Machine base module, cleaning device and cleaning system

Abstract

The utility model discloses a base module, cleaning equipment and cleaning system, base module includes base, two walking components and drive arrangement, two walking components are separately arranged at the lateral both sides of base, and each walking component includes the axle body and the wheel body, and the axle body is installed for the wheel body rotation one section, and the other section is installed in the base around the vertical extension axis and can be deflected, and drive arrangement is located in the base and is connected with the axle body to drive the axle body deflection. The driving of the drive arrangement to the walking component can basically eliminate the disadvantage of laborious in the steering process in the application. And under the driving of the drive arrangement, the deflection angle of the axle body around the vertical axis can be flexibly adjusted, which makes the rotation angle of the whole machine can be adjusted arbitrarily. Compared with the manual operation of the user, the driving of the drive arrangement can ensure that the rotation angle is more accurate and stable, which helps to improve the reliability of the whole machine steering.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, specifically to a base module, cleaning equipment, and cleaning system. Background Technology

[0002] Currently, cleaning equipment on the market, such as floor scrubbers and carpet cleaners, clean surfaces using floor brushes under manual or remote control. Since the rollers of existing cleaning equipment generally do not have steering capabilities, the steering of existing cleaning equipment is usually achieved by the user controlling the rotation of the cleaning equipment's shaft, which in turn drives the floor brushes across the floor, thereby changing the direction of the cleaning equipment.

[0003] However, the large turning radius of the cleaning equipment makes it difficult to maneuver and operate, hindering user control and resulting in a poor user experience. Utility Model Content

[0004] The main purpose of this utility model is to propose a base module, cleaning equipment and cleaning system, which aims to solve the problem of excessive turning radius in the steering of traditional cleaning equipment.

[0005] To achieve the above objectives, this utility model proposes a base module, comprising:

[0006] Base;

[0007] Two traveling components are respectively disposed on both sides of the base. Each traveling component includes an axle and a wheel. One end of the axle is rotatably mounted to the wheel, and the other end is rotatably mounted to the base about a vertically extending axis.

[0008] A drive device is provided on the base and connected to the shaft to drive the shaft to deflect.

[0009] Optionally, the same drive device can be linked to two walking components to drive the two shafts to deflect synchronously along the same circumference.

[0010] Optionally, the driving device includes:

[0011] A linkage mechanism, movably mounted on the base and located between the two traveling components, is pivotally connected to each of the two shafts; and,

[0012] A drive mechanism is located on the base and is drivenly connected to the linkage mechanism.

[0013] Optionally, the linkage mechanism includes:

[0014] A transmission component, laterally slidably mounted between the two traveling components; and,

[0015] Two first connecting rods are provided one-to-one with the two shafts. One end of each first connecting rod is connected and fixed to the side wall of the corresponding shaft, and the other end is pivotally connected to the adjacent end of the transmission component.

[0016] The drive mechanism drives the transmission component to translate laterally.

[0017] Optionally, the linkage mechanism further includes two second links, which are arranged one-to-one between the two first links and the transmission member. One end of each second link is pivotally connected to the corresponding first link, and the other end is pivotally connected to the adjacent end of the transmission member.

[0018] Optionally, one of the base and the transmission member is provided with a guide hole, and the other is provided with a guide protrusion. The guide hole extends in an elongated shape in the lateral direction, and the guide protrusion extends into the guide hole and is driven to slide in the guide hole when the transmission member translates in the lateral direction.

[0019] Optionally, the drive mechanism includes a rotating member rotatably mounted on the base, the rotating member having a rotation axis extending vertically or in a direction intersecting the vertical, the rotation axis of the rotating member being offset from its geometric center to define a rotating body and an outwardly protruding portion protruding radially along the rotating body;

[0020] During rotation, the protrusion and the transmission member can be engaged and disengaged, and when they are engaged, the transmission member is pushed to translate laterally.

[0021] Optionally, the transmission component includes:

[0022] The transmission body is laterally slidably mounted between the two traveling components and located on one longitudinal side of the rotating member; and,

[0023] Two extension arms are respectively disposed on the lateral sides of the transmission body. One end of each extension arm is connected and fixed to the transmission body, and the other end extends longitudinally to the radial side of the rotating member, so that the extension arm can be disengaged from the protrusion when the rotating member rotates.

[0024] Optionally, one of the base and the shaft end face of the rotating member is provided with a limiting groove, and the other is provided with a limiting protrusion. The limiting groove is adapted to extend in the shape of a notched ring in the rotation direction of the rotating member, and the limiting protrusion extends into the limiting groove and is driven to slide in the limiting groove when the rotating member rotates.

[0025] In addition, to achieve the above objectives, this utility model also proposes a cleaning device, including the base module as described above.

[0026] Furthermore, to achieve the above objectives, this utility model also proposes a cleaning device, comprising:

[0027] Base;

[0028] Two traveling components are respectively disposed on both sides of the base. Each traveling component includes an axle and a wheel. One end of the axle is rotatably mounted to the wheel, and the other end is rotatably mounted to the base about a vertically extending axis.

[0029] A fuselage module is disposed on the base and is connected to the shaft for transmission. The fuselage module rotates to drive the shaft to deflect so that the orientation of the wheel is the same as the rotation direction of the fuselage module.

[0030] Furthermore, to achieve the above objectives, this utility model also proposes a cleaning device, comprising:

[0031] fuselage module; and,

[0032] The base module includes a base, two walking components, and a drive device. The two walking components are disposed on the lateral sides of the base. Each walking component includes an axle and a wheel. The axle extends laterally, with one end for the wheel to be rotatably mounted, and the other end rotatably mounted on the base about a vertically extending axis. The drive device includes a drive mechanism and a transmission mechanism connecting the drive mechanism and the axle, so that under the drive of the drive mechanism, the transmission mechanism drives the axle to deflect relative to the base.

[0033] The fuselage module is rotatably mounted on the base module about an axis extending along its own length, and the fuselage module at least partially constitutes the drive mechanism.

[0034] Optionally, the transmission mechanism is a linkage mechanism, and the linkage mechanism includes:

[0035] A transmission component, laterally slidably mounted between the two traveling components; and,

[0036] Two first connecting rods are provided one-to-one with the two shafts. One end of each first connecting rod is connected and fixed to the side wall of the corresponding shaft, and the other end is pivotally connected to the adjacent end of the transmission component.

[0037] The fuselage module includes a rotating component, which is rotatably mounted on the base about an axis extending along the length of the fuselage module. The axis of rotation of the rotating component is offset from its geometric center to form a rotating body and an outward protrusion protruding along the rotational radial direction of the rotating body. During rotation, the outward protrusion and the transmission component can be engaged and disengaged, and when they are engaged, the transmission component is pushed to translate laterally.

[0038] Optionally, the rotating component is cylindrical, and the radial cross-sectional shape of the rotating component is eccentrically circular.

[0039] Optionally, the base includes a fixed base and a movable base, and the body module is rotatably mounted on the movable base about an axis extending along its own length.

[0040] The movable seat is rotatably mounted on the fixed seat about an axis extending laterally or longitudinally.

[0041] In addition, to achieve the above objectives, this utility model also proposes a cleaning system, including a base station and cleaning equipment;

[0042] The cleaning equipment includes the base module as described above; or the cleaning equipment is the cleaning equipment as described above.

[0043] In the technical solution provided by this utility model, in the straight-moving state, the shaft in the walking assembly extends laterally. At this time, the wheels are driven by the power device to rotate around the shaft, which can drive the base module to move forward or backward in a straight line along the longitudinal direction.

[0044] When turning is required, the drive unit drives the axle in the walking assembly to deflect around the vertical axis, causing the axle to tilt at a certain angle relative to the lateral direction. At this time, the wheels are driven by the power unit to rotate around the axle, which can drive the base module to turn.

[0045] The drive unit's control over the walking components essentially eliminates the drawback of requiring significant effort during steering. Furthermore, under the drive unit's influence, the deflection angle of the shaft around the vertical axis can be flexibly adjusted, allowing for arbitrary adjustment of the overall machine's rotation angle. Compared to manual operation by the user, the drive unit ensures greater precision and stability in rotation angles, a smaller turning radius, and overall improved steering flexibility. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0047] Figure 1 A perspective view of a portion of the structure of an embodiment of the cleaning equipment provided by this utility model;

[0048] Figure 2 for Figure 1 A 3D schematic diagram of the mid-fuselage module and the base module after separation;

[0049] Figure 3 for Figure 2 A three-dimensional schematic diagram of the mid-fuselage module from another perspective;

[0050] Figure 4 for Figure 2 A bottom-view diagram of the mid-fuselage module;

[0051] Figure 5 for Figure 2 Top view of the middle base module after the drive unit has been removed;

[0052] Figure 6 for Figure 2 A top view of the middle base module after the rotating component has rotated to position T0;

[0053] Figure 7 for Figure 2 A top view of the middle base module after the rotating component has rotated to position T1;

[0054] Figure 8 for Figure 2 A top view of the base module after the rotating component has rotated to position T2.

[0055] Explanation of icon numbers:

[0056] 100 Base module; 110 Base; 111 Fixed seat; 111a Guide protrusion; 112 Movable seat; 112a Insertion protrusion; 112b Limiting groove; 120 Walking assembly; 121 Shaft; 122 Wheel; 130 Drive device; 131 Transmission component; 131a Transmission body; 131b Extension arm; 131c Guide hole; 132 First connecting rod; 133 Second connecting rod; 134 Rotating component; 134a Rotating body; 134b Outer protrusion; 134c Insertion recess; 134d Limiting protrusion; 140 Limiting component; 200 Body module.

[0057] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0058] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0059] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0060] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0061] Please see Figures 1 to 8 This utility model provides a base module 100 and the cleaning equipment and cleaning system applied thereto.

[0062] First, it should be noted that, for ease of understanding, the following embodiments will be described using the base module 100 and the cleaning equipment and system it applies to as examples of two basically perpendicular vertical, horizontal, and longitudinal directions. In practical applications, the vertical direction can roughly correspond to the direction of gravity. It has upward and downward directions arranged in opposite directions. The longitudinal direction roughly corresponds to the direction of the cleaning equipment in a straight-line state. It has forward and backward directions arranged in opposite directions. The horizontal direction has left and right directions arranged in opposite directions.

[0063] Specifically, the base module 100 may include a base 110, two walking components 120, and a drive unit 130.

[0064] Two traveling components 120 are disposed on the lateral sides of the base 110. Each traveling component 120 includes an axle 121 and a wheel 122. One section of each axle 121 is rotatably mounted to the wheel 122. The other section of each axle 121 is rotatably mounted to the base 110 about a vertically extending axis.

[0065] The drive unit 130 is located on the base 110 and connected to the shaft 121 to drive the shaft 121 to deflect.

[0066] In this design, to ensure that the base module 100 can move automatically and intelligently, the base module 100 generally also includes a power unit. The power unit is drivenly connected to the wheel 122 in each walking component 120. The power unit can drive the wheel 122 to rotate about the shaft 121 on which it is mounted.

[0067] Therefore, the base module 100 initially has a straight-line state. At this time, the shaft 121 in the traveling assembly 120 extends laterally. Driven by the power unit, the wheel 122 rotates approximately around the laterally extending axis (i.e., the shaft 121), which enables the base module 100 to move forward or backward in a straight line along the longitudinal direction.

[0068] Furthermore, the base module 100 also has a turning capability. The drive unit 130 drives the shaft 121 in the walking assembly 120 to deflect around an axis extending vertically. This allows the shaft 121 to change from extending laterally to forming a certain angle relative to the lateral direction. At this time, driven by the power unit, the wheel 122 rotates approximately around the axis extending laterally at an angle (i.e., the shaft 121), thereby achieving the purpose of turning the base module 100 for walking.

[0069] The drive unit 130's power to drive the walking assembly 120 essentially eliminates the drawback of requiring significant effort during steering. Furthermore, under the drive of the drive unit 130, the shaft 121 can deflect at any angle (without being restricted by other components) around its vertically extending axis. This allows the rotation angle of the wheel 122 to be adjusted accordingly. Compared to manual operation by the user, the drive unit 130 ensures greater precision and stability in the rotation angle, a smaller turning radius, and overall improved steering flexibility.

[0070] Generally, a base module 100 typically includes at least two traveling components 120. These two traveling components 120 are located on opposite sides of the base 110. However, depending on actual needs, a base module 100 may also include more than two traveling components 120. When the number of traveling components 120 is even, they can be equally distributed on opposite sides of the base 110. Furthermore, traveling components 120 located on the same side are arranged sequentially along the longitudinal direction.

[0071] It is understandable that, in order to make the overall base module 100 more aesthetically pleasing and the center of gravity of the machine more stable, generally, when the entire base module 100 has a longitudinal central axis Z extending along the longitudinal direction, the various traveling components 120 are generally symmetrically arranged about the longitudinal central axis Z.

[0072] Each drive unit 130 can be configured to correspond one-to-one with each walking component 120. That is, the number of drive units 130 is basically the same as the number of walking components 120. This ensures that the deflection drive of each walking component 120 is independent and adapted.

[0073] The same drive unit 130 can also be configured to be linked with at least two walking components 120. This effectively reduces the number of drive units 130, thereby simplifying the overall structure and reducing manufacturing costs. Furthermore, the at least two walking components 120 linked to the same drive unit 130 can achieve a certain correlation through this drive unit 130. For example, the deflection angle and timing of the at least two walking components 120 can be synchronized.

[0074] For example Figures 6 to 8 In the structure shown, when two walking components 120 are configured and one drive device 130 is configured, the drive device 130 is linked to both walking components 120. Under the same driving action of the drive device 130, the two shafts 121 of the two walking components 120 can rotate synchronously around the same circumference along the vertically extending axis. At this time, the deflection angle and deflection timing of the two walking components 120 are approximately the same. This helps to drive the entire base module 100 to turn more smoothly and steadily.

[0075] In practical applications, the base module 100 also includes convex shafts corresponding to each shaft 121. The convex shafts extend vertically and are arranged on the base 110. One of the convex shafts and shafts 121, and the other of the convex shafts and base 110, are rotatably connected, while the other is fixedly connected. This achieves the purpose of rotatably mounting the shaft 121 to the base 110. In the following embodiments, the convex shaft and base 110 are rotatably connected, and the shaft 121 and convex shaft are rotatably connected, as an example. The shaft 121 and convex shaft can be integrally formed. Alternatively, the shaft 121 and convex shaft can be separately formed and then detachably or non-detachably connected.

[0076] There are several technical solutions for the drive device 130 to achieve the above objectives:

[0077] In one application, the drive unit 130 may consist only of a drive mechanism. The drive mechanism may be, but is not limited to, a motor having a rotary output, or a linear cylinder having a linear displacement output. When the drive mechanism is, for example, a motor, the motor may be coaxially connected to, for example, the aforementioned cam shaft. And when the drive mechanism is, for example, a linear cylinder, the linear cylinder may be connected to, for example, the radial sidewall of the aforementioned cam shaft.

[0078] In another application, the drive unit 130 may include the drive mechanism and transmission mechanism as described above. The transmission mechanism can be specifically configured after considering factors such as the type of drive mechanism, the actual requirements of the shaft 121, and the actual installation environment. The transmission mechanism may be, but is not limited to, a mechanism for converting linear displacement output to rotary input, or vice versa, a reversing mechanism, a speed-changing mechanism, etc., without limitation.

[0079] Specifically, in one embodiment, the transmission mechanism may be a linkage mechanism. The linkage mechanism is movably mounted on the base 110 and located between the two traveling components 120. The linkage mechanism is pivotally connected to two shafts 121 respectively. The drive mechanism is located on the base 110 and is drivenly connected to the linkage mechanism.

[0080] A linkage mechanism is composed of at least two rod-shaped components pivotally connected in sequence, forming sufficient rotational degrees of freedom. Furthermore, linkage mechanisms are characterized by wear resistance, simple structure, and convenient installation.

[0081] The specific design of the linkage mechanism is not limited; any number and degree of freedom of the various rod-like components can be set according to actual needs. For example... Figures 6 to 8Taking the structure as an example, specifically, the linkage mechanism includes a transmission member 131 and two first links 132. The transmission member 131 is laterally slidably mounted between two traveling components 120. The two first links 132 are arranged one-to-one with the two shafts 121. One end of each first link 132 is connected and fixed to the side wall of the corresponding shaft 121. The other end of each first link 132 is pivotally connected to the adjacent end of the transmission member 131. Correspondingly, the drive mechanism drives the transmission member 131 to translate laterally.

[0082] Furthermore, the linkage mechanism also includes two second links 133. The two second links 133 are arranged one-to-one between the two first links 132 and the transmission member 131. One end of each second link 133 is pivotally connected to the corresponding first link 132. The other end of each second link 133 is pivotally connected to the adjacent end of the transmission member 131.

[0083] The transmission component 131 extends laterally. The transmission component 131 is generally offset on the longitudinal side of the shaft 121 so that sufficient space can be reserved between the shaft 121 and the transmission component 131 for the arrangement and movement of the first link 132 and the second link 133.

[0084] The first connecting rod 132 can be integrally formed with the shaft 121. Alternatively, the first connecting rod 132 and the shaft 121 can be formed separately and then connected in a detachable or non-detachable manner.

[0085] The fixed angle between the first link 132 and the shaft 121 is not limited. Furthermore, the extended shape of the first link 132 is also not limited. For example... Figures 6 to 8 As shown, the first link 132 can extend roughly in a straight radial direction along the shaft 121.

[0086] The second link 133 is disposed between the first link 132 and the transmission member 131. Both ends of the second link 133 are pivotally connected to the first link 132 and the transmission member 131, respectively, which makes the rotational freedom of the second link 133 higher.

[0087] To ensure more accurate lateral translation of the transmission component 131, one of the base 110 and the transmission component 131 is provided with a guide hole 131c, and the other is provided with a guide protrusion 111a. The guide hole 131c extends elongated laterally. The guide protrusion 111a extends into the guide hole 131c and is driven to slide within the guide hole 131c when the transmission component 131 translates laterally.

[0088] like Figure 2 , Figures 5 to 8As shown, a guide protrusion 111a is provided on the upper surface of the base 110. The guide protrusion 111a extends elongatedly in the transverse direction. Correspondingly, a guide hole 131c is provided in the transmission member 131 in the vertical direction. The guide hole 131c also extends elongatedly in the transverse direction. Furthermore, the transverse dimension of the guide hole 131c is larger than the transverse dimension of the guide protrusion 111a.

[0089] A guide protrusion 111a extends from bottom to top through the guide hole 131c. The upper end of the guide protrusion 111a protrudes outside the guide hole 131c. The base module 100 also includes a limiting member 140. The limiting member 140 is generally plate-shaped. The limiting member 140 is connected and fixed to the upper end of the guide protrusion 111a. The limiting member 140 extends at least partially in the width direction (i.e., longitudinal direction) of the guide hole 131c, exceeding the width of the guide hole 131c. The limiting member 140 can slide against the upper surface of the transmission member 131. Alternatively, the limiting member 140 can maintain a certain distance from the upper surface of the transmission member 131. The limiting member 140 helps to restrict the guide protrusion 111a from dislodging outward from the guide hole 131c. This, in turn, helps to restrict the transmission member 131 from vertically disengaging from the base 110, but at the same time does not impede the lateral translation of the transmission member 131 relative to the base 110.

[0090] In order to drive the transmission component 131 to perform lateral translation, the drive mechanism can be directly configured as, for example, a linear cylinder, as described above. Figures 1 to 8 In the illustrated structure, the drive mechanism may specifically include a rotating component 134. The rotating component 134 is rotatably mounted on the base 110. The rotation axis O1 of the rotating component 134 extends vertically or in a direction intersecting the vertical. Figure 4 As shown, the rotation axis O1 of the rotating member 134 is offset from its geometric center O2. Therefore, the rotating member 134 can be roughly defined by two parts: a rotating body 134a and an outwardly protruding portion 134b that protrudes radially along the rotating body 134a. The rotating body 134a has its geometric center approximately around the aforementioned rotation axis O1. Specifically, it can be as follows: Figure 4 The circular area within the dashed line is shown. The protruding portion 134b is the remaining part of the rotating component 134 excluding the rotating body 134a. The geometric center O2 of the rotating component 134 is generally located on the rotating body 134a near the protruding portion 134b. Alternatively, the geometric center O2 of the rotating component 134 may be located directly on the protruding portion 134b.

[0091] It is understandable that once the rotating component 134 is assembled into place on the base 110, the position of its rotation axis O1 remains essentially constant. This means that during the rotation of the rotating component 134 around the rotation axis O1, the outward protrusion 134b is approximately equivalent to revolving around the rotation axis O1.

[0092] The transmission member 131 is located on the radial side of the protrusion 134b. This allows the protrusion 134b to rotate towards the transmission member 131 during its revolution around the rotation axis O1. During this first stroke, the protrusion 134b rotates to connect with the transmission member 131, causing the transmission member 131 to move a certain distance in the same direction. The protrusion 134b also has a second stroke, rotating away from the transmission member 131. During this second stroke, the protrusion 134b rotates to disengage from the transmission member 131. The protrusion 134b does not exert any external force on the transmission member 131. This allows for a disengageable connection between the protrusion 134b and the transmission member 131.

[0093] When the outward protrusion 134b drives the transmission member 131 to move in the same direction, it applies a rotational circumferential force to the transmission member 131. As mentioned above, a guide protrusion 111a and a guide hole 131c are provided between the transmission member 131 and the base 110. Therefore, this rotational circumferential force is converted into a lateral force, achieving the purpose of the rotating member 134 pushing the transmission member 131 to translate laterally.

[0094] Furthermore, the connection between the aforementioned protrusion 134b and the transmission member 131 can be a contact connection. Alternatively, the connection between the aforementioned protrusion 134b and the transmission member 131 can also be a non-contact connection. Non-contact connections can be achieved, for example, but not limited to, using magnetic repulsion. Of course, to further simplify the overall structure, in such cases... Figures 1 to 8 In the structure shown, the protrusion 134b and the transmission member 131 are mainly connected by contact.

[0095] The specific form of the rotating component 134 mentioned above is not limited:

[0096] The rotating body 134a and the protruding part 134b can be integrally formed. Alternatively, the rotating body 134a and the protruding part 134b can be detachably or non-detachably connected after being separately formed.

[0097] The radial cross-sectional shape of the rotating body 134a can be approximately circular. However, the radial cross-sectional shape of the outwardly protruding portion 134b is not limited and can be, but is not limited to, a rectangle, circle, ellipse, or a suitable irregular shape extending radially. For example… Figure 4 In the structure shown, the radial cross-sectional shape of the rotating body 134a is approximately circular. The radial cross-sectional shape of the outward protrusion 134b is approximately circular, covering the notch of the rotating body 134a. The rotating body 134a and the outward protrusion 134b together form a perfect circle.

[0098] Generally, the outer peripheral sidewalls of the rotating body 134a and / or the outer peripheral sidewalls of the protrusion 134b are provided in a convex arc shape. The convex arc shape of the outer peripheral sidewalls of the rotating body 134a helps reduce interference between the rotating body 134a and the peripheral components during rotation. The convex arc shape of the outer peripheral sidewalls of the protrusion 134b also helps to make the contact and separation of the two components smoother and more seamless when they are engaged and disengaged with the transmission component 131.

[0099] Furthermore, the external protrusions 134b on the same rotating body 134a can be one or at least two. Specifically, when at least two external protrusions 134b are provided:

[0100] Each of the protruding portions 134b can be arranged sequentially along the circumference of the rotating body 134a. This allows the transmission member 131 to be driven by at least two lateral translational forces when the rotating member 134 rotates one revolution.

[0101] The protrusion height of each of the external protrusions 134b relative to the rotating body 134a can be set to be the same. This ensures that the distance of lateral translation of the transmission member 131 is kept essentially constant each time it is driven.

[0102] Alternatively, the protrusion heights of at least two of the protrusions 134b relative to the rotating body 134a can be set differently. This ensures that during the lateral translation of the transmission member 131, at least two translation distances are different, ultimately resulting in different deflection angles of the shaft 121. Thus, the above objective can be achieved by appropriately setting the positions of the protrusions 134b with different protrusion heights in the circumferential direction of the rotating body 134a, and by appropriately switching between forward and reverse rotation of the rotating member 134.

[0103] The specific form of the transmission component 131 is not limited. The aim is to better achieve a disengaging connection between the transmission component 131 and the rotating component 134, and to achieve a pivotal connection between the transmission component 131 and the first connecting rod 132 and the second connecting rod 133. For example... Figures 6 to 8 As shown, the transmission component 131 includes a transmission body 131a and two extension arms 131b. The transmission body 131a is laterally slidably mounted between the two traveling components 120. The transmission body 131a is located on one longitudinal side of the rotating component 134. The two extension arms 131b are respectively disposed on both lateral sides of the transmission body 131a. One end of each extension arm 131b is connected and fixed to the transmission body 131a. The other end of each extension arm 131b extends longitudinally to the radial side of the rotating component 134, so that when the rotating component 134 rotates, the extension arm 131b can be disengaged into contact with the outward protrusion 134b.

[0104] The extension arm 131b, by flexibly setting its extension length and shape, provides sufficient space for the proper placement of the rotating component 134 and the transmission body 131a. The extension arm 131b and the transmission body 131a can be integrally formed. Alternatively, the extension arm 131b and the transmission body 131a can be separately formed and then connected in a detachable or non-detachable manner.

[0105] Furthermore, one of the shaft end faces of the base 110 and the rotating member 134 is provided with a limiting groove 112b, and the other is provided with a limiting protrusion 134d. The limiting groove 112b extends in the shape of a notched ring to accommodate the rotation direction of the rotating member 134. The limiting protrusion 134d extends into the limiting groove 112b and is driven to slide within the limiting groove 112b when the rotating member 134 rotates.

[0106] The arc radius of the limiting groove 112b determines the maximum rotation angle range of the rotating component 134, which in turn determines the maximum deflection range of the shaft 121. In practical applications, the arc radius of the limiting groove 112b can be set within a range of not less than 60° and not more than 150°, which is more suitable for the actual steering requirements in cleaning equipment.

[0107] Based on the above, firstly as Figure 6 As shown, when the base module 100 is in a straight-line state (mainly referring to the state of the shaft 121; for the whole machine, it is not limited to the base module 100 currently having to move longitudinally forward or backward. It can also be stationary), the linkage mechanism is in its initial state. In the initial state, the first link 132 extends approximately longitudinally. The rotating member 134 is approximately at position T0. At this time, the outer protrusion 134b of the rotating member 134 is approximately located between the two extended arms 131b. Specifically, the outer protrusion 134b of the rotating member 134 can be positioned towards the transmission body 131a. Alternatively, the outer protrusion 134b of the rotating member 134 can extend in a direction away from the transmission body 131a.

[0108] Then as Figure 7 As shown, the rotating body 134a rotates to the left around the rotation axis O1, causing the outer protrusion 134b to revolve to the left around the rotation axis O1. When the rotating part 134 rotates approximately to position T1, the outer protrusion 134b contacts the transmission part 131 and drives the transmission part 131 to translate to the left. The transmission part 131 drives the second connecting rod 133 and the first connecting rod 132 to swing to the right in sequence, which in turn drives the shaft 121 to rotate to the right around the convex axis. Finally, the purpose of turning the wheel 122 to the right is achieved.

[0109] Conversely, if Figure 8As shown, the rotating body 134a rotates to the right around the rotation axis O1, causing the outer protrusion 134b to revolve to the right around the rotation axis O1. When the rotating part 134 rotates approximately to position T2, the outer protrusion 134b contacts the transmission part 131 and drives the transmission part 131 to translate to the right. The transmission part 131 drives the second connecting rod 133 and the first connecting rod 132 to swing to the left in sequence, which in turn drives the shaft 121 to rotate to the left around the convex axis. Finally, the purpose of turning the wheel 122 to the left is achieved.

[0110] Furthermore, the base module 100 described in one or more of the above embodiments can be applied in cleaning equipment in any manner.

[0111] It is understood that the cleaning equipment may also include a body module 200. Taking a handheld floor scrubber as an example: the body module 200 extends in an elongated shape. It should be noted that the length direction of the body module 200 can be vertical, or it can be perpendicular to the vertical direction. The angle at the intersection is generally an acute angle. The body module 200 may include, but is not limited to, an elongated rod and functional modules such as a drive motor and battery housed within the rod. A portion of the rod forms a gripping component for the user to hold.

[0112] Therefore, the fuselage module 200 and the aforementioned base module 100 can be set up independently of each other. That is, the fuselage module 200 does not directly participate in any function related to the deflection of the shaft 121 in the aforementioned base module 100.

[0113] Of course, the fuselage module 200 and the aforementioned base module 100 can also be associated.

[0114] Specifically, for example, the body module 200 is positioned at the base 110. When the cleaning equipment is a handheld floor scrubber, the body module 200 stands upright above the base 110. The body module 200 is also directly or indirectly connected to the shaft 121. Thus, when the body module 200 is positioned relative to the base 110, it can drive the shaft 121 to rotate, which in turn drives the wheel 122 to rotate. During this process, the rotation direction of the body module 200 and the final deflection direction of the wheel 122 are essentially the same. This allows the user to directly rotate the body module 200 to achieve the purpose of driving the wheel 122 to rotate. This operation method is more labor-saving and easier to implement.

[0115] In the above embodiments, the fuselage module 200 and the drive mechanism can be set up separately and independently. The drive mechanism is the mechanism in the drive device 130 that mainly provides driving force to the transmission mechanism. This allows the user to both operate the wheel 122 to deflect through the drive mechanism and operate the fuselage module 200 to rotate the wheel 122.

[0116] Alternatively, the fuselage module 200 in the above embodiments can be directly or indirectly connected to the drive mechanism to form the power source of the drive mechanism.

[0117] Alternatively, the fuselage module 200 in the above embodiments can at least partially constitute the drive mechanism. Specifically, when the drive mechanism includes the rotating member 134 as described above:

[0118] At least a portion of the fuselage module 200 can directly constitute the rotating member 134. For example, at least a portion of the fuselage module 200 is cylindrical, and the radial cross-sectional area of ​​this portion is eccentrically circular. This portion of the fuselage module 200 directly constitutes the rotating member 134. This makes the rotating member 134 cylindrical, and the radial cross-sectional shape of the rotating member 134 is eccentrically circular. When the user operates the fuselage module 200 to rotate relative to the base 110 of the base module 100 about its own axis of rotation, it is equivalent to directly operating the rotating member 134 to rotate.

[0119] Alternatively, at least a portion of the fuselage module 200 may constitute a component for driving the rotating member 134 to rotate. In this case, when the user operates the fuselage module 200 to rotate relative to the base 110 of the base module 100 about its own axis of rotation, a portion of the fuselage module 200 is connected to the rotating member 134 and drives the rotating member 134 to rotate.

[0120] In such Figures 1 to 8 In the structure shown, the fuselage module 200 includes a cylindrical member. The cylindrical member extends in a generally straight vertical direction. Alternatively, the cylindrical member extends in a generally partially curved vertical direction. The cylindrical member and the rotating member 134 are integrally formed. Alternatively, the cylindrical member and the rotating member 134 are separately formed and then connected in a detachable or non-detachable manner.

[0121] One of the cylindrical / rotating component 134 and the base 110 may be provided with a plugging protrusion 112a, and the other with a plugging recess 134c. The plugging protrusion 112a protrudes and, after fitting with the plugging recess 134c, the two can be rotatably engaged. In this way, the body module 200 can be rotatably mounted on the base module 100 about an axis extending along its own length.

[0122] It should be noted that when the fuselage module 200 and the base module 100 are assembled in place, for example, when the cylindrical part mentioned above is assembled onto the base 110 of the base module 100, the fuselage module 200 can only have a degree of rotational freedom relative to the base 110 about an axis extending along its own length direction.

[0123] Alternatively, the fuselage module 200 may also have other translational and / or rotational degrees of freedom relative to the base 110. Specifically, for example, the base 110 includes a fixed base 111 and a movable base 112. In addition to the fuselage module 200 being rotatably mounted to the movable base 112 about an axis extending along its own length direction as described above, the movable base 112 may also be rotatably mounted to the base 110 about an axis extending laterally or longitudinally.

[0124] For example Figure 2 Taking the structure shown as an example, the cylindrical component of the body module 200 can also be rotatably mounted on the fixed base 111 about an axis extending laterally. In this way, the user can also operate the body assembly to rotate forward or backward relative to the fixed base 111, which is equivalent to achieving folding between the body module 200 and the base module 100 within a range of 0° and 90°. Thus, especially when the cleaning equipment is used in low-ceilinged spaces, such as under a table or bed, by appropriately folding the body module 200 and the base module 100, it is easier for the cleaning equipment to enter and exit these spaces, enabling more efficient cleaning work.

[0125] The aforementioned cleaning equipment can be produced and applied independently. Alternatively, the cleaning equipment can be produced and applied in conjunction with dedicated or shared base stations. In this case, the present invention also provides a cleaning system. This cleaning system includes the cleaning equipment described above and a base station.

[0126] The cleaning equipment and the base station have docked and disconnected states. In the disconnected state, the cleaning equipment can automatically or be manually operated by the user to perform various preset cleaning functions. In the docked state, the base station can be configured to perform preset functions on the cleaning equipment after docking, according to actual needs. These preset functions may include, but are not limited to, charging the cleaning equipment, collecting and cleaning the dirt gathered by the cleaning equipment, and disinfecting and cleaning the cleaning equipment's dustbin, etc.

[0127] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A base module for use in cleaning equipment, characterized in that, include: Base; Two traveling components are respectively disposed on both sides of the base. Each traveling component includes an axle and a wheel. One end of the axle is rotatably mounted to the wheel, and the other end is rotatably mounted to the base about a vertically extending axis. A drive device is provided on the base and connected to the shaft to drive the shaft to deflect.

2. The base module as described in claim 1, characterized in that, The same drive device is linked to two walking components so that the two shafts can be driven to deflect synchronously along the same circumference.

3. The base module as described in claim 1, characterized in that, The driving device includes: A linkage mechanism, movably mounted on the base and located between the two traveling components, is pivotally connected to each of the two shafts; and, A drive mechanism is located on the base and is drivenly connected to the linkage mechanism.

4. The base module as described in claim 3, characterized in that, The linkage mechanism includes: A transmission component, laterally slidably mounted between the two traveling components; and, Two first connecting rods are provided one-to-one with the two shafts. One end of each first connecting rod is connected and fixed to the side wall of the corresponding shaft, and the other end is pivotally connected to the adjacent end of the transmission component. The drive mechanism drives the transmission component to translate laterally.

5. The base module as described in claim 4, characterized in that, The linkage mechanism further includes two second links, which are arranged one-to-one between the two first links and the transmission member. One end of each second link is pivotally connected to the corresponding first link, and the other end is pivotally connected to the adjacent end of the transmission member.

6. The base module as described in claim 4, characterized in that, One of the base and the transmission component is provided with a guide hole, and the other is provided with a guide protrusion. The guide hole extends in an elongated shape in the transverse direction, and the guide protrusion extends into the guide hole and is driven to slide in the guide hole when the transmission component moves in the transverse direction.

7. The base module as described in claim 4, characterized in that, The drive mechanism includes a rotating component rotatably mounted on the base. The rotation axis of the rotating component extends vertically or in a direction intersecting the vertical. The rotation axis of the rotating component is offset from its geometric center to define a rotating body and an outwardly protruding portion that protrudes radially along the rotating body. During rotation, the protrusion and the transmission member can be engaged and disengaged, and when they are engaged, the transmission member is pushed to translate laterally.

8. The base module as described in claim 7, characterized in that, The transmission component includes: The transmission body is laterally slidably mounted between the two traveling components and located on one longitudinal side of the rotating member; and, Two extension arms are respectively disposed on the lateral sides of the transmission body. One end of each extension arm is connected and fixed to the transmission body, and the other end extends longitudinally to the radial side of the rotating member, so that the extension arm can be disengaged from the protrusion when the rotating member rotates.

9. The base module as described in claim 7, characterized in that, One of the shaft end faces of the base and the rotating component is provided with a limiting groove, and the other is provided with a limiting protrusion. The limiting groove is adapted to extend in the shape of a notched ring in the rotation direction of the rotating component. The limiting protrusion extends into the limiting groove and is driven to slide in the limiting groove when the rotating component rotates.

10. A cleaning device, characterized in that, Includes the base module as described in any one of claims 1 to 9.

11. A cleaning device, characterized in that, include: Base; Two traveling components are respectively disposed on both sides of the base. Each traveling component includes an axle and a wheel. One end of the axle is rotatably mounted to the wheel, and the other end is rotatably mounted to the base about a vertically extending axis. A fuselage module is disposed on the base and is connected to the shaft for transmission. The fuselage module rotates to drive the shaft to deflect so that the orientation of the wheel is the same as the rotation direction of the fuselage module.

12. A cleaning device, characterized in that, include: fuselage module; as well as, The base module includes a base, two walking components, and a drive device. The two walking components are respectively disposed on the lateral sides of the base. Each walking component includes a shaft and a wheel. One end of the shaft is rotatably mounted to the wheel, and the other end is rotatably mounted to the base about a vertically extending axis. The drive device includes a drive mechanism and a transmission mechanism connecting the drive mechanism and the shaft, so that under the drive of the drive mechanism, the transmission mechanism drives the shaft to deflect relative to the base. The fuselage module is rotatably mounted on the base module about an axis extending along its own length, and the fuselage module at least partially constitutes the drive mechanism.

13. The cleaning equipment as described in claim 12, characterized in that, The transmission mechanism is a linkage mechanism, which includes: A transmission component, laterally slidably mounted between the two traveling components; and, Two first connecting rods are provided one-to-one with the two shafts. One end of each first connecting rod is connected and fixed to the side wall of the corresponding shaft, and the other end is pivotally connected to the adjacent end of the transmission component. The fuselage module includes a rotating component, which is rotatably mounted on the base about an axis extending along the length of the fuselage module. The axis of rotation of the rotating component is offset from its geometric center to form a rotating body and an outward protrusion protruding along the rotational radial direction of the rotating body. During rotation, the outward protrusion and the transmission component can be engaged and disengaged, and when they are engaged, the transmission component is pushed to translate laterally.

14. The cleaning equipment as described in claim 13, characterized in that, The rotating component is cylindrical in shape, and its radial cross-section is eccentrically circular.

15. The cleaning equipment as described in claim 12, characterized in that, The base includes a fixed base and a movable base, and the body module is rotatably mounted on the movable base about an axis extending along its own length. The movable seat is rotatably mounted on the fixed seat about an axis extending laterally or longitudinally.

16. A cleaning system, characterized in that, Including base stations and cleaning equipment; The cleaning equipment includes a base module as described in any one of claims 1 to 9; or the cleaning equipment is the cleaning equipment as described in any one of claims 10 to 15.

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