Cleaning device

Abstract

The utility model provides cleaning equipment, relates to the technical field of cleaning, and aims to solve the technical problems of poor cleaning effect and low cleaning efficiency caused by small cleaning coverage. The cleaning equipment comprises a machine body and a first cleaning assembly, and the first cleaning assembly comprises a first driving mechanism, a first swing arm and a first cleaning disc; the first end of the first swing arm is coaxially connected with a first driving shaft of the first driving mechanism, the first cleaning disc is rotationally connected to the lower portion of the second end of the first swing arm, the first driving mechanism drives the first swing arm to swing around the axis of the first driving shaft in a reciprocating mode, and the swing path of the first swing arm is in a fan shape and is in the vertical direction. The maximum fan-shaped projection area when the first swing arm swings to be overlapped with the machine body is S1, the maximum fan-shaped projection area when the first swing arm swings out of the machine body is S2, the ratio of S1 to (S1 + S2) is 1: 3-1: 3.5, the coverage area when the first cleaning disc swings out of the machine body is increased, and therefore the cleaning effect and efficiency are improved.

Description

TECHNICAL FIELD

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

[0002] The cleaning device such as a scrubber, a sweeping robot, a scrubbing and mopping all-in-one machine, etc. is widely used in residential, office, commercial space and other scenarios as an important tool for modern cleaning. The core function thereof is to complete the tasks such as floor dusting and mopping through the cooperation of automatic path planning and cleaning modules.

[0003] However, in actual application, the conventional sweeping robot has significant limitations in cleaning complex terrain. For example, the areas such as the bottom of low cabinets, the edges of tables and chairs, the door threshold gap and the corners in the home environment are usually narrow and deep, so that the conventional mop cannot reach due to insufficient extension distance, resulting in poor cleaning effect, low cleaning efficiency and small cleaning coverage of the mop. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems, the embodiments of the present application provide a cleaning device which can improve the cleaning coverage of the corner, gap, concave area and narrow space and reduce the user's manual intervention to improve the user's experience.

[0005] In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:

[0006] The embodiments of the present application provide a cleaning device, comprising: a machine body having a first accommodating cavity which is open toward one side of the edge;

[0007] A first cleaning assembly comprising a first driving mechanism, a first swing arm and a first cleaning disc, the first driving mechanism is arranged in the first accommodating cavity, the power output end thereof has a first driving shaft extending in the vertical direction, the first driving shaft is arranged adjacent to the side edge of the machine body, the first end of the first swing arm is coaxially connected to the first driving shaft, and the first cleaning disc is located below the first swing arm and is rotationally connected to the second end of the first swing arm; the first swing arm can rotate around the axis of the first driving shaft to swing out of the first accommodating cavity or be accommodated in the first accommodating cavity, and the rotation path of the first swing arm is fan-shaped; in the vertical direction, the maximum fan-shaped projection area of the first swing arm overlapping with the machine body is S1, and the maximum fan-shaped projection area of the first swing arm swinging out of the machine body is S2, wherein the ratio of S1 / (S1+S2) is 1:3~1:3.5.

[0008] The cleaning device provided by the embodiments of the present application comprises a first cleaning assembly arranged on the machine body, the first cleaning assembly comprising a first driving mechanism, a first swing arm and a first cleaning disc, the first end of the first swing arm is coaxially connected with the first driving shaft of the first driving mechanism, the first driving shaft is arranged adjacent to the side edge of the machine body, the first cleaning disc is rotationally connected below the second end of the first swing arm, the lower surface of the first cleaning disc is provided with a cleaning element (such as a cloth), the first driving mechanism drives the first swing arm to reciprocatingly swing around the axis of the first driving shaft through the first driving shaft, so as to be accommodated in the first accommodating cavity in the machine body or swing out of the accommodating cavity, and the swing path of the first swing arm is fan-shaped, in the vertical direction, the maximum fan-shaped projection area of the first swing arm when swinging to overlap with the machine body is S1, and the maximum fan-shaped projection area of the first swing arm when swinging out of the machine body is S2, wherein the ratio of S1 / (S1+S2) is 1:3-1:3.5, which increases the coverage area of the first cleaning disc when swinging out of the machine body, thereby improving the cleaning coverage rate of the first cleaning disc in the deep and low area, reducing manual intervention of the user, improving the cleaning effect and efficiency, and creating a “one-machine-in-place” cleaning experience; in particular, when the first swing arm swings out to the maximum angle, it can replace the cleaning coverage angle that can be achieved only by continuously twisting the original machine body, without the need for continuous twisting and adjustment of the machine body, thereby expanding the coverage range of single cleaning.

[0009] In some embodiments, the maximum swing angle of the first swing arm is 139°.

[0010] In some embodiments, the minimum distance between the axis of the first driving shaft and the side edge of the machine body is D1, and the D1 is 15-30 mm.

[0011] In this way, the distance between the first driving shaft and the side edge of the machine body is small, which can further increase the cleaning coverage rate of the first swing arm when swinging out of the machine body.

[0012] In some embodiments, the first driving mechanism comprises a first driving motor and a first power output gear, the output shaft of the first driving motor has a driving tooth, the driving tooth is in transmission engagement with the first power output gear, and the first driving shaft is coaxially connected with the first power output gear.

[0013] When the first driving motor is forward or reverse rotated, the first driving motor drives the first driving shaft to rotate around its own axis through the first power output gear, so as to drive the first swing arm to drive the first cleaning disc to rotate and switch at least between the first station, the second station and the third station.

[0014] When the first swing arm drives the first cleaning disc to swing to the first station, the second station and the third station in sequence, the swing angle of the first swing arm increases in sequence.

[0015] In this way, the first swing arm can realize swing in multiple gears, so as to meet different cleaning scenes and improve cleaning coverage.

[0016] In some embodiments, when the first swing arm swings to the first working position, the swing angle of the first swing arm ranges from 40° to 50°;

[0017] When the first swing arm swings to the second working position, the swing angle of the first swing arm ranges from 70° to 95°;

[0018] When the first swing arm swings to the third working position, the swing angle of the first swing arm ranges from 130° to 139°.

[0019] In this way, when swinging to the first working position, edge cleaning can be performed; when swinging to the second working position, the cleaning element such as a cleaning cloth mounted on the first cleaning disc can be extended into the gap for cleaning without moving the body; when swinging to the third working position, the cleaning element such as a cleaning cloth mounted on the first cleaning disc can be extended to the bottom of the concave furniture for cleaning.

[0020] In some embodiments, the body includes a bottom shell and a support shell, the support shell being detachably connected above the bottom shell and arranged adjacent to the edge of the bottom shell, and the support shell and the bottom shell together enclose a first accommodating cavity which is open to one side of the edge of the bottom shell.

[0021] In this way, the structural compactness of the cleaning device is improved, and the space utilization is improved.

[0022] In some embodiments, the first driving mechanism further includes a first gear set, which is drivingly connected between the output shaft of the first driving motor and the first power output gear;

[0023] The first gear set includes at least two first gears, and the at least two first gears are linearly engaged in sequence along the path from the inside to the outside of the first accommodating cavity, and the first power output gear is located on the side of the first gear set adjacent to the opening; wherein each of the first gears and the first power output gear is rotationally connected to the support shell, the first driving motor is connected between the bottom shell and the support shell, and the first driving shaft of the first driving motor extends vertically in the axial direction.

[0024] In this way, the stability of the first driving mechanism is improved, so as to improve the swing reliability and stability of the first swing arm.

[0025] In some embodiments, the cleaning device further comprises a torsional elastic member in a spiral shape, which is coaxially connected to the first driving shaft, and one end of which is connected to the first power output gear, and the other end of which is connected to the first swing arm;

[0026] When the first swing arm is subjected to an external force towards the first work station, the torsional elastic member drives the first swing arm to rotate towards the first work station under the elastic force of the torsional elastic member; and / or,

[0027] The cleaning device further comprises an encoder arranged on the first driving motor, which is used to detect the rotation angle of the first driving shaft in the first driving motor.

[0028] In this way, when the first cleaning disc touches an obstacle, the first swing arm is swung by an external force towards the first work station, so that the angle of the first cleaning disc is finely adjusted to adapt to the change of the terrain, which improves the cleaning coverage while avoiding the problem of mechanical jamming.

[0029] When the encoder is arranged on the first driving motor, the encoder can monitor the rotation angle of the first driving shaft in the first motor in real time, and feed back to the controller of the cleaning device, and combine the elastic deformation of the torsional elastic member to absorb the impact of the external force, so as to realize the stepless expansion of the swing angle of the first swing arm and the automatic fine adjustment when touching the obstacle, thereby adapting to the change of the terrain.

[0030] In some embodiments, the cleaning device further comprises a limiting member, which is fixedly arranged on the outer peripheral wall of one end of the first swing arm adjacent to the first driving shaft, and the limiting member has a first limiting surface;

[0031] The first power output gear comprises a first gear portion and a connecting portion connected in sequence along the axial direction of the first power output gear, and the connecting portion is located below the first gear portion, and the connecting portion has a second limiting surface at a position corresponding to the first limiting surface;

[0032] When the first swing arm is coaxially connected to the first driving shaft, the first limiting surface of the limiting member abuts against the second limiting surface, so as to apply a torsional force to the torsional elastic member.

[0033] In this way, the torsional elastic member is pre-tightened during the swing of the first swing arm, so that the first swing arm is pressed towards the direction of swinging outwards, and when touching an obstacle, the first swing arm can be fine-adjusted to the direction of being accommodated in the machine body, thereby avoiding the phenomenon of mechanical jamming.

[0034] In some embodiments, the first driving mechanism further comprises a bearing, a key and a first gear support;

[0035] The first gear support is supported below the connecting portion; the first power output gear is provided with a rotation hole penetrating the first gear portion and the connecting portion along the axial direction of the first power output gear, the first gear support is provided with a mounting hole coaxial with the rotation hole, the first driving shaft is sequentially arranged in the rotation hole and the mounting hole, the first driving shaft is connected with the rotation hole through the key, and the bearing sleeve is arranged on the outer circumferential wall of the first driving shaft and coaxially arranged in the mounting hole.

[0036] The torsional elastic member is sleeved on the first driving shaft.

[0037] In this way, the mounting reliability and stability of the torsional elastic member are improved, and the reliability of the first swing arm in adaptive fine adjustment when touching the obstacle is improved.

[0038] In some embodiments, the first driving mechanism further comprises a second gear support supported below the first power output gear.

[0039] The first power output gear comprises a rotation body in a cylindrical shape and a plurality of gear teeth arranged on the top edge of the rotation body, the rotation body rotates relative to the second gear support, the plurality of gear teeth are sequentially arranged along the circumferential direction of the rotation body and engaged with the driving teeth, and an inclined angle is formed between the axis of the output shaft of the first driving motor and the axis of the first power output gear.

[0040] The rotation body is formed as the first driving shaft, and the torsional elastic member is arranged on the second gear support and coaxially located in the cavity inside the rotation body.

[0041] The rotation body is provided with a avoiding space for avoiding the first swing arm, and the second limiting surface is formed on the wall surface corresponding to the limiting member in the avoiding space.

[0042] In this way, the compactness of the structure is improved, the space utilization is improved, and the number of parts is reduced without additional bearings, thereby saving costs.

[0043] In some embodiments, at least one connecting member is fixedly arranged on the top of one end of the first swing arm connected with the first driving shaft, and a limiting boss extending in the circumferential direction is protrudingly arranged on the outer circumferential wall of the one end of the connecting member away from the first swing arm.

[0044] The top end of the rotation body is provided with a second gear portion coaxially connected with the rotation body, and a plurality of gear teeth are arranged on the top wall of the second gear portion.

[0045] The second gear portion is provided with a limiting groove vertically communicating with the avoiding space along the axis of the rotation body, and the limiting groove extends along the circumferential direction of the rotation body.

[0046] The connecting piece is slidingly arranged in the limiting groove corresponding to the connecting piece, and the bottom wall of the limiting boss abuts against the top wall of the limiting groove.

[0047] In this way, the first swing arm moves along the limiting groove through the connecting piece, thereby ensuring the accuracy of the outward swinging and accommodating actions of the first swing arm.

[0048] In some embodiments, a through hole is formed in the center of the second gear part and penetrates the second gear part, and the through hole is in communication with the cavity of the rotary body liner.

[0049] In this way, the wire harness in the cleaning device is arranged in the through hole and will not be dragged due to the swinging of the first swing arm, thereby significantly reducing the risk of wire harness wear and tear and prolonging the service life of the wire harness.

[0050] In some embodiments, the cleaning device further comprises a first arrival detection piece and a second arrival detection piece, the first arrival detection piece is arranged on the support shell at a position corresponding to the first station, and the second arrival detection piece is arranged on the support shell at a position corresponding to the third station.

[0051] When the first swing arm drives the first cleaning disc to rotate to the first station, the first arrival detection piece is triggered.

[0052] When the first swing arm drives the first cleaning disc to rotate to the third station, the second arrival detection piece is triggered.

[0053] In this way, the first arrival detection piece can accurately determine the automatic detection of the swinging of the first swing arm to the first station, and the second arrival detection piece can accurately determine the automatic detection of the swinging of the first swing arm to the third station, without the need for manual confirmation, thereby improving the convenience and the accuracy of the swinging position of the second swing arm.

[0054] In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought by these technical features, the other technical problems solved by the cleaning device provided by the embodiments of the present application, the other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0056] Figure 1 A state diagram of a cleaning device provided by an embodiment of the present application;

[0057] Figure 2 Another state diagram of a cleaning device provided by an embodiment of the present application;

[0058] Figure 3 A partial diagram of a first cleaning assembly provided by an embodiment of the present application;

[0059] Figure 4 A partial diagram of a first cleaning assembly provided by an embodiment of the present application; Figure 3

[0060] A partial diagram of a first cleaning assembly provided by an embodiment of the present application; Figure 5 Figure 3 A partial diagram of a first cleaning assembly provided by an embodiment of the present application;

[0061] Figure 6 A partial diagram of a first cleaning assembly provided by an embodiment of the present application;

[0062] Figure 7 A partial diagram of a first cleaning assembly provided by an embodiment of the present application. Figure 6

[0063] Legend of reference signs:

[0064] 10 - cleaning device;

[0065] 100 - body; 110 - first accommodating cavity; 130 - support shell;

[0066] 200 - first cleaning assembly;

[0067] 211 - first driving motor; 2111 - driving tooth;

[0068] 212 - first power output gear; 2121 - first gear part; 2122 - connecting part;

[0069] 2123 - second limiting surface; 2124 - rotating body; 2125 - second gear part; 2126 - tooth;

[0070] 2127 - limiting groove; 2128 - wire passing hole;

[0071] 213 - first gear set; 2131 - first gear;

[0072] 220 - first swing arm; 230 - first cleaning disc;

[0073] 240 - bearing; 250 - first gear support;

[0074] 260 - second gear support;

[0075] ​​300 - torsion spring

[0076] 400 - limiting member; 410 - first limiting surface

[0077] 500 - connecting member; 510 - limiting boss

[0078] 600 - second cleaning assembly. DETAILED DESCRIPTION

[0079] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. The embodiments described below and the features in the embodiments can be combined with each other without conflict.

[0080] Cleaning equipment such as scrubbers, floor cleaning robots, and all-in-one scrubbing and mopping machines are important tools for modern cleaning and are widely used in residential, office, commercial space and other scenarios. The core function is to complete the task of floor dusting and mopping through the cooperation of automatic path planning and cleaning modules.

[0081] However, in actual application, the conventional floor cleaning robot has significant limitations in cleaning complex terrain. For example, in a household environment, areas such as the bottom of low cabinets, the edges of tables and chairs, door threshold gaps, and corners are usually narrow and deep. Conventional floor cleaning robots cannot effectively cover all cleaning areas due to the limited outward expansion distance of the cleaning disc, resulting in obvious cleaning blind spots. Users still need to perform additional manual cleaning or mopping, resulting in poor cleaning effect, low cleaning efficiency, and poor user experience.

[0082] To overcome the above defects, the embodiment of the present application provides a cleaning device, which is provided with a first cleaning assembly on the machine body, the first cleaning assembly comprising a first driving mechanism, a first swing arm and a first cleaning disc, the first end of the first swing arm being coaxially connected with the first driving shaft of the first driving mechanism, wherein the first driving shaft is arranged adjacent to the side edge of the machine body, the first cleaning disc being rotationally connected below the second end of the first swing arm, the lower surface of the first cleaning disc being provided with cleaning elements (such as a cleaning cloth, etc.), the first driving mechanism driving the first swing arm to reciprocatingly swing around the axis of the first driving shaft through the first driving shaft, so as to be accommodated in the first accommodating cavity in the machine body or swing out of the accommodating cavity, and the swing path of the first swing arm is in the shape of a sector, along the vertical direction, the maximum sector projection area of the first swing arm swinging to overlap with the machine body being S1, which is smaller than the maximum sector projection area S2 of the first swing arm swinging out of the machine body, so as to increase the swing-out distance and the coverage area of the first swing arm, thereby increasing the cleaning coverage, and improving the cleaning effect and efficiency.

[0083] The content of the present application will be described in detail below with reference to the drawings, so that those skilled in the art can have a clearer and more detailed understanding of the content of the present application.

[0084] Please refer to Figure 1 and Figure 2 , the embodiment of the present application provides a cleaning device 10, which comprises a machine body 100 and a first cleaning assembly 200, the machine body 100 having a first accommodating cavity 110 which is open towards one side of the edge; the first cleaning assembly 200 comprising a first driving mechanism, a first swing arm 220 and a first cleaning disc 230, the first driving mechanism being arranged in the first accommodating cavity 110, the power output end of the first driving mechanism having a first driving shaft which extends in the vertical direction, the first driving shaft being arranged adjacent to the side edge of the machine body 100, the first end of the first swing arm 220 being coaxially connected with the first driving shaft, the first cleaning disc 230 being located below the first swing arm 220 and rotationally connected with the second end of the first swing arm 220; the first swing arm 220 being rotatable around the axis of the first driving shaft, so as to swing out of the first accommodating cavity 110 or be accommodated in the first accommodating cavity 110, and the rotation path of the first swing arm 220 is in the shape of a sector, for example, in Figure 1 , the first swing arm 220 carrying the first cleaning disc 230 is accommodated in the first accommodating cavity 110; in Figure 2 , the first swing arm 220 carrying the first cleaning disc 230 swings out to the maximum swing angle outside the accommodating cavity; along the vertical direction, the maximum sector projection area of the first swing arm 220 swinging to overlap with the machine body 100 is S1, and the maximum sector projection area of the first swing arm 220 swinging out of the machine body 100 is S2, wherein the ratio of S1 / (S1+S2) is 1:3~1:3.5, i.e. S2>S1, so that the first swing arm 220 can carry the first cleaning disc 230 to swing out to a farther distance, thereby increasing the cleaning coverage outside the machine body 100, improving the cleaning blind area, and improving the cleaning efficiency and effect.

[0085] For example, the minimum distance between the axis of the first drive shaft and the side edge of the body 100 is D1, where D1 is 15mm to 30mm. The first swing arm 220 rotates around the axis of the first drive shaft. Since the distance between the first drive shaft and the side edge of the body 100 is small, the distance that the first swing arm 220 swings outward to the outside of the body 100 can be increased, thereby increasing the cleaning coverage of the first cleaning disc 230 and improving the cleaning efficiency and cleaning effect in scenarios such as crevices and concave areas.

[0086] Additionally, please refer to Figures 1 to 3 As shown, the body 100 includes a bottom shell and a support shell 130. The support shell 130 is detachably connected to the top of the bottom shell and is located near the edge of the bottom shell. The support shell 130 and the bottom shell together form a first receiving cavity 110 that is open to the edge of the bottom shell. In this way, the first drive shaft is arranged in the first receiving cavity 110 and close to the side edge of the body 100, which can greatly shorten the distance between the first drive shaft and the side edge of the body 100. The camera, camera, lighting, etc. arranged on the body 100 can be arranged on the support shell 130 without interfering with the arrangement of the first drive shaft. This significantly improves the structural compactness and space utilization of the cleaning equipment 10, while increasing the outward extension distance of the first cleaning disc 230 and improving the cleaning coverage.

[0087] For example, the support housing 130 and the bottom housing can be connected by screws, bolts, or magnetic attraction, without any specific limitation.

[0088] The first cleaning component 200 can be disassembled and installed separately, improving the convenience of maintenance.

[0089] It can be seen that, in the cleaning device 10 provided by the embodiment of the present application, the first cleaning assembly 200 is arranged on the machine body 100, the first cleaning assembly 200 comprises a first driving mechanism, a first swing arm 220 and a first cleaning disc 230, the first end of the first swing arm 220 is coaxially connected with the first driving shaft of the first driving mechanism, the first cleaning disc 230 is rotationally connected below the second end of the first swing arm 220, the lower surface of the first cleaning disc 230 is provided with a cleaning piece (such as a cloth), the first driving mechanism drives the first swing arm 220 to reciprocatingly swing around the axis of the first driving shaft to be accommodated in the first accommodating cavity 110 in the machine body 100 or swing out of the accommodating cavity, and the swing path of the first swing arm 220 is a fan shape, in the vertical direction, the maximum fan-shaped projection area of the first swing arm 220 when swinging to overlap with the machine body 100 is S1, and the maximum fan-shaped projection area of the first swing arm 220 when swinging out of the machine body 100 is S2, wherein the ratio of S1 / (S1+S2) is 1:3~1:3.5, which increases the coverage area of the first cleaning disc 230 when swinging out of the machine body 100, thereby improving the cleaning coverage rate of the first cleaning disc 230 in the corners, gaps and deep and narrow areas, for example, the manual intervention of the user can be reduced, the cleaning effect and efficiency are improved, and a "one-machine-in-place" cleaning experience is created; in particular, when the first swing arm 220 swings out to the maximum angle, it can replace the cleaning coverage angle that the machine body 100 originally needs to constantly twist to achieve, without the need for the machine body 100 to constantly twist and adjust, thereby expanding the coverage range of single cleaning.

[0090] For example, the maximum swing angle of the first swing arm 220 is 139°, that is, the first swing arm 220 can swing between 0° and 139°, for example, the first swing arm 220 can swing to 0°, 45°, 71°, 134°, 139°, etc., but is not limited thereto, so as to swing to the corresponding adaptive angle according to different cleaning scenes, thereby meeting the cleaning requirements.

[0091] In some embodiments, please refer to Figure 3 and Figure 4As shown, the first driving mechanism includes a first driving motor 211 and a first power output gear 212, an output shaft of the first driving motor 211 has a driving tooth 2111, the driving tooth 2111 is in driving engagement with the first power output gear 212, and the first driving shaft is coaxially connected with the first power output gear 212; when the first driving motor 211 rotates forward or reversely, the first driving motor 211 drives the first driving shaft to rotate around its own axis through the first power output gear 212, so as to drive the first swing arm 220 to drive the first cleaning disc 230 to rotate and switch between at least the first working position, the second working position and the third working position; and when the first swing arm 220 drives the first cleaning disc 230 to swing to the first working position, the second working position and the third working position in sequence, the swing angle of the first swing arm 220 increases in sequence, so that the first swing arm 220 can realize swing in multiple gears, thereby meeting different cleaning scenes and improving cleaning coverage.

[0092] When the first swing arm 220 swings to the first working position, the swing angle of the first swing arm 220 ranges from 45° to 55°, for example, the swing angle of the first swing arm 220 is 47.08°, 48°, 44°, 49.79°, 51.13°, etc., and the first cleaning disc 230 carries the cleaning cloth installed on the lower surface of the first cleaning disc 230 to clean along the wall surface of the wall, the corner of the wall, and the positions of the e-sports chair, the high-legged chair, the table, etc., and of course, when the height of the concave area is greater than the height of the machine body itself, the first swing arm 220 can also swing outward to the first working position and clean in the concave area, thereby improving the cleaning blind area.

[0093] In addition, when the gap area below the multi-legged furniture such as the e-sports chair and the high-legged chair needs to be cleaned, due to the effective cleaning distance of the traditional cleaning equipment, the central area cannot be effectively covered, forming a cleaning blind area, and in the embodiment of the present application, the first swing arm 220 can carry the first cleaning disc 230 to swing to the second working position, and the swing angle of the first swing arm 220 ranges from 70° to 95°, for example, when the swing angle of the first swing arm 220 is 71.86°, 78.79°, 86.03° and 93.77°, etc., the first cleaning disc 230 can partially extend into the gap below the multi-legged furniture such as the e-sports chair and the high-legged chair, so as to clean the gap area through the cleaning cloth on the lower surface of the first cleaning disc 230; in addition, since the first cleaning disc 230 can partially extend into the gap of the furniture such as the table and the chair, the cleaning equipment 10 itself does not need to be twisted, the first swing arm 220 swings outward to the second working position, so that the first cleaning disc 230 can directly extend into the gap area for cleaning, eliminating the twisting behavior of the cleaning equipment 10 itself, simplifying the cleaning process and improving the cleaning effect.

[0094] When the cleaning device 100 needs to clean the area below the suspended cabinet, the area below the refrigerator, the pet hole and other areas with concave regions, and the height of the concave region is less than the height of the body 100, the first swing arm 220 can be swung to the third working position. The swing angle of the first swing arm 220 can be 130°-139°. In this way, the first swing arm 220 is swung to an angle of, for example, 134°, 139°, and the first cleaning disc 230 is inserted into the concave region or the pet hole for cleaning. For example, the first cleaning disc 230 can be inserted into the concave region to a depth of 101.35 mm, 99.35 mm, 97.35 mm, 95.35 mm, etc. Alternatively, the depth of the cloth on the lower surface of the first cleaning disc 230 that can be inserted into the concave region can be half the diameter of the first cleaning disc 230. For example, the diameter of the first cleaning disc 230 is 128 mm, and the diameter of the cloth is 134 mm. The depth of the cloth that can be inserted into the concave region is about 64 mm, thereby improving the cleaning coverage and eliminating the cleaning blind area.

[0095] In some embodiments, as shown in Figure 4 The first driving mechanism further includes a first gear set 213 connected between the output shaft of the first driving motor 211 and the first power output gear 212. The first gear set 213 includes at least two first gears 2131, which are sequentially and linearly engaged along the path from the inside to the outside of the first accommodating cavity 110. The first power output gear 212 is located on the side of the first gear set 213 adjacent to the opening. Each first gear 2131 and the first power output gear 212 are rotationally connected to the support shell 130. The first driving motor 211 is connected between the bottom shell and the support shell 130. The first driving shaft of the first driving motor 211 extends vertically in the axial direction. In this way, the stability of the power transmission of the first driving mechanism is improved, thereby improving the swing reliability and stability of the first swing arm 220.

[0096] As shown in Figure 5 and Figure 7 The cleaning device 10 further includes a torsional elastic member 300, for example, a torsional spring, coaxially connected to the first driving shaft. One end of the torsional elastic member 300 is connected to the first power output gear 212, and the other end is connected to the first swing arm 220. When the first swing arm 220 is subjected to an external force towards the first working position, the torsional elastic member 300 drives the first swing arm 220 to rotate towards the first working position under the action of its own elastic force. In this way, when the first cleaning disc 230 touches an obstacle, the first swing arm 220 swings towards the first working position under the action of the external force to work on the torsional elastic member 300 and move, so that the angle of the first cleaning disc 230 is finely adjusted to adapt to the terrain change. In this way, the cleaning coverage is improved, and the problem of mechanical jamming is avoided.

[0097] In some embodiments, the cleaning device 10 further comprises an encoder arranged on the first driving motor 211, the encoder being configured to detect the rotation angle of the first driving shaft in the first driving motor 211; when the encoder is arranged on the first driving motor 211, the encoder can monitor the rotation angle of the first driving shaft in the first motor in real time and feed back to the controller of the cleaning device 10, and combine the elastic deformation of the torsional elastic member 300 to absorb external impact, so as to realize stepless expansion of the swing angle of the first swing arm 220 and automatic fine adjustment when touching the obstacle, thereby adapting to the change of terrain.

[0098] In addition, the cleaning device 10 further comprises a controller electrically connected with the encoder, so that the first driving motor 211 can drive the first swing arm 220 to rotate according to the rotation angle prepared by the controller in advance, that is, the first swing arm 220 rotates according to the specified motor program and rotates by a specified angle, and when the first swing arm 220 or the first cleaning disc 230 touches the obstacle, it can be fine-tuned to one side of the machine body 100 under the action of the torsional elastic member 300, so as to realize stepless speed regulation and fine-tune avoidance when encountering obstacles, and avoid mechanical jamming.

[0099] Please refer to Figure 4 and Figure 6 The cleaning device 10 further comprises a limiting member 400, the limiting member 400 being fixedly arranged on the outer peripheral wall of one end of the first swing arm 220 adjacent to the first driving shaft, and the limiting member 400 having a first limiting surface 410; the first power output gear 212 comprises a first gear portion 2121 and a connecting portion 2122 connected in sequence along the axial direction of the first power output gear 212, the connecting portion 2122 being located below the first gear portion 2121, and the connecting portion 2122 having a second limiting surface 2123 at a position corresponding to the first limiting surface 410; when the first swing arm 220 is coaxially connected with the first driving shaft, the first limiting surface 410 of the limiting member 400 abuts against the second limiting surface 2123 to apply a torsional force to the torsional elastic member 300. In this way, the torsional elastic member 300 is pre-tightened during the swing of the first swing arm 220, so that the first swing arm 220 is pressed towards the outward swing direction, and when touching the obstacle, the first swing arm 220 can be fine-tuned to the direction of being accommodated in the machine body 100, thereby avoiding mechanical jamming.

[0100] In some embodiments, please refer to Figure 5The first driving mechanism further comprises a bearing 240, a key and a first gear support 250. The first gear support 250 is supported below the connecting portion 2122. The first power output gear 212 is provided with a rotation hole penetrating the first gear portion 2121 and the connecting portion 2122 along the axial direction of the first power output gear 212. The first gear support 250 is provided with a mounting hole coaxial with the rotation hole. The first driving shaft is sequentially arranged in the rotation hole and the mounting hole. The first driving shaft is connected with the rotation hole through the key. The bearing 240 is sleeved on the outer circumferential wall of the first driving shaft and coaxially arranged in the mounting hole. The torsional elastic member 300 is sleeved on the first driving shaft. In this way, the mounting reliability and stability of the torsional elastic member 300 are improved, and the reliability of the self-adaptive fine adjustment of the first swing arm 220 when swinging and touching the obstacle is improved.

[0101] In other embodiments, please refer to Figure 6 and Figure 7 The first driving mechanism further comprises a second gear support 260 supported below the first power output gear 212. The first power output gear 212 comprises a rotation body 2124 in the shape of a cylinder and a plurality of gear teeth 2126 arranged on the top edge of the rotation body 2124. The rotation body 2124 rotates relative to the second gear support 260. The plurality of gear teeth 2126 are sequentially arranged along the circumferential direction of the rotation body 2124 and engaged with the driving teeth 2111. An oblique included angle is formed between the axis of the output shaft of the first driving motor 211 and the axis of the first power output gear 212. The rotation body 2124 is formed as the first driving shaft. The torsional elastic member 300 is arranged on the second gear support 260 and coaxially located in the cavity inside the rotation body 2124. The rotation body 2124 is provided with a space for avoiding the first swing arm 220. The second limiting surface 2123 is formed on the wall surface corresponding to the limiting member 400 in the avoiding space. In this way, the power of the first driving motor 211 is directly transmitted to the first swing arm 220 through the first power output gear 212, the path of torque transmission is shortened, the swinging efficiency of the first swing arm 220 is improved, the structural compactness is improved, the space utilization is improved, and the number of parts is reduced, thereby saving the cost.

[0102] The rotation body 2124 can be an axial structure made of plastic material. In this way, the stability is achieved, and the damping is provided, so that the first swing arm 220 is more smooth and stable during the stepless swinging.

[0103] Please continue to refer to Figure 6 and Figure 7As shown, the top of the end of the first swing arm 220 connected to the first drive shaft is fixed with at least one connecting piece 500, which is exemplarily a pin, a pin shaft or the like columnar structure, and the outer peripheral wall of the end of the connecting piece 500 away from the first swing arm 220 is provided with a limiting boss 510 extending in the circumferential direction; the top end of the rotary body 2124 has a second gear part 2125 coaxially connected to the rotary body 2124, and a plurality of gear teeth 2126 are arranged on the top wall of the second gear part 2125; the second gear part 2125 is provided with a limiting slot 2127 along the vertical direction and in communication with the avoiding space along the axis of the rotary body 2124, and the limiting slot 2127 extends along the circumferential direction of the rotary body 2124; the connecting piece 500 is slidingly arranged in the limiting slot 2127 corresponding thereto, and the bottom wall of the limiting boss 510 abuts against the top wall of the limiting slot 2127, that is, the limiting boss 510 is slidingly arranged in the limiting slot 2127, so that the first swing arm 220 moves along the limiting slot 2127 through the connecting piece 500, thereby providing an axial sliding constraint for the first power output gear 212 and the first swing arm 220, preventing the first power output gear 212 and the first swing arm 220 from being deflected in the radial direction, and thereby ensuring the accuracy of the outward swinging and accommodating actions of the first swing arm 220.

[0104] In the embodiment, one end of the torsional elastic member 300 is assembled on the first swing arm 220, the other end is assembled on the end of the first power output gear 212 close to the lower end, and the torsional elastic member 300 is pre-tightened, so that the first swing arm 220 is pressed toward the end of the outward swinging direction, so that when the first swing arm 220 encounters an obstacle, it can be slightly adjusted to one side of the machine body 100, and the outward swinging angle can be adaptively reduced to realize stepless outward expansion and slight compensation, thereby avoiding the phenomenon of mechanical jamming.

[0105] In some embodiments, referring to Figure 7 As shown, the center of the second gear part 2125 is provided with a through line hole 2128 penetrating through the second gear part 2125, and the through line hole 2128 is in communication with the inner cavity of the rotary body 2124, so that the wire harness in the cleaning equipment 10 is arranged in the through line hole 2128 and will not be dragged due to the swinging of the first swing arm 220, which is more conducive to the swinging of the first swing arm 220, significantly reduces the risk of wire harness abrasion, and prolongs the service life of the wire harness.

[0106] In addition, the cleaning device 10 further comprises a first to-position detection member and a second to-position detection member, the first to-position detection member is arranged on the support shell 130 at a position corresponding to the first station, and the second to-position detection member is arranged on the support shell 130 at a position corresponding to the third station; when the first swing arm 220 drives the first cleaning disc 230 to rotate to the first station, the first to-position detection member is triggered; when the first swing arm 220 drives the first cleaning disc 230 to rotate to the third station, the second to-position detection member is triggered, so that the first swing arm 220 is accurately determined to swing to the first station by the first to-position detection member, the first swing arm 220 is accurately determined to swing to the third station by the second to-position detection member, manual confirmation is not required, and the convenience and the accuracy of the swing position of the second swing arm are improved.

[0107] For example, the first to-position detection member and the second to-position detection member can both be micro switches.

[0108] In some embodiments, referring back to Figure 1 and Figure 2 , the cleaning device 10 further comprises a second cleaning assembly 600, the second cleaning assembly 600 is arranged along the circumference of the machine body 100 and spaced apart from the first cleaning assembly 200, the machine body 100 has a second accommodating cavity corresponding to the second cleaning assembly 600, the second accommodating cavity is open toward one side of the edge, and the second cleaning assembly 600 is at least partially arranged in the second accommodating cavity; for example, the second cleaning assembly 600 comprises a second driving mechanism, a second swing arm and a second cleaning disc, the second driving mechanism is arranged in the second accommodating cavity, the power output end of the second driving mechanism has a second driving shaft, the first end of the second swing arm is coaxially connected to the second driving shaft, the second cleaning disc is located below the second swing arm and is rotationally connected to the second end of the second swing arm, and the lower surface of the second cleaning disc is used for mounting cleaning members such as wipes; the radial distance between the second driving shaft and the edge of the machine body 100 is D2; wherein D2≥D1; when D2=D1, the outer swing angle and the outer expansion distance of the second swing arm are the same as those of the first swing arm 220, so that the first cleaning disc 230 and the second cleaning disc simultaneously or individually clean different positions of the concave area, the corner, the gap and the like, further increasing the cleaning coverage and eliminating the cleaning blind area. When D2>D1, the cleaning coverage areas of the first cleaning disc 230 and the second cleaning disc are different, the overall cleaning range of the cleaning device 10 is expanded, different cleaning scenes are adapted, and the cleaning blind area is eliminated.

[0109] The structure of the second driving mechanism can refer to that of the first driving mechanism, and details are not repeated here.

[0110] It can be understood that the cleaning device 10 further comprises a third driving mechanism and a fourth driving mechanism, the first driving mechanism is used to drive the first cleaning disc 230 to rotate around its own axis, and the fourth driving mechanism is used to drive the second cleaning disc to rotate around its own axis; wherein the third driving mechanism and the fourth driving mechanism both comprise a driving motor and a transmission gear set, wherein the transmission gear set comprises a plurality of gears that are sequentially meshed, the power output end of the driving motor is connected with the input gear of the transmission gear set, and the power output end of the transmission gear set is coaxially connected with the corresponding cleaning disc, and the driving motor drives the corresponding cleaning disc to rotate around its own axis through the corresponding transmission gear set, and details are not described herein.

[0111] It should be noted that the terms "one embodiment", "an embodiment", "exemplary embodiment", "some embodiments", etc. in the specification mean that the described embodiment can include a particular feature, structure, or characteristic, but every embodiment can not necessarily include the particular feature, structure, or characteristic. In addition, such terms do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to achieve such a feature, structure, or characteristic in connection with other embodiments whether explicitly described or not.

[0112] Generally, the terms should be understood to a usage under the context. For example, at least partially according to the context, the term "one or more" used in the specification can be used to describe any feature, structure, or characteristic of the singular meaning, or can be used to describe the combination of features, structures, or characteristics of the plural meaning. Similarly, at least partially according to the context, the terms such as "a" or "said" can be understood to convey the singular usage or convey the plural usage.

[0113] It should be easily understood that "on", "above", and "over" in the present application should be interpreted in the broadest way, so that "on" not only means "directly on", but also includes the meaning of "on" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over", but also can include the meaning of "above" or "over" without intermediate features or layers therebetween (i.e., directly on).

[0114] In addition, spatial relative terms can be used herein for the convenience of description, such as "below", "under", "beneath", "above", "on", and the like, to describe the relationship of one element or feature to other elements or features as shown in the drawings. The spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation shown in the drawings. The device can have other orientations (rotated 90° or in other orientations), and the spatial relative descriptors used herein can also be interpreted accordingly.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning apparatus, characterized by, The cleaning device comprises: a machine body (100) having a first accommodating cavity (110) open towards a side of the edge; a first cleaning assembly (200) comprising a first driving mechanism, a first swing arm (220) and a first cleaning disc (230), the first driving mechanism being arranged in the first accommodating cavity (110), the power output end of the first driving mechanism having a first driving shaft extending in the vertical direction, the first driving shaft being arranged adjacent to the side edge of the machine body (100), the first end of the first swing arm (220) being coaxially connected to the first driving shaft, the first cleaning disc (230) being located below the first swing arm (220) and being rotationally connected to the second end of the first swing arm (220); the first swing arm (220) can rotate around the axis of the first driving shaft to swing out of the first accommodating cavity (110) or be accommodated in the first accommodating cavity (110), and the rotation path of the first swing arm (220) is a sector; in the vertical direction, the maximum sector projection area of the first swing arm (220) when swinging to overlap with the machine body (100) is S1, and the maximum sector projection area of the first swing arm (220) when swinging out of the machine body (100) is S2, wherein the ratio of S1 / (S1+S2) is 1:3~1:3.

5.

2. The cleaning apparatus of claim 1, wherein, The maximum swing angle of the first swing arm (220) is 139°.

3. The cleaning apparatus of claim 1, wherein, The minimum distance between the axis of the first driving shaft and the side edge of the machine body (100) is D1, and the D1 is 15mm~30mm.

4. The cleaning device according to any one of claims 1-3, characterized in that, The first driving mechanism comprises a first driving motor (211) and a first power output gear (212), the output shaft of the first driving motor (211) has a driving tooth (2111), the driving tooth (2111) is in transmission engagement with the first power output gear (212), and the first driving shaft is coaxially connected with the first power output gear (212); When the first driving motor (211) is rotating forward or reversing, the first driving motor (211) drives the first driving shaft to rotate around its own axis through the first power output gear (212) to drive the first swing arm (220) to drive the first cleaning disc (230) to rotate and switch between at least a first station, a second station and a third station; When the first swing arm (220) drives the first cleaning disc (230) to swing to the first station, the second station and the third station in sequence, the swing angle of the first swing arm (220) increases in sequence.

5. The cleaning device according to claim 4, wherein when the first swing arm (220) swings to the first station, the swing angle of the first swing arm (220) ranges from 40° to 50°; when the first swing arm swings to the second station, the swing angle of the first swing arm (220) ranges from 70° to 95°; when the first swing arm swings to the third station, the swing angle of the first swing arm (220) ranges from 130° to 139°.

6. The cleaning apparatus of claim 4, wherein, The machine body (100) comprises a bottom shell and a supporting shell (130) which is detachably connected above the bottom shell and is arranged adjacent to the edge of the bottom shell, and a first accommodating cavity (110) is formed between the supporting shell (130) and the bottom shell and is open to one side of the edge of the bottom shell.

7. The cleaning apparatus of claim 6, wherein, The first driving mechanism further comprises a first gear set (213) which is drivingly connected between the output shaft of the first driving motor (211) and the first power output gear (212); The first gear set (213) comprises at least two first gears (2131), and the at least two first gears (2131) are linearly engaged in sequence along the path from inside to outside of the first accommodating cavity (110), and the first power output gear (212) is located on the side of the first gear set (213) adjacent to the opening; wherein each first gear (2131) and the first power output gear (212) are rotationally connected to the supporting shell (130), the first driving motor (211) is connected between the bottom shell and the supporting shell (130), and the first driving shaft of the first driving motor (211) extends vertically in the axial direction.

8. The cleaning apparatus of claim 6, wherein, The cleaning device further comprises a helical torsional elastic member (300) which is coaxially connected to the first driving shaft and connected at one end to the first power output gear (212) and at the other end to the first swing arm (220); When the first swing arm (220) is subjected to an external force towards the first work station, the torsional elastic member (300) drives the first swing arm (220) to rotate towards the first work station under the action of its own elastic force; and / or, The cleaning device further comprises an encoder arranged on the first driving motor (211) for detecting the rotation angle of the first driving shaft in the first driving motor (211).

9. The cleaning apparatus of claim 8, wherein, The cleaning device further comprises a limiting member (400) which is fixed to the outer peripheral wall of one end of the first swing arm (220) adjacent to the first driving shaft, and the limiting member (400) has a first limiting surface (410); The first power output gear (212) comprises a first gear portion (2121) and a connecting portion (2122) connected in sequence in the axial direction thereof, the connecting portion (2122) is located below the first gear portion (2121), and the connecting portion (2122) has a second limiting surface (2123) at a position corresponding to the first limiting surface (410); When the first swing arm (220) is coaxially connected to the first driving shaft, the first limiting surface (410) of the limiting member (400) abuts against the second limiting surface (2123) to apply a torsional force to the torsional elastic member (300).

10. The cleaning apparatus of claim 9, wherein, The first driving mechanism further comprises a bearing (240), a key and a first gear bracket (250); The first gear support (250) is supported below the connecting portion (2122); the first power output gear (212) is provided with a rotation hole penetrating the first gear portion (2121) and the connecting portion (2122) along an axial direction of the first power output gear (212), the first gear support (250) is provided with a mounting hole coaxial with the rotation hole, and the first driving shaft is sequentially arranged in the rotation hole and the mounting hole, the first driving shaft is connected with the rotation hole through the key, and the bearing (240) is sleeved on an outer circumferential wall of the first driving shaft and coaxially arranged in the mounting hole. The torsional elastic member (300) is sleeved on the first driving shaft.

11. The cleaning apparatus of claim 9, wherein, The first driving mechanism further comprises a second gear support (260), and the second gear support (260) is supported below the first power output gear (212). The first power output gear (212) comprises a rotation body (2124) in a cylindrical shape and a plurality of gear teeth (2126) arranged on a top edge of the rotation body (2124), the rotation body (2124) rotates relative to the second gear support (260), the plurality of gear teeth (2126) are sequentially arranged along a circumferential direction of the rotation body (2124) and engaged with the driving teeth (2111), and an axial line of an output shaft of the first driving motor (211) and an axial line of the first power output gear (212) form an oblique included angle. The rotation body (2124) is formed as the first driving shaft, and the torsional elastic member (300) is arranged on the second gear support (260) and coaxially arranged in a cavity inside the rotation body (2124). The rotation body (2124) is provided with a avoiding space for avoiding the first swing arm (220), and the second limiting surface (2123) is formed on a wall surface corresponding to the avoiding space and the limiting member (400).

12. The cleaning apparatus of claim 11, wherein, A top of one end of the first swing arm (220) connected with the first driving shaft is fixedly provided with at least one connecting member (500), and an outer circumferential wall of one end of the connecting member (500) away from the first swing arm (220) is provided with a limiting boss (510) extending along a circumferential direction. A top end of the rotation body (2124) has a second gear portion (2125) coaxially connected with the rotation body (2124), and a plurality of the gear teeth (2126) are arranged on a top wall of the second gear portion (2125). The second gear portion (2125) is provided with a limiting groove (2127) along a vertical direction and communicating with the avoiding space along an axial line of the rotation body (2124), and the limiting groove (2127) extends along a circumferential direction of the rotation body (2124). The connecting member (500) is slidingly arranged in the limiting groove (2127) corresponding to the connecting member (500), and a bottom wall of the limiting boss (510) abuts against a top wall of the limiting groove (2127).

13. The cleaning apparatus of claim 12, wherein, The center of the second gear part (2125) is provided with a through hole (2128) penetrating the second gear part (2125), and the through hole (2128) is communicated with the cavity of the inner container of the rotary body (2124).

14. The cleaning apparatus of claim 6, wherein, The cleaning device further comprises a first position detection member and a second position detection member, the first position detection member is arranged on the support shell (130) at a position corresponding to the first station, and the second position detection member is arranged on the support shell (130) at a position corresponding to the third station. When the first swing arm (220) drives the first cleaning disc (230) to rotate to the first station, the first position detection member is triggered. When the first swing arm (220) drives the first cleaning disc (230) to rotate to the third station, the second position detection member is triggered.

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