Cleaning mechanism and cleaning robot

Abstract

The present disclosure provides a cleaning mechanism and a cleaning robot. The cleaning mechanism comprises a driving module, a transmission module and a cleaning module. The transmission module comprises a first transmission gear train, a swing arm and a swing arm transmission gear train. The swing arm comprises a first end and a second end arranged oppositely. The swing arm transmission gear train is arranged on the swing arm. The first end of the swing arm is connected with the first transmission gear train through the swing arm transmission gear train. The second end of the swing arm is connected with the cleaning module through the swing arm transmission gear train. The first transmission gear train is driven to rotate by the driving module. The swing arm transmission gear train is driven to rotate by the first transmission gear train. The cleaning module is driven to rotate by the swing arm transmission gear train. After the cleaning module contacts with a surface to be cleaned, the swing arm can rotate around the first end under the reverse force of the surface to be cleaned, so as to drive the cleaning module to swing outwards. A larger area can be cleaned, and a high-coverage cleaning task can be realized.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning robot technology, and more particularly to a cleaning mechanism and a cleaning robot. Background Technology

[0002] As users' demands for cleaning robots, such as sweeping robots, continue to increase, current cleaning robots are limited by size, resulting in small cleaning coverage areas and blind spots. Therefore, further improvements to cleaning robots are necessary. Utility Model Content

[0003] This disclosure provides a cleaning mechanism and a cleaning robot to solve at least some of the related technical problems.

[0004] In a first aspect, embodiments of this disclosure provide a cleaning mechanism, including: a drive module, a transmission module, and a cleaning module;

[0005] The transmission module includes a first transmission gear system, a swing arm, and a swing arm transmission gear system. The first transmission gear system is connected to the drive module. The swing arm includes a first end and a second end that are disposed opposite to each other. The swing arm transmission gear system is disposed on the swing arm. The first end of the swing arm is connected to the first transmission gear system through the swing arm transmission gear system, and the second end of the swing arm is connected to the cleaning module through the swing arm transmission gear system.

[0006] The drive module drives the first transmission gear system to rotate, the first transmission gear system drives the swing arm transmission gear system to rotate, and the swing arm transmission gear system drives the cleaning module to rotate; the swing arm can rotate around the first end under the reverse force of the surface to be cleaned after the cleaning module comes into contact with the surface to be cleaned.

[0007] Optionally, the first transmission gear system includes a differential gear train and a first gear connected to the differential gear train. The differential gear train is connected to the drive module, and the first gear is connected to the swing arm transmission gear train.

[0008] The drive module drives the differential gear train to rotate, the differential gear train drives the first gear to rotate, and the first gear drives the swing arm transmission gear train to rotate.

[0009] Optionally, the differential gear train includes a first central shaft and a differential planetary gear train, wherein the first gear and the differential planetary gear train are both sleeved on the first central shaft; the first gear is clearance-fitted with the first central shaft and fixedly connected to the differential planetary gear train;

[0010] The drive module drives the differential planetary gear train to rotate, and the differential planetary gear train drives the first gear to rotate.

[0011] Optionally, the differential planetary gear train includes a sun gear, a planetary gear carrier, an internal gear ring, and multiple planetary gears. The sun gear, the planetary gear carrier, the internal gear ring, and the first gear are all sleeved on the first central shaft, and the sun gear is connected to the drive module.

[0012] Along the axial direction of the first central axis, the first gear is fixedly connected to the internal gear ring; along the radial direction of the first central axis, the planetary gear carrier is located outside the sun gear, and the internal gear ring is located outside the planetary gear carrier; the planetary gear sleeve is disposed on the planetary gear carrier and meshes with the sun gear and the internal gear ring respectively;

[0013] The drive module drives the sun gear to rotate, and the sun gear drives the internal gear ring to rotate through the planetary gears, which in turn drives the first gear to rotate synchronously.

[0014] Optionally, the first transmission gear system further includes a second central shaft, a first end of which is connected to the first gear transmission, and the first end of the swing arm is rotatable relative to the second central shaft;

[0015] The swing arm transmission gear system includes a first swing arm gear, which is disposed at the second end of the swing arm. The first swing arm gear is fixedly connected to the cleaning module and is drively connected to the second end of the second central shaft.

[0016] The first gear drives the second central shaft to rotate, the second central shaft drives the first swing arm gear to rotate, and the first swing arm gear drives the cleaning module to rotate; the swing arm can rotate around the second central shaft under the reverse force of the surface to be cleaned after the cleaning module comes into contact with the surface to be cleaned.

[0017] Optionally, the first transmission gear system further includes a third gear, which is sleeved on the first end of the second central shaft and is connected to the first gear in a transmission connection.

[0018] The swing arm transmission gear system also includes a second swing arm gear, which is disposed at the first end of the swing arm and sleeved on the second end of the second central shaft. The second swing arm gear is connected to the first swing arm gear in a transmission connection.

[0019] The first gear drives the third gear, the second central shaft, and the second swing arm gear to rotate synchronously, and the second swing arm gear drives the first swing arm gear to rotate.

[0020] Optionally, the first transmission gear system may further include at least one first auxiliary gear;

[0021] When there is one first auxiliary gear, the first auxiliary gear meshes with both the first gear and the third gear.

[0022] When there are multiple first auxiliary gears, the multiple first auxiliary gears mesh sequentially, with one of the two outermost first auxiliary gears meshing with the first gear and the other meshing with the third gear;

[0023] The first gear drives the third gear to rotate through each of the first auxiliary gears.

[0024] Optionally, the swing arm transmission gear system may further include at least one third auxiliary gear;

[0025] When there is one third auxiliary gear, the third auxiliary gear meshes with the first rocker arm gear and the second rocker arm gear respectively;

[0026] When there are multiple third auxiliary gears, the multiple third auxiliary gears mesh sequentially, and one of the two outermost third auxiliary gears meshes with the first swing arm gear, and the other meshes with the second swing arm gear;

[0027] The second swing arm gear drives the first swing arm gear to rotate through each of the third auxiliary gears.

[0028] Optionally, the first transmission gear system further includes a cylinder, the second central shaft passes through the cylinder, and the first end of the swing arm is rotatably connected to the cylinder;

[0029] The cylinder is provided with a first limiting part, and the swing arm is provided with at least one second limiting part for limiting and cooperating with the first limiting part. The first limiting part and the second limiting part are located on the same circumference.

[0030] Optionally, the drive module includes a drive component, the drive component having an output tooth connected to the first transmission gear system; the drive component drives the output tooth to rotate, and the output tooth drives the first transmission gear system to rotate; or

[0031] The drive module includes a drive component and a fifth gear. The drive component has an output tooth that meshes with the fifth gear. The fifth gear is connected to the first transmission gear system. The drive component drives the output tooth to rotate, which in turn drives the fifth gear to rotate, and the fifth gear drives the first transmission gear system to rotate.

[0032] In a second aspect, embodiments of this disclosure provide a cleaning robot, including a housing and a cleaning mechanism as described in the first aspect, the cleaning mechanism being mounted on the housing.

[0033] The technical solutions provided by the embodiments of this disclosure can achieve at least the following beneficial technical effects:

[0034] The cleaning mechanism and cleaning robot disclosed herein have a first transmission gear system that drives the cleaning module to rotate via a swing arm transmission gear system. Furthermore, after the cleaning module comes into contact with the surface to be cleaned, the swing arm can rotate around its first end under the reaction force of the surface to be cleaned, thereby causing the cleaning module to swing outward, which can clean a larger area and achieve a high coverage cleaning task.

[0035] 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

[0036] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the structure of a cleaning robot when it is retracted, according to an exemplary embodiment of this disclosure.

[0038] Figure 2 This is a schematic diagram of the structure of a cleaning robot when it is extended, according to an exemplary embodiment of this disclosure.

[0039] Figure 3 This is a schematic diagram of the structure of a cleaning mechanism according to an exemplary embodiment of this disclosure.

[0040] Figure 4 This is a schematic diagram of a differential gear train according to an exemplary embodiment of the present disclosure.

[0041] Figure 5 This is a partial side sectional view of a cleaning robot according to an exemplary embodiment of this disclosure.

[0042] Figure 6 This is a structural schematic diagram from another perspective of a cleaning robot when it is extended, according to an exemplary embodiment of this disclosure. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure.

[0044] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. Unless otherwise defined, the technical or scientific terms used in this disclosure should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “a” or “one,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one, which will be separately stated if referring only to “a.” “A plurality” or “several” means two or more. Unless otherwise indicated, the terms “front,” “rear,” “lower,” and / or “upper,” “top,” “bottom,” and similar terms are for ease of description only and are not limited to a location or spatial orientation. The terms “comprising” or “including,” and similar terms, mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, but do not exclude other elements or objects. The word “connection” or “link” is not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect.

[0045] The cleaning mechanism and cleaning robot of this disclosure will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0046] See Figure 1 and Figure 2 As shown, this embodiment of the disclosure provides a cleaning robot, which can be a sweeping robot, floor scrubber, or other cleaning equipment. The cleaning robot includes a cleaning mechanism 100 and a housing 200, with the cleaning mechanism 100 mounted on the housing 200. See also... Figure 3 , Figure 5 and Figure 6 As shown, Figure 3 This is a schematic diagram of the cleaning robot after removing the housing 200. The cleaning mechanism 100 includes a drive module 10, a transmission module 20, and a cleaning module 30, which is located outside the housing 200. Optionally, the cleaning module 30 can be a cloth module.

[0047] The transmission module 20 includes a first transmission gear system 21, a swing arm 24, and a swing arm transmission gear system 25. The first transmission gear system 21 is connected to the drive module 10. The swing arm 24 includes a first end (left end shown in the figure) and a second end (right end shown in the figure) disposed opposite to each other. The swing arm transmission gear system 25 is disposed on the swing arm 24. The first end of the swing arm 24 is connected to the first transmission gear system 21 through the swing arm transmission gear system 25, and the second end of the swing arm 24 is connected to the cleaning module 30 through the swing arm transmission gear system 25. The cleaning module 30 can rotate relative to the second end of the swing arm 24 to perform cleaning work. The first end of the swing arm 24 can rotate relative to the housing 200.

[0048] The drive module 10 drives the first transmission gear system 21 to rotate, which in turn drives the swing arm transmission gear system 25 to rotate. The swing arm transmission gear system 25 then drives the cleaning module 30 to rotate and perform cleaning. Furthermore, after the cleaning module 30 contacts the surface to be cleaned, the swing arm 24 rotates around its first end under the opposing force of the surface, thereby causing the cleaning module 30 to swing outwards.

[0049] Understandably, taking the floor as an example, the surface to be cleaned... Figure 1 As shown, when the cleaning module 30 is pressed down to the ground and rotates to perform cleaning work, it generates friction on the ground. Under the reaction force of the ground on the cleaning module 30, a force is applied to the cleaning module 30 to swing outward, causing the cleaning module 30 to drive the swing arm 24 to rotate outward around the first end of the swing arm 24. The state after swinging out is as follows. Figure 2 As shown, it can clean a larger area and achieve high-coverage cleaning tasks.

[0050] With the above technical solution, the cleaning mechanism 100 and cleaning robot disclosed herein only need to be set up with one drive module 10. Under the drive of a single drive module 10, the cleaning module 30 can be rotated through the transmission of the first transmission gear system 21 and the swing arm transmission gear system. The swing arm 24 can also rotate around its first end under the reverse force of the surface to be cleaned after the cleaning module 30 comes into contact with the surface to be cleaned, thereby driving the cleaning module 30 to swing outward.

[0051] In some optional embodiments, the transmission module 20 further includes a lifting assembly 22 and a second transmission gear system 23. The first transmission gear system 21 is connected to the drive module 10, the second transmission gear system 23 is connected to the first transmission gear system 21, and the lifting assembly 22 is connected to the second transmission gear system 23. The first end of the swing arm 24 is connected to the lifting assembly 22 and to the first transmission gear system 21 via the swing arm transmission gear system 25. The cleaning module 30 is connected to the lifting assembly 22 via the swing arm 24 and to the first transmission gear system 21 via the swing arm transmission gear system 25.

[0052] The drive module 10 drives the first transmission gear system 21 to rotate, which in turn drives the second transmission gear system 23 and the cleaning module 30 to rotate, causing the cleaning module 30 to perform cleaning work. The second transmission gear system 23 also drives the lifting assembly 22 and the cleaning module 30 to rise and fall.

[0053] like Figure 1 As shown, when the cleaning mechanism is closed, the cleaning module 30 is in a retracted state. When the cleaning module 30 needs to work, the drive module 10 drives the first transmission gear system 21 to rotate, which in turn drives the cleaning module 30 to rotate, enabling it to perform cleaning work. The first transmission gear system 21 also drives the second transmission gear system 23 to rotate, which in turn drives the lifting assembly 22 and the cleaning module 30 to descend, causing the cleaning module 30 to extend out of the housing. When the lifting assembly 22 has descended to its final position, the second transmission gear system 23 stops, and the cleaning module 30 stops descending, remaining in the retracted state. Figure 2 The extended state is shown. The first transmission gear system 21 can still drive the cleaning module 30 to rotate and perform cleaning work. When the cleaning module 30 completes the cleaning work and is retracted, the drive module 10 outputs torque in the opposite direction, causing the lifting component 22 to drive the cleaning module 30 to retract and return it to the extended state. Figure 1 The initial state is shown.

[0054] According to the above technical solution, the cleaning mechanism 100 and cleaning robot disclosed herein only require one drive module 10. Driven by a single drive module 10, the cleaning module 30 can rotate via the transmission of the first transmission gear system 21, and the cleaning module 30 can be raised and lowered via the transmission of the second transmission gear system 23. Specifically, the first transmission gear system 21 drives the cleaning module 30 to rotate for cleaning. The second transmission gear system 23 drives the lifting component 22 to rise and fall, thus raising and lowering the cleaning module 30. When the cleaning mechanism 100 needs to work, the cleaning module 30 extends out of the housing; when the cleaning mechanism 100 is not working, the cleaning module 30 can be retracted, making it compact and easy to store. Furthermore, after the lifting component 22 descends to its position, the second transmission gear system 23 stops, while the first transmission gear system 21 can still drive the cleaning module 30 to rotate for cleaning; the two transmission gear systems do not interfere with each other.

[0055] In some optional embodiments, the first transmission gear system 21 includes a differential gear train and a first gear 211 connected to the differential gear train. The differential gear train is connected to the drive module 10, and the first gear 211 is drive-connected to the swing arm transmission gear system 25. The second transmission gear system 23 includes a second gear 231, which is connected to the differential gear train and drive-connected to the lifting assembly 22.

[0056] Thus, the drive module 10 drives the differential gear train to rotate, which in turn drives the first gear 211 and the second gear 231 to rotate. The first gear 211 drives the swing arm transmission gear system 25 to rotate, which in turn drives the cleaning module 30 to rotate and perform cleaning work. The second gear 231 drives the lifting assembly 22 to rise and fall, thereby raising and lowering the cleaning module 30. When the lifting assembly 22 reaches its lowering position, the second gear 231 stops, and the cleaning module 30 stops descending. The first gear 211 can still drive the cleaning module 30 to rotate and perform cleaning work. After the cleaning module 30 contacts the surface to be cleaned, the swing arm 24 can rotate around its first end under the reverse force of the surface to be cleaned, thereby causing the cleaning module 30 to swing outward.

[0057] Furthermore, the differential gear train includes a first central shaft 212 and a differential planetary gear train 213. The first gear 211, the differential planetary gear train 213, and the second gear 231 are all sleeved on the first central shaft 212. The first gear 211 is clearance-fitted with the first central shaft 212 and fixedly connected to the differential planetary gear train 213, while the second gear 231 is tightly fitted with the first central shaft 212. That is, the first gear 211 can rotate around the first central shaft 212, and the second gear 231 moves synchronously with the first central shaft 212. In this embodiment, the first gear 211 and the second gear 231 are located on opposite sides of the differential planetary gear train 213, with the first gear 211 located above the differential planetary gear train 213 and the second gear 231 located below the differential planetary gear train 213. Optionally, a nut 2121 is provided at each end of the first central shaft 212, with one nut 2121 located above the first gear 211 and the other nut 2121 located below the second gear 231, thereby confining the first gear 211, the second gear 231 and the differential planetary gear train 213 on the first central shaft 212.

[0058] Thus, the drive module 10 drives the differential planetary gear train 213 to rotate, which in turn drives the first gear 211 and the second gear 231 to rotate. The first gear 211 drives the swing arm transmission gear system 25 to rotate, which in turn drives the cleaning module 30 to rotate and perform cleaning work. The second gear 231 also drives the lifting assembly 22 to rise and fall, thereby raising and lowering the cleaning module 30. When the lifting assembly 22 reaches its lowering position, the second gear 231 and the first central shaft 212 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the cleaning module 30 to rotate and perform cleaning work. Because the first gear 211 and the first central shaft 212 are in clearance fit, normal transmission can still be performed, driving the cleaning module 30 to rotate and perform cleaning work. The swing arm 24 can rotate around its first end under the reverse force of the surface to be cleaned after the cleaning module 30 contacts the surface to be cleaned, thereby causing the cleaning module 30 to swing outwards.

[0059] See Figure 3 and Figure 4As shown, the differential planetary gear train 213 includes an external gear ring 2131, a sun gear 2132, a planetary gear carrier 2133, an internal gear ring 2134, and multiple planetary gears 2135. The external gear ring 2131, the sun gear 2132, the planetary gear carrier 2133, and the internal gear ring 2134 are all fitted onto the first central shaft 212. The external gear ring 2131 is connected to the drive module 10. The external gear ring 2131 and the internal gear ring 2134 are clearance-fitted with the first central shaft 212, while the planetary gear carrier 2133 is tight-fitted with the first central shaft 212. That is, the external gear ring 2131 and the internal gear ring 2134 can rotate around the first central shaft 212, and the planetary gear carrier 2133 moves synchronously with the first central shaft 212.

[0060] Along the axial direction of the first central axis 212 (longitudinal direction in the figure), the sun gear 2132 is fixedly connected to the outer gear ring 2131, and the first gear 211 is fixedly connected to the inner gear ring 2134. Along the radial direction of the first central axis 212 (transverse direction in the figure), the planetary gear carrier 2133 is located outside the sun gear 2132, and the inner gear ring 2134 is located outside the planetary gear carrier 2133. The planetary gear carrier 2133 includes a plurality of planet shafts 2136, and the planet gears 2135 are sleeved on the planet shafts 2136 and mesh with the sun gear 2132 and the inner gear ring 2134 respectively. Optionally, the sun gear 2132 and the outer gear ring 2131 are an integral structure. Understandably, the sun gear 2132 and the internal gear ring 2134 engage differentially through the planetary gear 2135, which enables the torque generated by the drive module 10 to be transmitted more efficiently through the first gear 211, thus achieving proportional torque transmission within a small space.

[0061] Thus, the drive module 10 drives the outer gear ring 2131 and the sun gear 2132 to rotate synchronously. The sun gear 2132 drives the planetary gear support 2133 and the inner gear ring 2134 to rotate via the planetary gear 2135. The inner gear ring 2134 drives the first gear 211 to rotate synchronously. The first gear 211 drives the swing arm transmission gear system 25 to rotate, which in turn drives the cleaning module 30 to rotate and perform cleaning work. The planetary gear support 2133 drives the first central shaft 212 and the second gear 231 to rotate synchronously. The second gear 231 drives the lifting assembly 22 to rise and fall, thereby raising and lowering the cleaning module 30. When the lifting assembly 22 reaches its lowering position, the planetary gear support 2133, the second gear 231, and the first central shaft 212 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the cleaning module 30 to rotate and perform cleaning work. After the cleaning module 30 comes into contact with the surface to be cleaned, the swing arm 24 can rotate around its first end under the reverse force of the surface to be cleaned, thereby driving the cleaning module 30 to swing outward.

[0062] See Figure 3 and Figure 5 As shown, in some optional embodiments, the lifting assembly 22 includes a sleeve 221 and a cylinder 222, the cylinder 222 being connected to the cleaning module 30. The sleeve 221 is fitted onto the cylinder 222 and is drivenly connected to the second gear 231. The inner wall of the sleeve 221 is provided with a first threaded portion 223, and the outer wall of the cylinder 222 is provided with a second threaded portion 224 that is adapted to the first threaded portion 223.

[0063] The first transmission gear system 21 further includes a second central shaft 214, which is parallel to the first central shaft 212. The second central shaft 214 passes through the cylinder 222, and its first end (shown as the top end in the figure) is connected to the first gear 211. The first end of the swing arm 24 is rotatably connected to the cylinder 222, and can rotate relative to the cylinder 222 and the second central shaft 214. After the cleaning module 30 contacts the surface to be cleaned, the swing arm 24 can rotate around the cylinder 222 and the second central shaft 214 under the reverse force of the surface to be cleaned. The second end (shown as the bottom end in the figure) of the second central shaft 214 is connected to the first end of the swing arm 24 through the swing arm transmission gear system 25.

[0064] Thus, the first gear 211 drives the second central shaft 214 to rotate, the second central shaft 214 drives the swing arm transmission gear system 25 to rotate, and the swing arm transmission gear system 25 drives the cleaning module 30 to rotate to perform cleaning work. The second gear 231 drives the sleeve 221 to rotate, and with the threaded engagement of the first threaded part 223 and the second threaded part 224, the cylinder 222 rises and falls relative to the sleeve 221, thereby driving the cleaning module 30 and the second central shaft 214 to rise and fall synchronously. When the cylinder 222 has descended to its final position, the second gear 231 and the sleeve 221 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the second central shaft 214 to rotate, thereby driving the cleaning module 30 to rotate to perform cleaning work. After the cleaning module 30 contacts the surface to be cleaned, the swing arm 24 can rotate around the cylinder 222 and the second central shaft 214 under the reverse force of the surface to be cleaned, thereby driving the cleaning module 30 to swing outward.

[0065] Optionally, the cylinder 222 is provided with a first limiting part, and the swing arm 24 is provided with at least one second limiting part for limiting and cooperating with the first limiting part, wherein the first limiting part and the second limiting part are located on the same circumference. In this way, by controlling the distance between the first limiting part and the second limiting part along the circumference, the angle and amplitude of the swing arm 24 can be controlled.

[0066] See Figure 5 and Figure 6 As shown, in some optional embodiments, the swing arm transmission gear system 25 includes a first swing arm gear 251, which is disposed at the second end of the swing arm 24. The first swing arm gear 251 is fixedly connected to the cleaning module 30 and drively connected to the second end of the second central shaft 214. Optionally, the cleaning module 30 includes an output shaft 31, which extends into the swing arm 24 and connects to the first swing arm gear 251. Thus, when the drive module 10 drives the second central shaft 214 to rotate, the second end of the second central shaft 214 drives the first swing arm gear 251 to rotate, and the first swing arm gear 251 drives the cleaning module 30 to rotate to perform cleaning work.

[0067] The first transmission gear system 21 further includes a third gear 215, which is sleeved on the first end of the second central shaft 214 and is connected to the first gear 211 in a transmission manner. The second central shaft 214 achieves transmission engagement with the first gear 211 through the third gear 215. Thus, the first gear 211 drives the third gear 215 and the second central shaft 214 to rotate synchronously, and the first gear 211 drives the second central shaft 214 to rotate through the third gear 215.

[0068] The swing arm transmission gear system 25 also includes a second swing arm gear 252, which is disposed at the first end of the swing arm 24 and sleeved and fixed to the second end of the second central shaft 214. The second swing arm gear 252 is connected to the first swing arm gear 251 in a transmission manner. Thus, when the drive module 10 drives the second central shaft 214 to rotate via the first gear 211 and the third gear 215, the second central shaft 214 drives the second swing arm gear 252 to rotate synchronously, the second swing arm gear 252 drives the first swing arm gear 251 to rotate, and the first swing arm gear 251 drives the cleaning module 30 to rotate to perform cleaning work. It can be understood that the third gear 215 and the second swing arm gear 252 achieve torque transmission through the second central shaft 214.

[0069] The second transmission gear system 23 also includes a fourth gear 232, which is sleeved and fixed to the sleeve 221 and is connected to the second gear 231 in a transmission manner. Thus, the second gear 231 drives the fourth gear 232 to rotate, and the fourth gear 232 drives the sleeve 221 to rotate. Under the threaded engagement of the first threaded portion 223 and the second threaded portion 224, the cylinder 222 rises and falls relative to the sleeve 221, thereby synchronously raising and lowering the cleaning module 30 and the second central shaft 214. When the cylinder 222 has descended to its final position, the second gear 231, the fourth gear 232, and the sleeve 221 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the third gear 215 and the second central shaft 214 to rotate, thereby driving the cleaning module 30 to rotate and perform cleaning work.

[0070] See Figure 3 As shown, in some optional embodiments, the first transmission gear system 21 further includes at least one first auxiliary gear 216. When there is one first auxiliary gear 216, the first auxiliary gear 216 meshes with both the first gear 211 and the third gear 215. When there are multiple first auxiliary gears 216, the multiple first auxiliary gears 216 mesh sequentially, with one of the two outermost first auxiliary gears 216 meshing with the first gear 211 and the other meshing with the third gear 215. In this way, the first gear 211 drives the third gear 215 to rotate through each of the first auxiliary gears 216.

[0071] The second transmission gear system 23 also includes at least one second auxiliary gear 233. When there is only one second auxiliary gear 233, it meshes with both the second gear 231 and the fourth gear 232. When there are multiple second auxiliary gears 233, they mesh sequentially, with one of the two outermost gears meshing with the second gear 231 and the other with the fourth gear 232. Thus, the second gear 231 drives the fourth gear 232 to rotate via each of the second auxiliary gears 233. When the cylinder 222 descends to its final position, the second gear 231, each of the second auxiliary gears 233, the fourth gear 232, and the sleeve 221 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the third gear 215 and the second central shaft 214 to rotate via each of the first auxiliary gears 216, thereby driving the cleaning module 30 to rotate and perform cleaning work.

[0072] The swing arm transmission gear system 25 may further include at least one third auxiliary gear 253. When there is one third auxiliary gear 253, it meshes with both the first swing arm gear 251 and the second swing arm gear 252. When there are multiple third auxiliary gears 253, they mesh sequentially, with one of the two outermost gears meshing with the first swing arm gear 251 and the other with the second swing arm gear 252. Thus, the second swing arm gear 252 drives the first swing arm gear 251 to rotate via each of the third auxiliary gears 253. In this embodiment, there are three third auxiliary gears 253.

[0073] It should be noted that in some applications, the first gear 211 and the third gear 215 are arranged adjacently inside the housing 200, and they can mesh directly. In other applications, the first gear 211 and the third gear 215 may not be arranged adjacently, and there may be a distance between them. In this case, by setting the first auxiliary gear 216, it can be adapted to the internal space of the housing 200, both filling the distance between the first gear 211 and the third gear 215 and satisfying the transmission engagement between the first gear 211 and the third gear 215.

[0074] Similarly, in some applications, the second gear 231 and the fourth gear 232 are arranged adjacently inside the housing 200, and they can mesh directly. In other applications, the second gear 231 and the fourth gear 232 may not be arranged adjacently, and there may be a distance between them. In this case, by setting a second auxiliary gear 233, it can be adapted to the internal space of the housing 200, both filling the distance between the second gear 231 and the fourth gear 232 and satisfying the transmission engagement between the second gear 231 and the fourth gear 232.

[0075] Similarly, in some applications, the first swing arm gear 251 and the second swing arm gear 252 are arranged adjacently inside the swing arm 24 and can mesh directly. In other applications, the first swing arm gear 251 and the second swing arm gear 252 may not be arranged adjacently, and there may be a distance between them. In this case, by setting a third auxiliary gear 253, it can be adapted to the internal space of the swing arm 24, both filling the distance between the first swing arm gear 251 and the second swing arm gear 252 and satisfying the transmission engagement between the first swing arm gear 251 and the second swing arm gear 252.

[0076] Combination Figure 3 As shown, in this embodiment, there are two of each of the first auxiliary gear 216 and the second auxiliary gear 233. The first transmission gear system 21 may also include a third central shaft 217 and a fourth central shaft 218. The first central shaft 212, the second central shaft 214, the third central shaft 217, and the fourth central shaft 218 are parallel to each other.

[0077] The first auxiliary gear 216, located on the left side and used to mesh with the first gear 211, may include a first large tooth 2161 and a first small tooth 2162 fixedly connected to the first large tooth 2161. Both are sleeved on the third central shaft 217, with the first small tooth 2162 positioned above the first large tooth 2161. The first large tooth 2161 meshes with the first gear 211, and the first small tooth 2162 meshes with the first auxiliary gear 216 located on the right side and used to mesh with the third gear 215. The first auxiliary gear 216 located on the right side meshes with the third gear 215 and is sleeved on the fourth central shaft 218.

[0078] As the cylinder 222 rises and falls relative to the sleeve 221, it drives the cleaning module 30 and the second central shaft 214 to rise and fall synchronously. Along the axial direction of the fourth central shaft 218, the length of the first auxiliary gear 216, which meshes with the third gear 215, can be set to match the lifting stroke distance of the cylinder 222, or set to be greater than the lifting stroke distance of the cylinder 222. Thus, when the cylinder 222 drives the cleaning module 30 and the second central shaft 214 to rise and fall, the second central shaft 214 can drive the third gear 215 to rise and fall together along the first auxiliary gear 216 meshing with the third gear 215, satisfying the lifting and falling requirements of the second central shaft 214 without affecting the transmission between the first gear 211 and the third gear 215.

[0079] The second auxiliary gear 233, located on the left side and used to mesh with the second gear 231, may include a second large tooth 2331 and a second small tooth 2332 fixedly connected to the second large tooth 2331. Both are sleeved on the third central shaft 217, with the second small tooth 2332 located below the second large tooth 2331. The second auxiliary gear 233, located on the right side, meshes with the fourth gear 232 and is sleeved on the fourth central shaft 218.

[0080] Understandably, the first auxiliary gear 216 transmits the force that rotates the cleaning module 30, and the second auxiliary gear 233 transmits the force that raises and lowers the lifting assembly 22 and the cleaning module 30. When the cylinder 222 descends to its position, the second gear 231, each of the second auxiliary gears 233, the fourth gear 232, and the sleeve 221 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the third gear 215 and the second central shaft 214 to rotate via the first auxiliary gears 216, thereby driving the cleaning module 30 to rotate and perform cleaning work. Therefore, to avoid mutual interference, one of the first auxiliary gears 216 and 233 fitted onto the third central shaft 217 is tightly fitted to the third central shaft 217, while the other is loosely fitted. Similarly, to avoid mutual interference, one of the first auxiliary gears 216 and 233 fitted onto the fourth central shaft 218 is tightly fitted to the fourth central shaft 218, while the other is loosely fitted.

[0081] See Figure 3 As shown, in some optional embodiments, the drive module 10 includes a drive member 11, which has an output tooth 12 connected to the first transmission gear system 21. Thus, the drive member 11 drives the output tooth 12 to rotate, which in turn drives the first transmission gear system 21 to rotate, thereby rotating the cleaning module 30. Optionally, the drive member 11 is a motor. The output tooth 12 is connected to the outer gear ring 2131 of the first transmission gear system 21.

[0082] Furthermore, the drive module 10 may also include a fifth gear, with the output gear 12 meshing with the fifth gear, and the fifth gear connected to the first transmission gear system 21. Thus, the drive member 11 drives the output gear 12 to rotate, the output gear 12 drives the fifth gear to rotate, the fifth gear drives the first transmission gear system 21 to rotate, and the first transmission gear system 21 drives the cleaning module 30 to rotate.

[0083] In this embodiment, the fifth gear may include a third large tooth 13 and a third small tooth 14 fixedly connected to the third large tooth 13. The third large tooth 13 meshes with the output tooth 12, and the third small tooth 14 meshes with the outer gear ring 2131 of the first transmission gear system 21. Thus, the driving member 11 drives the output tooth 12 to rotate, the output tooth 12 drives the third large tooth 13 and the third small tooth 14 to rotate, which in turn drives the first transmission gear system 21 to rotate, and the cleaning module 30 driven by the first transmission gear system 21 to rotate.

[0084] In the closed state, the cleaning module 30 retracts, as shown in the disclosed cleaning mechanism. Figure 1 As shown. When the cleaning module 30 needs to work, the drive unit 11 drives the output tooth 12 to rotate clockwise. The output tooth 12 drives the third large tooth 13 and the third small tooth 14 to rotate counterclockwise. The third small tooth 14 drives the outer gear ring 2131 and the sun tooth 2132 to rotate clockwise. The sun tooth 2132 drives the planetary gear 2135 and the planetary gear support 2133 to rotate counterclockwise. The planetary gear 2135 drives the inner gear ring 2134 and the first gear 211 to rotate counterclockwise. The first gear 211 then drives the third gear 215 and the second central shaft 214 to rotate clockwise through two stages of transmission via two first auxiliary gears 216. The second central shaft 214 drives the cleaning module 30 to rotate to perform cleaning work.

[0085] The planetary gear support 2133 drives the first central shaft 212 and the second gear 231 to rotate counterclockwise. The second gear 231 then drives the fourth gear 232 and the sleeve 221 to rotate clockwise through two stages of transmission via two second auxiliary gears 233. Under the threaded engagement of the first threaded part 223 and the second threaded part 224, the cylinder 222 moves downward relative to the sleeve 221. The sleeve 221 drives the cleaning module 30 and the second central shaft 214 to move downward synchronously, thereby extending the cleaning module 30 out of the housing and lowering it to the ground for cleaning work. Figure 2 As shown. When the cylinder 222 stops rotating after descending to its designated position due to the threaded limit, the second gear 231, each of the second auxiliary gears 233, the fourth gear 232, and the sleeve 221 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the second central shaft 214 to rotate, thereby driving the cleaning module 30 to rotate and perform cleaning work.

[0086] When the cleaning module 30 completes its cleaning work and is retracted, the drive unit 11 outputs torque in the opposite direction, causing the cleaning module 30 to retract again. During the retraction process of the cleaning module 30, the movement direction of each component is opposite to that during the extension process described above, and will not be elaborated further here.

[0087] In the closed state, the cleaning module 30 retracts, as shown in the disclosed cleaning mechanism. Figure 1 As shown. When the cleaning module 30 needs to work, the drive unit 11 drives the output tooth 12 to rotate clockwise. The output tooth 12 drives the third large tooth 13 and the third small tooth 14 to rotate counterclockwise. The third small tooth 14 drives the outer gear ring 2131 and the sun tooth 2132 to rotate clockwise. The sun tooth 2132 drives the planetary gear 2135 and the planetary gear support 2133 to rotate counterclockwise. The planetary gear 2135 drives the inner gear ring 2134 and the first gear 211 to rotate counterclockwise. The first gear 211 then drives the third gear 215, the second central shaft 214 and the second swing arm gear 252 to rotate clockwise through two stages of transmission via two first auxiliary gears 216. The second swing arm gear 252 then drives the first swing arm gear 251 to rotate clockwise through three stages of transmission via three third auxiliary gears 253, thereby driving the cleaning module 30 to rotate clockwise to perform cleaning work.

[0088] The planetary gear support 2133 drives the first central shaft 212 and the second gear 231 to rotate counterclockwise. The second gear 231 then drives the fourth gear 232 and the sleeve 221 to rotate clockwise through two stages of transmission via two second auxiliary gears 233. Under the threaded engagement of the first threaded part 223 and the second threaded part 224, the cylinder 222 moves downward relative to the sleeve 221. The sleeve 221 drives the cleaning module 30 and the second central shaft 214 to move downward synchronously, thereby extending the cleaning module 30 out of the housing and lowering it to the ground for cleaning. When the cleaning module 30 is pressed down to the ground and rotates clockwise to perform cleaning work, it generates friction on the ground. Under the reaction force of the ground on the cleaning module 30, it gives the cleaning module 30 an outward swinging force, causing the cleaning module 30 to drive the swing arm 24 to rotate counterclockwise around the cylinder 222. The state after swinging out is as follows. Figure 2 As shown, it can clean a larger area and achieve high-coverage cleaning tasks.

[0089] Once the cylinder 222 has descended to its designated position due to the threaded limit and stops rotating, the second gear 231, each of the second auxiliary gears 233, the fourth gear 232, and the sleeve 221 stop, and the cleaning module 30 stops descending. The first gear 211 can still drive the second central shaft 214 to rotate, thereby driving the cleaning module 30 to rotate and perform cleaning work.

[0090] When the cleaning module 30 completes its cleaning work and is retracted, the drive unit 11 outputs torque in the opposite direction, causing the cleaning module 30 to retract again. During the retraction process of the cleaning module 30, the movement direction of each component is opposite to that during the extension process described above, and will not be elaborated further here.

[0091] Thus, the cleaning mechanism and cleaning robot disclosed herein, through the above technical solution, can enable a single drive module with a small spatial structure to drive the cleaning module to perform three actions: swinging outward, lifting, and sweeping.

[0092] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosed embodiments herein. This disclosure 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 embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0093] It should be understood that the above description is only a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A cleaning mechanism, characterized in that, include: Drive module, transmission module, and cleaning module; The transmission module includes a first transmission gear system, a swing arm, and a swing arm transmission gear system. The first transmission gear system is connected to the drive module. The swing arm includes a first end and a second end that are disposed opposite to each other. The swing arm transmission gear system is disposed on the swing arm. The first end of the swing arm is connected to the first transmission gear system through the swing arm transmission gear system, and the second end of the swing arm is connected to the cleaning module through the swing arm transmission gear system. The drive module drives the first transmission gear system to rotate, the first transmission gear system drives the swing arm transmission gear system to rotate, and the swing arm transmission gear system drives the cleaning module to rotate; the swing arm can rotate around the first end under the reverse force of the surface to be cleaned after the cleaning module comes into contact with the surface to be cleaned.

2. The cleaning mechanism according to claim 1, characterized in that, The first transmission gear system includes a differential gear train and a first gear connected to the differential gear train. The differential gear train is connected to the drive module, and the first gear is connected to the swing arm transmission gear system. The drive module drives the differential gear train to rotate, the differential gear train drives the first gear to rotate, and the first gear drives the swing arm transmission gear train to rotate.

3. The cleaning mechanism according to claim 2, characterized in that, The differential gear train includes a first central shaft and a differential planetary gear train. The first gear and the differential planetary gear train are both sleeved on the first central shaft. The first gear is clearance-fitted with the first central shaft and fixedly connected to the differential planetary gear train. The drive module drives the differential planetary gear train to rotate, and the differential planetary gear train drives the first gear to rotate.

4. The cleaning mechanism according to claim 3, characterized in that, The differential planetary gear train includes a sun gear, a planetary gear carrier, an internal gear ring, and multiple planetary gears. The sun gear, the planetary gear carrier, the internal gear ring, and the first gear are all sleeved on the first central shaft. The sun gear is connected to the drive module. Along the axial direction of the first central axis, the first gear is fixedly connected to the internal gear ring; along the radial direction of the first central axis, the planetary gear carrier is located outside the sun gear, and the internal gear ring is located outside the planetary gear carrier; the planetary gears are disposed on the planetary gear carrier and mesh with the sun gear and the internal gear ring respectively; The drive module drives the sun gear to rotate, and the sun gear drives the internal gear ring to rotate through the planetary gears, which in turn drives the first gear to rotate synchronously.

5. The cleaning mechanism according to claim 2, characterized in that, The first transmission gear system also includes a second central shaft, the first end of which is connected to the first gear transmission, and the first end of the swing arm is rotatable relative to the second central shaft; The swing arm transmission gear system includes a first swing arm gear, which is disposed at the second end of the swing arm. The first swing arm gear is fixedly connected to the cleaning module and is drively connected to the second end of the second central shaft. The first gear drives the second central shaft to rotate, the second central shaft drives the first swing arm gear to rotate, and the first swing arm gear drives the cleaning module to rotate; the swing arm can rotate around the second central shaft under the reverse force of the surface to be cleaned after the cleaning module comes into contact with the surface to be cleaned.

6. The cleaning mechanism according to claim 5, characterized in that, The first transmission gear system also includes a third gear, which is sleeved on the first end of the second central shaft and is connected to the first gear in a transmission connection. The swing arm transmission gear system also includes a second swing arm gear, which is disposed at the first end of the swing arm and sleeved on the second end of the second central shaft. The second swing arm gear is connected to the first swing arm gear in a transmission connection. The first gear drives the third gear, the second central shaft, and the second swing arm gear to rotate synchronously, and the second swing arm gear drives the first swing arm gear to rotate.

7. The cleaning mechanism according to claim 6, characterized in that, The first transmission gear system also includes at least one first auxiliary gear; When there is one first auxiliary gear, the first auxiliary gear meshes with both the first gear and the third gear. When there are multiple first auxiliary gears, the multiple first auxiliary gears mesh sequentially, with one of the two outermost first auxiliary gears meshing with the first gear and the other meshing with the third gear; The first gear drives the third gear to rotate through each of the first auxiliary gears.

8. The cleaning mechanism according to claim 6, characterized in that, The swing arm transmission gear system also includes at least one third auxiliary gear; When there is one third auxiliary gear, the third auxiliary gear meshes with the first rocker arm gear and the second rocker arm gear respectively; When there are multiple third auxiliary gears, the multiple third auxiliary gears mesh sequentially, and one of the two outermost third auxiliary gears meshes with the first swing arm gear, and the other meshes with the second swing arm gear; The second swing arm gear drives the first swing arm gear to rotate through each of the third auxiliary gears.

9. The cleaning mechanism according to claim 5, characterized in that, The first transmission gear system also includes a cylinder, the second central shaft passes through the cylinder, and the first end of the swing arm is rotatably connected to the cylinder; The cylinder is provided with a first limiting part, and the swing arm is provided with at least one second limiting part for limiting and cooperating with the first limiting part. The first limiting part and the second limiting part are located on the same circumference.

10. The cleaning mechanism according to claim 1, characterized in that, The drive module includes a drive component, the drive component is provided with an output tooth, and the output tooth is connected to the first transmission gear system; The output tooth is driven to rotate by the driving component, and the output tooth drives the first transmission gear system to rotate; or The drive module includes a drive component and a fifth gear. The drive component has an output tooth that meshes with the fifth gear. The fifth gear is connected to the first transmission gear system. The output tooth is driven to rotate by the driving component, the output tooth drives the fifth gear to rotate, and the fifth gear drives the first transmission gear system to rotate.

11. A cleaning robot, characterized in that, It includes a housing and a cleaning mechanism as described in any one of claims 1 to 10, the cleaning mechanism being mounted on the housing.

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