhance the elastic force provided by the elastic element 17.

[0122] In one embodiment, the device body 11 is provided with two cleaning heads 12, at least one of which is rotatable relative to the device body 11 to extend outward from the device body 11. When the cleaning head 12 needs to extend or retract relative to the device body 11, the driving mechanism described above in this disclosure can be used for driving. This disclosure does not limit the number of extendable cleaning heads 12.

[0123] In one embodiment, such as Figure 13 As shown, the swing arm 14 may include a housing 142, on which a drive mechanism 143 may be provided to drive the cleaning head 12 to rotate, so as to perform cleaning operations on the surface to be cleaned by rotating.

[0124] The housing 142 of the swing arm 14 can form a receiving space, and the drive mechanism 143 can be partially or completely located in the receiving space, thereby avoiding the impact of sewage, dust and other factors on the life and stability of the drive mechanism 143 and improving the reliability of the cleaning equipment 10.

[0125] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A cleaning apparatus, characterized by, The device comprises: a device body; a swing arm, which is rotationally connected to the device body and can rotate relative to the device body between a first position and a second position; a driving assembly, which comprises a driver and a pushing member, the pushing member moving linearly between a third position and a fourth position under the driving of the driver, the driver being a driving motor; a resilient member, when the pushing member moves towards the fourth position, the pushing member drives the swing arm to rotate towards the second position through the resilient member; when the pushing member moves towards the third position, the pushing member drives the swing arm to rotate towards the first position; a cleaning head, which is connected to the swing arm, when the swing arm is in the first position, the cleaning head is in a retracted position relative to the device body, and when the swing arm is in the second position, the cleaning head is in an extended position relative to the device body.

2. The cleaning apparatus of claim 1, wherein, When the swing arm is in any position between the first position and the second position, the resilient member is in a compressed state.

3. The cleaning apparatus of claim 1, wherein, The cleaning head can drive the swing arm to rotate towards the first position under the action of an external force and compress the resilient member in the process of the rotation of the swing arm.

4. The cleaning apparatus of claim 3, wherein, When the external force on the cleaning head is removed or smaller than the elastic force of the resilient member, the swing arm rotates towards the second position under the elastic force of the resilient member.

5. The cleaning apparatus of claim 1, wherein, The swing arm is further provided with a cam, which is coaxially arranged with and fixedly connected to the rotating part of the swing arm; when the pushing member moves towards the third position, the pushing member drives the cam to rotate to drive the swing arm to rotate towards the first position.

6. The cleaning apparatus of claim 5, wherein, When the pushing member moves towards the fourth position, the pushing member drives the swing arm to synchronously rotate towards the second position through the resilient member.

7. The cleaning apparatus of claim 5, wherein, The cam is formed with a protruding part, and the pushing member is formed with a pushing part; when the pushing member moves towards the third position, the pushing part drives the protruding part to move to drive the cam to rotate through the protruding part.

8. The cleaning apparatus of claim 7, wherein, When the pushing member is in the fourth position and the cleaning head is rotated towards the retracted position under the action of an external force, the protruding part can move relative to the pushing member, and the pushing member is stationary relative to the device body.

9. The cleaning apparatus of claim 7, wherein, When the pushing member is in the fourth position and the cleaning head is rotated towards the retracted position under the action of an external force, the protruding part is separated from the pushing member to move relative to the pushing member.

10. The cleaning apparatus of claim 7, wherein, The pushing member is further formed with an avoiding part, when the pushing member is in the fourth position and the cleaning head is rotated towards the retracted position under the action of an external force, the pushing member is stationary relative to the device body, and the protruding part can rotate relative to the pushing part through the avoiding part.

11. The cleaning apparatus of claim 7, wherein, The cam is further formed with a recessed part, and at least part of the pushing part is located in the recessed part when the pushing member moves between at least part of the positions between the third position and the fourth position.

12. The cleaning apparatus of claim 7, wherein, When the pushing member is in the third position, the extending direction of the protruding part is perpendicular or substantially perpendicular to the direction in which the third position points to the fourth position.

13. The cleaning apparatus of claim 5, wherein, One end of the elastic member moves synchronously with the pusher, and the other end moves synchronously with the swing arm or the cam.

14. The cleaning apparatus of claim 13, wherein, One end of the elastic member is connected to the pusher, and the other end is connected to the swing arm or the cam.

15. The cleaning apparatus of claim 14, wherein, The pusher is provided with a pushing part, and the pushing part is provided with a clamping groove or a clamping hole, and one end of the elastic member is located in the clamping groove or the clamping hole.

16. The cleaning apparatus of claim 1, wherein, The elastic member is a torsion spring.

17. The cleaning apparatus of claim 1, wherein, The driving assembly further comprises: The pusher is drivingly connected to the driver through a transmission member, and the pusher can move linearly between the third position and the fourth position under the driving of the transmission member.

18. The cleaning apparatus of claim 17, wherein, The transmission member comprises a screw rod and a nut that are connected together by screwing, and the nut is fixedly connected to the pusher; the device body is provided with a limiting member configured to limit the rotation of the nut in the rotation direction of the screw rod; the screw rod can be rotated under the driving of the driver to drive the pusher to move linearly between the third position and the fourth position through the nut.

19. The cleaning apparatus of claim 18, wherein, The nut and the pusher are integrally formed.

20. The cleaning apparatus of claim 17, wherein, The transmission member comprises a rack and a gear that are engaged together, the rack is fixedly connected to the pusher, and the gear can drive the rack to reciprocate linearly under the driving of the driver to drive the pusher to move linearly between the third position and the fourth position.

21. The cleaning apparatus of claim 17, wherein, The transmission member comprises a crankshaft and a rotating wheel, one end of the crankshaft is rotatably connected to the pusher, and the other end is rotatably connected to the rotating wheel; the rotating wheel is connected to the output shaft of the driver, and when the rotating wheel rotates under the driving of the output shaft, the end of the crankshaft connected to the rotating wheel performs circumferential motion around the output shaft to drive the pusher to move linearly between the third position and the fourth position.

22. The cleaning apparatus of claim 1, wherein, The device body is provided with a limiting structure configured to limit the rotation of the swing arm between the first position and the second position.

23. The cleaning apparatus of claim 22, wherein, The device body is provided with a mounting rack, the mounting rack is provided with a limiting groove, at least part of the swing arm is located in the limiting groove and is rotatably connected to the mounting rack; in the rotation direction of the swing arm, the groove walls at both ends of the limiting groove form the limiting structure to limit the swing arm.

24. A cleaning system characterized by, The cleaning device of any one of claims 1-23; The base station is used to interface with the cleaning device. ​

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