A cleaning module and a cleaning robot

Abstract

The utility model provides a kind of cleaning module and cleaning robot, belong to cleaning robot technical field.Cleaning module, applied to cleaning robot, including connecting seat, swing piece, limit shaft and drive arrangement;Swing piece, one end is rotatably connected in connecting seat, another end is equipped with rotatable cleaning piece;Limit shaft is rotatably connected in swing piece and is positioned in connecting seat;Drive arrangement is configured as can drive swing piece swing relative to connecting seat around limit shaft, to drive cleaning piece moves between retracted position and extended position, drive arrangement can also drive cleaning piece to rotate;Cleaning module has first cleaning mode and second cleaning mode, in first cleaning mode, cleaning piece is located in retracted position, in second cleaning mode, cleaning piece is located in extended position.The cleaning module provided in the present application can clean the corners of indoor walls, wall edges and cabinet corner areas, improving the comprehensiveness of the cleaning range.

Description

[0001] This application claims priority to Chinese Patent Application No. 202421784701.4, filed on July 25, 2024, entitled "A Cleaning Module and Cleaning Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This utility model relates to the field of cleaning robot technology, and in particular to a cleaning module and a cleaning robot. Background Technology

[0003] As society develops, more and more users are dissatisfied with the amount of time spent on household cleaning, and their willingness to purchase cleaning robots to clean their home floors is constantly increasing.

[0004] However, existing cleaning robots often fail to clean corners, edges, or cabinet edges thoroughly, affecting the user experience. Utility Model Content

[0005] In view of this, the purpose of this utility model is to overcome the shortcomings of the prior art and provide a cleaning module and a cleaning robot.

[0006] In a first aspect, this utility model provides a cleaning module applied to the bottom of a cleaning robot, comprising:

[0007] Connector;

[0008] The swinging component has one end rotatably connected to the connecting seat, and the other end is equipped with a rotatable cleaning component;

[0009] A limiting shaft is rotatably connected to the swing member and positioned on the connecting seat;

[0010] The drive device is configured to drive the swing member to swing relative to the connecting seat about the limiting axis, thereby moving the cleaning member between a retracted position and an extended position. The drive device is also capable of driving the cleaning member to rotate.

[0011] The cleaning module has a first cleaning mode and a second cleaning mode. In the first cleaning mode, the cleaning component is located in the retracted position, and in the second cleaning mode, the cleaning component is located in the extended position.

[0012] In some embodiments, the drive device is disposed on the oscillating member and is capable of oscillating with the oscillating member.

[0013] In some embodiments, the cleaning component is disposed on the swinging component and can float up and down; when the cleaning component starts to rotate, the cleaning component moves downward relative to the swinging component to touch the ground, and when the cleaning component stops rotating, the cleaning component moves upward relative to the swinging component to move away from the ground.

[0014] In some embodiments, the drive device is configured to drive the cleaning component to move downward relative to the oscillating component.

[0015] In some embodiments, the cleaning module includes a reset mechanism for moving the cleaning component upward away from the ground when the cleaning component stops rotating.

[0016] In some embodiments, the oscillating element includes a housing and a transmission assembly;

[0017] The housing defines a receiving cavity, the transmission assembly is disposed in the receiving cavity, one end of the transmission assembly is drivenly connected to the connecting seat, the other end of the transmission assembly is drivenly connected to the cleaning component, and the limiting shaft passes through the receiving cavity.

[0018] In some embodiments, the motor output shaft of the drive device is connected to the transmission assembly in a transmission manner;

[0019] In the first cleaning mode, the motor output shaft rotates along a first direction; in the second cleaning mode, the motor output shaft rotates along a second direction.

[0020] When the rotation direction of the motor output shaft changes from the first direction to the second direction, the cleaning module switches from the first cleaning mode to the second cleaning mode.

[0021] When the rotation direction of the motor output shaft changes from the second direction to the first direction, the cleaning module switches from the second cleaning mode to the first cleaning mode; the cleaning component rotates in the same direction in both the first and second cleaning modes.

[0022] In some embodiments, the transmission assembly includes a first rotary transmission assembly and a second rotary transmission assembly;

[0023] One end of the first rotary transmission assembly is connected to the connecting seat, the other end of the first rotary transmission assembly is connected to one end of the second rotary transmission assembly, and the other end of the second rotary transmission assembly is connected to the cleaning component.

[0024] The first rotary transmission component or the second rotary transmission component is rotatably connected to the output shaft of the motor.

[0025] In some embodiments, the first rotary transmission assembly includes a first gear set, a second gear set, and a third gear that are sequentially connected in a transmission manner;

[0026] The first gear set is driven to the output shaft of the motor, the second gear set is sleeved on the limiting shaft, and the third gear is driven to the connecting seat;

[0027] When the first gear set changes its rotation direction, it can drive the swinging component to change its swing direction through the second gear set and the third gear, so that the cleaning module can switch between the first cleaning mode and the second cleaning mode.

[0028] In some embodiments, the first gear set includes a first transmission gear and a second transmission gear coaxially connected, and the second gear set includes a third transmission gear and a fourth transmission gear coaxially connected.

[0029] The first transmission gear is rotatably connected to the output shaft of the motor, the second transmission gear is rotatably connected to the third transmission gear, and the fourth transmission gear is rotatably connected to the third gear.

[0030] In some embodiments, the gear shafts of the first gear set and the second gear set are parallel to each other, the motor output shaft is connected to the first transmission gear via a worm gear, and the motor output shaft is perpendicular to the gear shaft of the first gear set.

[0031] In some embodiments, the second rotary transmission assembly includes a third gear set, a fourth gear set, and a cleaning component gear that are sequentially connected in a transmission manner;

[0032] The third gear set is connected to the output shaft of the motor or the first gear set. The cleaning component gear is a helical gear. The first helical gear in the fourth gear set meshes with the cleaning component gear to give the cleaning component gear a downward force, thereby driving the cleaning component to descend relative to the swinging component.

[0033] In some embodiments, the second rotary transmission assembly further includes an adjusting gear set and a fifth helical gear connected in transmission; the third gear set includes a fifth transmission gear and a third helical gear, the adjusting gear set includes a sixth transmission gear, a movable helical gear and a fourth helical gear connected in coaxial direction, and the fourth gear set includes a seventh transmission gear and a first helical gear;

[0034] The third helical gear is rotatably connected to the movable helical gear, the sixth transmission gear meshes with the seventh transmission gear, and the fourth helical gear and the first helical gear mesh with the fifth helical gear respectively;

[0035] When the fifth transmission gear changes its rotation direction, it can rotate in different directions through the third helical gear, thereby allowing the movable helical gear to be selectively coaxially connected to the sixth transmission gear or the fourth helical gear.

[0036] Secondly, this application provides a cleaning robot, comprising: a main unit capable of automatically moving on the ground and the cleaning module described above;

[0037] The cleaning module is located at the bottom of the main unit.

[0038] The embodiments of this utility model have the following advantages: The cleaning module provided by this application can not only clean the corners, edges and cabinet edges of the room, improving the comprehensiveness of the cleaning range, but also, by installing the drive device on the swinging part, the drive device can not only drive the swinging part to swing, but also swing synchronously with the swinging part, thereby reducing the space occupation rate of the drive device in the main unit of the cleaning robot, improving the space utilization rate of the main unit of the cleaning robot, and thus improving the user experience.

[0039] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This diagram shows a structural schematic of a cleaning module provided by some embodiments of the present invention from one perspective;

[0042] Figure 2 This diagram shows a structural schematic of a transmission component in a cleaning module according to some embodiments of the present invention;

[0043] Figure 3 This diagram illustrates a structural schematic from another perspective of a transmission component in a cleaning module according to some embodiments of the present invention;

[0044] Figure 4 This diagram shows a structural schematic of a cleaning robot provided by some embodiments of the present invention from one perspective;

[0045] Figure 5This invention provides a schematic diagram of the connection between a cleaning component and a cleaning gear in a cleaning module according to some embodiments of the present invention.

[0046] Figure 6 It shows Figure 5 Sectional view of section AA;

[0047] Figure 7 This invention provides a schematic diagram of the connection between a cleaning component and a cleaning gear in a cleaning module according to some embodiments of the present invention.

[0048] Figure 8 This diagram shows a structural schematic of the upper shell in a cleaning module according to some embodiments of the present invention;

[0049] Figure 9 This diagram shows a structural schematic from one perspective of the combination of a cleaning component gear and a friction component in a cleaning module according to some embodiments of the present invention;

[0050] Figure 10 This invention provides a schematic diagram of the structure of a cleaning module in which the cleaning component gear and the friction component are combined, from another perspective, according to some embodiments of the present invention.

[0051] Figure 11 It shows Figure 10 Sectional view of the middle BB section;

[0052] Figure 12 This diagram shows a structural schematic of a connecting shaft in a cleaning module according to some embodiments of the present invention;

[0053] Figure 13 This diagram illustrates the structure of a side brush assembly in a cleaning module according to some embodiments of the present invention.

[0054] Figure 14 It shows Figure 13 Cross-sectional view of the central CC section.

[0055] Explanation of key component symbols:

[0056] 100-Connecting seat; 110-Rack; 120-Mounting slot; 200-Swinging component; 210-Housing; 211-Upper housing; 2111-Arc groove; 212-Lower housing; 220-Transmission assembly; 221-First rotary transmission assembly; 2211-First gear set; 22111-First transmission gear; 22112-Second transmission gear; 22122-Second gear set; 22121-Third transmission gear; 22122-Fourth transmission gear; 2213-Third gear; 222-Second rotary transmission assembly; 2221-Third gear set; 22211-Fifth transmission gear; 22212-Third helical gear; 2222-Adjusting gear set; 22221-Sixth transmission gear; 22222-Modible helical gear; 22223-Fourth helical gear (fourth spur gear); 2223-Fifth helical gear (Fifth spur gear); 2224-Fourth gear set; 22241-Seventh transmission gear; 22242-First helical gear (first spur gear); 2225-Cleaning component gear; 300-Cleaning component; 400-Limiting shaft; 500-Drive device; 510-Motor output shaft; 520-Worm gear; 600-Elastic component; 700-Main unit; 22251-First connecting component; 310-Second connecting component; 22252-Notch; 311-Receiving groove; 312-Third protrusion; 22253-Helical protrusion; 22254-Limiting part; 22255-Gear action part; 800-Connecting shaft; 811-Helical groove; 820-Connecting column; 1000-Friction component; 1100-Friction part; 1110-Friction plate; 1200-Support component; 1210-Connecting hole; 320-Side brush housing. Detailed Implementation

[0057] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0058] It should be noted that when an element is said to be "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly on" another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0059] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0062] like Figure 1 , Figure 2 and Figure 4 As shown, some embodiments of this application provide a cleaning module applied to the bottom of the cleaning robot host 700 to improve the space utilization of the cleaning robot and improve the cleaning efficiency of the cleaning robot.

[0063] The cleaning module includes a connector 100, a swing element 200, a limit shaft 400, and a drive unit 500.

[0064] The connector 100 is used to fix the bottom of the main unit 700 in the cleaning robot. The connection method includes any one of threaded fastener (such as bolt or screw) connection, snap-fit, adhesive bonding or integral molding.

[0065] In this embodiment, the connector 100 is fixedly connected to the bottom of the host 700 by threaded fasteners to improve the stability of the connection between the connector 100 and the host 700, and at the same time to facilitate installation or disassembly.

[0066] One end of the swing member 200 is rotatably connected to the connecting seat 100, meaning that the swing member 200 can rotate relative to the connecting seat 100. The other end of the swing member 200 is equipped with a rotatable cleaning member 300, meaning that the cleaning member 300 can rotate on the swing member 200.

[0067] The cleaning component 300 can be any one of a mop, a side brush, a roller, or a side brush assembly. It should be noted that, in a specific embodiment, the cleaning component 300 is a side brush, used to clean wall edges, corners, table corners, cabinet edges, or cabinet corners.

[0068] Additionally, the limiting shaft 400 is rotatably connected to the swing member 200 and positioned on the connecting seat 100, so as to connect the swing member 200 and the connecting seat 100 through the limiting shaft 400, so that the swing member 200 swings around the limiting shaft 400.

[0069] It should be noted that the axis of the limiting shaft 400 is perpendicular to the rotation direction of the swing member 200 and can be set to the vertical direction. The positioning of the limiting shaft 400 relative to the connecting seat 100 means that the position of the limiting shaft 400 relative to the connecting seat 100 is fixed and will not move relative to the horizontal or vertical direction.

[0070] The drive unit 500 is configured to drive the swing member 200 to swing relative to the connecting seat 100 about the limiting shaft 400, thereby driving the cleaning member 300 to move between the retracted position and the extended position through the swing member 200. The drive unit 500 can also drive the cleaning member 300 to rotate.

[0071] In this embodiment, the cleaning module has a first cleaning mode and a second cleaning mode. In the first cleaning mode, the cleaning component 300 is in the retracted position.

[0072] It should be noted that the first cleaning mode refers to cleaning flat floors, carpets, or sloping surfaces. At this time, when cleaning is not required by the cleaning component 300, the swing component 200 is retracted by the drive device 500, thereby causing the cleaning component 300 to retract as well. This prevents the cleaning module from encountering various obstacles (such as table corners or cabinets) during the cleaning process, thus protecting the cleaning module and ensuring the smoothness of the cleaning robot during the cleaning process.

[0073] In the second cleaning mode, the cleaning component 300 is in the extended position.

[0074] It should be noted that the second cleaning mode refers to the use of a drive device 500 to control the extension of the swing component 200 when cleaning the corners or wall corners. This causes the cleaning component 300 to extend, and the cleaning component 300 is in the extended position and can rotate, thereby cleaning the corners or wall corners.

[0075] It is understandable that the swinging member 200 is driven to swing by the drive device 500 to retract or extend, thereby causing the cleaning member 300 to move between the retracted position and the extended position.

[0076] In some embodiments of this application, the drive device 500 is disposed on the swing member 200 and can swing with the swing member 200. By mounting the drive device 500 on the swing member 200, the drive device 500 can not only drive the swing member 200 to swing, but also swing synchronously with the swing member 200. This reduces the space occupied by the drive device 500 in the main unit 700 of the cleaning robot, improves the space utilization of the main unit 700, and thus improves the user experience. Moreover, by movably connecting the drive device 500 to the main unit 700 of the cleaning robot, it is convenient to repair or replace the drive device 500, simplifying the repair difficulty and reducing the repair cost.

[0077] like Figure 2 and Figure 4 As shown in some embodiments of this application, the cleaning component 300 is disposed on the swing component 200 and can float up and down. When the cleaning component 300 starts to rotate, the cleaning component 300 moves downward relative to the swing component 200 to touch the ground; when the cleaning component 300 stops rotating, the cleaning component 300 moves upward relative to the swing component 200 to move away from the ground.

[0078] like Figure 2 As shown, in some embodiments of this application, the drive device 500 is configured to drive the cleaning member 300 to move downward relative to the swing member 200.

[0079] In some embodiments of this application, the cleaning module includes a reset mechanism for moving the cleaning component 300 upward away from the ground when the cleaning component 300 stops rotating. The reset mechanism includes an elastic element. When the cleaning component 300 moves downward to contact the ground, the elastic element is compressed. When the drive device 500 is turned off, the cleaning component 300 stops rotating, and the elastic element returns from the compressed state to its natural state, thereby causing the cleaning component to move upward. Alternatively, when the cleaning component 300 moves downward to contact the ground, the elastic element is stretched. When the drive device 500 is turned off, the cleaning component 300 stops rotating, and the elastic element returns from the stretched state to its natural state, thereby causing the cleaning component 300 to move upward.

[0080] like Figure 2 As shown, in some embodiments of this application, the swing member 200 includes a housing 210 and a transmission assembly 220.

[0081] The housing 210 defines a receiving cavity, and the transmission assembly 220 is disposed within the receiving cavity. One end of the transmission assembly 220 is connected to the connecting seat 100, and the limiting shaft 400 passes through the receiving cavity. It should be noted that the drive device 500 can control the rotation of the transmission assembly 220, and during the rotation of the transmission assembly 220, control the swing member 200 to rotate relative to the connecting seat 100 about the limiting shaft 400 as its axis, thereby controlling the cleaning module to rotate to the first cleaning mode or the second cleaning mode, or controlling the cleaning module to switch between the first cleaning mode and the second cleaning mode.

[0082] In addition, the other end of the transmission assembly 220 away from the connecting seat 100 is connected to the cleaning component 300 so that the cleaning component 300 can be driven to rotate through the transmission assembly 220, thereby cleaning the wall edges, corners or cabinet edges through the cleaning component 300.

[0083] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the drive device 500 includes a drive motor connected to the housing 210, and the motor output shaft 510 of the drive motor is connected to the transmission assembly 220. The drive motor includes a motor body and a motor output shaft 510. The motor body is fixed or limited on the housing 210 so as to remain stationary with respect to the housing 210. The motor output shaft 510 rotates relative to the motor body and the housing 210, and drives the gears on the transmission assembly 220 to rotate.

[0084] In some embodiments, the motor output shaft 510 of the drive motor is connected to the transmission assembly 220 via a worm gear mechanism. The motor output shaft 510 of the drive motor is connected to a worm 520, and the transmission assembly 220 is connected to a worm wheel. Alternatively, the motor output shaft 510 of the drive motor is connected to a worm wheel, and the transmission assembly 220 is connected to a worm 520.

[0085] In the first cleaning mode, the motor output shaft 510 rotates along the first direction; in the second cleaning mode, the motor output shaft 510 rotates along the second direction. It should be noted that if the first direction is clockwise, the second direction is counterclockwise; conversely, if the first direction is counterclockwise, the second direction is clockwise.

[0086] When the rotation direction of the motor output shaft 510 changes from the first direction to the second direction, the cleaning module switches from the first cleaning mode to the second cleaning mode.

[0087] When the rotation direction of the motor output shaft 510 changes from the second direction to the first direction, the cleaning module switches from the second cleaning mode to the first cleaning mode.

[0088] Understandably, the cleaning module can be switched between the first cleaning mode and the second cleaning mode by switching the rotation direction of the motor output shaft 510.

[0089] like Figures 1 to 3 As shown, in some embodiments of this application, the cleaning component 300 rotates in the same direction in both the first cleaning mode and the second cleaning mode.

[0090] It is understood that the cleaning component 300 rotates in the clockwise direction in both the first and second cleaning modes, or rotates in the counterclockwise direction in both the first and second cleaning modes.

[0091] In this embodiment, by controlling the rotation direction of the cleaning component 300 to remain unchanged, the cleanliness of the cleaning can be improved, and the rotation direction of the cleaning component 300 can be avoided due to the change in the rotation direction of the motor output shaft 510, thereby ensuring the cleanliness of the cleaning.

[0092] It should be noted that initially, when the drive unit 500 is not activated, the cleaning component 300 does not rotate and is away from the ground. When the cleaning robot begins cleaning, the drive unit 500 is activated. In the first cleaning mode, the motor output shaft 510 rotates along the first direction. At this time, the drive unit 500 drives the cleaning component 300 to move downwards relative to the swinging component 200 and contact the ground. Simultaneously, the cleaning component 300 rotates to clean the ground, and is in the retracted position. When cleaning corners, walls, or cabinet edges, the cleaning robot switches from the first cleaning mode to the second cleaning mode. The motor output shaft 510 changes from rotating along the first direction to rotating along the second direction. The cleaning component 300 remains in contact with the ground and rotates and cleans in the same direction as in the first cleaning mode. The drive unit 500 drives the swinging component 200 to swing outwards relative to the connecting seat 100 around the limiting shaft 400, moving the cleaning component 300 from the retracted position to the extended position. When the cleaning robot finishes cleaning the corners, edges, or cabinet corners of the house, it switches from the second cleaning mode to the first cleaning mode. The motor output shaft 510 changes from rotating in the second direction to rotating in the first direction. The cleaning component 300 remains in contact with the ground and rotates and cleans in the same direction as the second cleaning mode. The drive unit 500 drives the swing component 200 to swing inward relative to the connecting seat 100 around the limiting shaft 400, moving the cleaning component 300 from the extended position to the retracted position. The cleaning component 300 always rotates in the same direction in any cleaning mode (first cleaning mode or second cleaning mode) to facilitate cleaning the floor. When the cleaning robot finishes cleaning or under other circumstances, the drive unit 500 is turned off, the cleaning component 300 stops rotating, and under the action of the reset mechanism connected to the swing component 200, the cleaning component 300 moves upward to move away from the ground. In some specific cases, the cleaning component 300 is a side brush. When the cleaning robot is mopping the floor, in order to make the cleaning robot mop the floor better, the drive device 500 needs to be turned off and the side brush stops rotating. Under the action of the reset mechanism connected to the swing component 200, the side brush moves upward relative to the swing component 200 to move away from the ground, which can prevent the side brush from contaminating the already mopped floor.

[0093] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the transmission component 220 includes a first rotary transmission component 221 and a second rotary transmission component 222. The first rotary transmission component 221 or the second rotary transmission component 222 is connected to the motor output shaft 510. It should be noted that the first rotary transmission component 221 or the second rotary transmission component 222 can be connected to the motor output shaft 510 through a worm gear mechanism.

[0094] One end of the first rotary transmission component 221 is connected to the connecting seat 100, so that the first rotary transmission component 221 can drive the swing member 200 to rotate around the limiting shaft 400 relative to the connecting seat 100 during the rotation process, so as to adjust the swing direction of the swing member 200 and thus adjust the cleaning mode of the cleaning module.

[0095] In addition, the other end of the first rotary transmission component 221 is rotatably connected to one end of the second rotary transmission component 222 so that the first rotary transmission component 221 and the second rotary transmission component 222 can rotate synchronously.

[0096] Furthermore, the other end of the second rotary transmission assembly 222 is connected to the cleaning component 300 in a transmission connection, so that the second rotary transmission assembly 222 can drive the cleaning component 300 to rotate during rotation.

[0097] In some embodiments, the second rotary transmission assembly 222 can also drive the cleaning component 300 to move downward relative to the swing component 200 during rotation.

[0098] In this embodiment, the first rotary transmission assembly 221 or the second rotary transmission assembly 222 is connected to the motor output shaft 510 for transmission, so that when the drive device 500 is running, the first rotary transmission assembly 221 is driven to rotate by the motor output shaft 510, and the first rotary transmission assembly 221 drives the second rotary transmission assembly 222 to rotate synchronously, thereby driving the cleaning component 300 to rotate by the second rotary transmission assembly 222, or the second rotary transmission assembly 222 is driven to rotate by the motor output shaft 510 to drive the cleaning component 300 to rotate synchronously.

[0099] like Figure 2 As shown, in some embodiments of this application, the first rotary transmission assembly 221 includes a first gear set 2211, a second gear set 2212 and a third gear 2213 connected in sequence. It should be noted that the sequential connection refers to the order in which the power is transmitted by the driving device, and other gear sets or gears may be provided between each gear set or gear.

[0100] The first gear set 2211 is connected to the motor output shaft 510 for transmission, that is, the first gear set 2211 can be directly driven to rotate during the rotation of the motor output shaft 510. The rotation direction of the first gear set 2211 can be controlled by controlling the rotation direction of the motor output shaft 510.

[0101] Furthermore, the second gear set 2212 is sleeved on the limiting shaft 400, and the second gear set 2212 is coaxially connected to the limiting shaft 400. It should be noted that since the limiting shaft 400 is positioned on the connecting seat 100 and rotatably connected to the swing member 200, the limiting shaft 400 and the connecting seat 100 remain relatively stationary during the swinging process of the swing member 200. By drivingly connecting the second gear set 2212 to the third gear 2213, and drivingly connecting the third gear 2213 to the connecting seat 100, the third gear 2213 and the first gear set 2211 rotate about the limiting shaft 400, thereby driving the swing member 200 to rotate about the limiting shaft 400.

[0102] It is understandable that when the first gear set 2211 changes its rotation direction, it can drive the swinging member 200 to change its swing direction through the second gear set 2212 and the third gear 2213, so that the cleaning module can switch between the first cleaning mode and the second cleaning mode, that is, the cleaning member 300 can switch between the retracted position and the extended position.

[0103] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the first gear set 2211 includes a first transmission gear 22111 and a second transmission gear 22112 coaxially connected, in which case the first transmission gear 22111 and the second transmission gear 22112 rotate synchronously.

[0104] In addition, the second gear set 2212 includes a third transmission gear 22121 and a fourth transmission gear 22122 that are coaxially connected. At this time, the third transmission gear 22121 and the fourth transmission gear 22122 rotate synchronously.

[0105] In this embodiment, the first transmission gear 22111 is driven to rotate via the motor output shaft 510, and the first transmission gear 22111 rotates synchronously via the motor output shaft 510. The second transmission gear 22112 is then driven to rotate synchronously via the first transmission gear 22111. The second transmission gear 22112 is then driven to rotate via the third transmission gear 22121, and the third transmission gear 22121 rotates synchronously via the third transmission gear 22121. The fourth transmission gear 22122 is then driven to rotate via the third gear 2213. During rotation, the third gear 2213 rotates around the limiting shaft 400, causing the swing member 200 to rotate around the limiting shaft 400. It can be understood that by controlling the rotation direction of the third gear 2213, the swing direction of the swing member 200 is adjusted, thereby adjusting the cleaning mode of the cleaning module. The cleaning member 300 can be controlled to switch between a retracted position and an extended position.

[0106] In some specific embodiments, the gear shaft of the first gear set 2211 is parallel to the gear shaft of the second gear set 2212, the motor output shaft 510 is connected to the first transmission gear 22111 through a worm gear 520, and the motor output shaft 510 is perpendicular to the gear shaft of the first gear set 2211.

[0107] like Figure 2 As shown, in some embodiments of this application, the second rotary transmission assembly 222 includes a third gear set 2221, a fourth gear set 2224, and a cleaning component gear 2225 that are sequentially connected in transmission. It should be noted that sequential transmission connection refers to the order in which power is transmitted by the driving device, and other gear sets or gears may be provided between each gear set or gear.

[0108] Among them, the third gear set 2221 is connected to the motor output shaft 510 or the first gear set 2211 for transmission. The cleaning component gear 2225 is a helical gear. The first helical gear 22242 in the fourth gear set 2224 meshes with the cleaning component gear 2225 to give the cleaning component gear 2225 a downward force, thereby driving the cleaning component 300 to descend relative to the swing component 200.

[0109] In some embodiments, the first gear set 2211 is connected to the motor output shaft 510 so that the motor output shaft 510 can drive the first gear set 2211 to rotate during rotation, and drive the third gear set 2221 to rotate through the first gear set 2211, thus providing power to the third gear set 2221. The third gear set 2221 also transmits power to the fourth gear set 2224. The first helical gear 22242 in the fourth gear set 2224 meshes with the cleaning component gear 2225 during rotation, thus providing a downward force to the cleaning component gear 2225, thereby driving the cleaning component 300 to descend relative to the swing component 200.

[0110] In some other embodiments, the third gear set 2221 may also be connected to the motor output shaft 510 for transmission.

[0111] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the second rotary transmission assembly 222 further includes an adjusting gear set 2222 and a fifth helical gear 2223 connected in transmission; the third gear set 2221 includes a fifth transmission gear 22211 and a third helical gear 22212, the fifth transmission gear 22211 and the third helical gear 22212 are coaxially connected, that is, the fifth transmission gear 22211 and the third helical gear 22212 rotate in the same direction.

[0112] The adjusting gear set 2222 includes a sixth transmission gear 22221, a movable helical gear 22222, and a fourth helical gear 22223, which are coaxially connected. It should be noted that the movable helical gear 22222 is movably disposed between the sixth transmission gear 22221 and the fourth helical gear 22223. That is, the movable helical gear 22222 can move between the sixth transmission gear 22221 and the fourth helical gear 22223 along the axial direction of the adjusting gear set 2222 to engage with the sixth transmission gear 22221 or the fourth helical gear 22223. The third helical gear 22212 can mesh with the movable helical gear 22222.

[0113] It is understood that by adjusting the rotation direction of the movable helical gear 22222, the movable helical gear 22222 can drive the fourth helical gear 22223 or the sixth transmission gear 22221 to rotate. That is, when the fifth transmission gear 22211 changes its rotation direction, it can rotate in different directions through the third helical gear 22212, thereby allowing the movable helical gear 22222 to be selectively coaxially connected to the sixth transmission gear 22221 or the fourth helical gear 22223.

[0114] like Figure 2 As shown, in some embodiments of this application, the fourth gear set 2224 includes a seventh transmission gear 22241 and a first helical gear 22242. It should be noted that the seventh transmission gear 22241 and the first helical gear 22242 are coaxially connected, that is, the seventh transmission gear 22241 and the first helical gear 22242 can rotate synchronously.

[0115] Among them, the sixth transmission gear 22221 meshes with the seventh transmission gear 22241, the fourth helical gear 22223 and the first helical gear 22242 mesh with the fifth helical gear 2223 respectively, and the cleaning component gear 2225 meshes with the first helical gear 22242.

[0116] Specifically, when the movable helical gear 22222 is connected to the sixth transmission gear 22221 during rotation, the movable helical gear 22222 drives the sixth transmission gear 22221 to rotate synchronously, and the sixth transmission gear 22221 drives the seventh transmission gear 22241 to rotate. The seventh transmission gear 22241 drives the first helical gear 22242 to rotate synchronously, thereby driving the cleaning component gear 2225 to rotate, and driving the cleaning component gear 2225 to drive the cleaning component 300 to rotate, so as to clean the corner of the wall. In addition, when the rotation direction of the movable helical gear 22222 changes, the movable helical gear 22222 is limited to the fourth helical gear 22223 and drives the fourth helical gear 22223 to rotate. The fourth helical gear 22223 drives the fifth helical gear 2223 to rotate, and the fifth helical gear 2223 drives the first helical gear 22242 to rotate. In turn, the first helical gear 22242 drives the cleaning component gear 2225 to rotate, and drives the cleaning component gear 2225 to drive the cleaning component 300 to rotate, so as to clean the corner of the wall.

[0117] It is understandable that the change in the rotation direction of the movable helical gear 22222 will not affect the change in the rotation direction of the cleaning component 300. In other words, the change in the rotation direction of the motor output shaft 510 will not affect the rotation direction of the cleaning component 300. That is, the cleaning component 300 rotates in the same direction in both the first cleaning mode and the second cleaning mode, thereby ensuring the cleaning quality of the cleaning module.

[0118] It should be noted that, in the specific embodiment, the motor output shaft 510 is horizontal, and the gear shafts of the gear sets or gears in the first rotary transmission assembly 221 and the second rotary transmission assembly 222 are vertical. That is, the gear shafts of the first gear set 2211, the second gear set 2212, the third gear 2213, the third gear set 2221, the fourth gear set 2224, the cleaning gear 2225, the adjusting gear set 2222, and the fifth helical gear 2223 are vertical.

[0119] like Figures 5 to 7 As shown, in some specific embodiments, the cleaning component 300 is a side brush, and the side brush is provided with a side brush housing 320. The cleaning component gear 2225 is fixedly provided with a first connector 22251 on the side near the side brush housing 320, and the side brush housing 320 is fixedly provided with a second connector 310 on the side near the cleaning component gear 2225.

[0120] In addition, during the rotation of the third helical gear 22212, the first connecting member 22251 can be driven to move closer to the second connecting member 310 through the cleaning member gear 2225. Since the first connecting member 22251 is connected to the cleaning member gear 2225, the first connecting member 22251 can rotate synchronously with the cleaning member gear 2225.

[0121] When the first connector 22251 is engaged with the second connector 310, the first connector 22251 drives the second connector 310 to rotate synchronously. This, in turn, causes the side brush housing 320 to rotate synchronously with the cleaning gear 2225, thus rotating the side brush. At this time, the side brush housing 320 does not move vertically. As the cleaning gear 2225 drives the first connector 22251 to move closer to the second connector 310, the gear action part 22255 fixedly connected to the bottom of the cleaning gear 2225 provides a force to the side brush. This causes the cleaning gear 2225 to move downwards, driving the side brush to descend relative to the oscillating member 200, allowing the side brush to move up and down relative to the side brush housing 320.

[0122] In one embodiment, the elastic element can be disposed inside the side brush housing 320, abutting or fixed between the inner top wall of the side brush housing 320 and the upper end of the side brush. When the gear action part 22255 at the bottom of the cleaning component gear 2225 moves downward and drives the side brush downward, the elastic element is stretched or compressed. When the drive device 500 stops rotating, the elastic element resets and drives the cleaning component gear 2225 upward. At the same time, the reset of the elastic element also drives the side brush to move upward relative to the swing component 200.

[0123] Understandably, when the third helical gear 22212 stops rotating, the cleaning component gear 2225 is reset under the elastic force of the elastic component of the reset mechanism, the first connecting component 22251 separates from the second connecting component 310, and the side brush moves upward.

[0124] Specifically, the first connector 22251 is a boss, and the edge of the boss is provided with multiple spaced notches 22252. The second connector 310 is a support platform, and the support platform is provided with a receiving groove 311 on the side facing the boss. The groove wall of the receiving groove 311 is provided with multiple spaced third protrusions 312, and each third protrusion 312 can be received in a notch 22252.

[0125] When the cleaning component gear 2225 rotates, it drives the first connector 22251 to move closer to the second connector 310. When the third protrusion 312 is received in the notch 22252, it abuts against the inner wall of the notch 22252 and drives the second connector 310 to rotate synchronously through the first connector 22251, thereby driving the cleaning component 300 to rotate.

[0126] like Figure 1 and Figure 8 As shown, in some embodiments of this application, the housing 210 includes an upper housing 211 and a lower housing 212, with the upper housing 211 and the lower housing 212 connected to form a housing 210 having a receiving cavity. The connection method between the upper housing 211 and the lower housing 212 includes any one of snap-fit, adhesive, and bolted connection, which can be specifically set according to actual conditions.

[0127] It is understood that in this embodiment, the upper shell 211 and the lower shell 212 are detachably connected to facilitate installation, disassembly, maintenance or replacement.

[0128] like Figure 2 As shown, in some embodiments of this application, the connecting seat 100 defines a mounting groove 120, the groove wall of the mounting groove 120 is provided with a rack 110, the third gear 2213 meshes with the rack 110, and the two ends along the extending direction of the rack 110 are respectively provided with a first clearance position and a second clearance position.

[0129] The upper shell 211 has an arc-shaped groove 2111 on the side facing the lower shell 212. The end of the gear shaft of the third gear 2213 near the upper shell 211 is at least partially accommodated in the arc-shaped groove 2111. The diameter of the arc-shaped groove is larger than the outer diameter of the gear shaft of the third gear 2213, so that the third gear 2213 can move in the arc-shaped groove 2111 during the rotation of the limiting shaft 400. This allows the third gear 2213 to mesh with the rack 110 of the mounting groove 120 after slight movement.

[0130] It should be noted that in this embodiment, the third gear 2213 is a friction wheel and the rack 110 is a friction rack. Compared with a direct rigid connection, this can avoid the situation where the third gear 2213 will cause tooth breakage when it meshes with the rack 110 in the clearance position, which would cause damage to the third gear 2213 and the connecting seat 100.

[0131] Specifically, when the oscillating component 200 rotates in a third direction, and the cleaning module is in the first cleaning mode, the third gear 2213 rotates to the first clearance position. There is a gap between the third gear 2213 and the rack 110, so that the third gear 2213 is in an idle state during the operation of the drive device 500, so as to ensure the stable rotation of the transmission component 220, thereby enabling the cleaning component 300 to rotate stably.

[0132] Furthermore, when the oscillating member 200 rotates in a fourth direction opposite to the third direction, during the process of the cleaning module switching from the first cleaning mode to the second cleaning mode, the third gear 2213 meshes with the rack 110 during rotation, driving the oscillating member 200 to rotate. When the cleaning module is in the second cleaning mode, the third gear 2213 rotates to the second clearance position, and there is a gap between the third gear 2213 and the rack 110, so that the third gear 2213 is in an idle state during the operation of the drive device 500, to ensure the stable rotation of the transmission component 220, thereby enabling the cleaning member 300 to rotate stably.

[0133] Specifically, when the cleaning module is in the first cleaning mode, the third gear 2213 is in an idle state, meaning there is a gap between the third gear 2213 and the rack 110 to ensure the stability of the oscillating component 200 in its current position and the stability of the cleaning component 300 during rotation. When the cleaning mode switches from the first to the second cleaning mode, the third gear 2213 elastically collides and meshes with the rack 110 during rotation. During this elastic collision, the third gear 2213 can move within the arc-shaped groove 2111, providing space for movement and ensuring the stability and smoothness of the meshing between the third gear 2213 and the rack 110. Similarly, when switching from the second to the first cleaning mode, the meshing principle between the third gear 2213 and the rack 110 is the same as when switching from the first to the second cleaning mode, and will not be elaborated further here.

[0134] like Figure 4 As shown, some embodiments of this application provide a cleaning robot, which includes a main unit 700 and a cleaning module. The main unit 700 is configured to move automatically on the ground.

[0135] A cleaning module is disposed at the bottom of the host 700 and configured to clean the floor. The cleaning module includes the cleaning module described in any of the above embodiments.

[0136] It should be noted that when the cleaning robot is cleaning a flat surface, the cleaning module is in the first cleaning mode, that is, both the swinging component 200 and the cleaning component 300 are in the retracted position.

[0137] When the cleaning robot moves to a corner or side of a wall, the drive unit 500 starts, drives the transmission component 220 to rotate through the motor output shaft 510, and drives the swing component 200 to rotate from the retracted position to the extended position, and the cleaning module switches from the first cleaning mode to the second cleaning mode.

[0138] like Figures 9-14 and refer to Figure 2As shown in another embodiment of the first aspect of this application, another configuration of the second rotary transmission assembly is illustrated. The second rotary transmission assembly includes a third gear set 2221, a fourth gear set 2224, and a cleaning component gear 2225 connected in sequence. The cleaning component gear 2225 is a spur gear. The fourth gear set 2224 includes two coaxially fixed spur gears, namely a seventh transmission gear 22241 and a first spur gear 22242. The first spur gear 22242 in the fourth gear set 2224 meshes with the cleaning component gear 2225, driving the cleaning component gear 2225 to rotate. The second rotary transmission assembly 222 also includes an adjusting gear set 2222 and a fifth spur gear 2223 rotatably connected. The adjusting gear set 2222 includes a sixth transmission gear 22221 and a movable helical gear 2223 coaxially connected. The fourth spur gear 22222 and the movable helical gear 22222 can be limitedly connected to the fourth spur gear 22223 and drive the fourth spur gear 22223 to rotate. The fourth spur gear 22223 drives the fifth spur gear 2223, which in turn drives the first spur gear 22242 to rotate. In turn, the first spur gear 22242 drives the cleaning component gear 2225 to rotate, which in turn drives the cleaning component gear 2225 to rotate the cleaning component 300, so as to facilitate cleaning of the corners. The third gear set 2221 still includes the fifth transmission gear 22211 and the third helical gear 22212. The fifth transmission gear 22211 and the third helical gear 22212 are coaxially connected. The third helical gear 22212 can mesh with the movable helical gear 22222. When the fifth transmission gear 22211 changes its rotation direction, it can rotate in different directions through the third helical gear 22212, thereby allowing the movable helical gear 22222 to be selectively coaxially connected to the sixth transmission gear 22221 or the fourth spur gear 22223.

[0139] The differences between this embodiment and the second rotary transmission assembly 222 in the previous embodiment include that the cleaning gear 2225 is changed from a helical gear to a spur gear, the first helical gear 22242 in the fourth gear set 2224 is changed to a first spur gear 22242, the fourth helical gear 22223 in the adjusting gear set 2222 is changed to a fourth spur gear 22223, and the fifth helical gear 2223 is changed to a fifth spur gear 2223.

[0140] like Figure 9 , Figure 10 As shown, a connecting shaft 800 is movably connected inside the cleaning component gear 2225. The connecting shaft 800 can drive the cleaning component 300 to move downward. The inner wall of the cleaning component gear 2225 has an internal thread extending in the vertical direction, and the outer wall of the connecting shaft 800 has a corresponding external thread extending in the vertical direction. The two can mesh. When the cleaning component gear 2225 rotates, the connecting shaft 800 moves downward synchronously, driving the cleaning component 300 to move downward.

[0141] like Figures 10 to 12 As shown, in this embodiment, the connecting shaft 800 is fixed or integrally formed with a connecting post 820 having a diameter larger than that of the connecting shaft 800. An external thread is provided on the outer wall of the connecting post 820, such that one of the inner wall of the cleaning component gear 2225 and the outer wall of the connecting post 820 has a spiral groove 811, and the other has a spiral protrusion 22253. The spiral groove 811 and the spiral protrusion 22253 mesh. The inner bottom wall of the cleaning component gear 2225 also forms a limiting part 22254, which allows the connecting shaft 800 to move downwards to its limit position, after which the bottom end of the connecting post 820 abuts against the limiting part 22254 (or it can be an abutting part provided on the connecting shaft abutting against the limiting part), thus fixing the connecting shaft 800 relative to the cleaning component gear 2225. At this time, the cleaning component 300 can abut against the ground.

[0142] Of course, in addition to the internal thread method, the cleaning component gear 2225 can also drive the connecting shaft 800 to move downwards by converting other rotary motions into linear motions through a lead screw mechanism or other means.

[0143] A friction element 1000 is fixed on the swing member 200. The cleaning member gear 2225 can rotate in the horizontal direction relative to the friction element 1000. The friction element 1000 can rub against the upper end of the connecting shaft 800 so that after the cleaning member gear 2225 starts to rotate, it applies a horizontal frictional force to the connecting shaft 800, ensuring that the connecting shaft 800 only undergoes a downward linear motion and does not rotate synchronously with the cleaning member gear 2225. After the connecting shaft 800 moves downward to the limit position, the connecting shaft 800 overcomes the frictional force of the friction element 1000 and rotates synchronously under the drive of the cleaning member gear 2225.

[0144] like Figure 10 and Figure 11 As shown, in this embodiment, the friction member 1000 is connected to a friction portion 1100. The friction portion 1100 may include a plurality of friction plates 1110 extending obliquely or radially inward, and the plurality of friction plates 1110 form a circular groove. The upper end of the connecting shaft 800 is connected to a support member 1200 that matches the shape of the friction portion 1100. The support member 1200 is circular and is accommodated in the circular groove of the friction portion 1100 of the friction member 1000 and is subjected to a horizontal (circumferential) frictional force. The support member has a connecting hole 1210 at its center, and the upper end of the connecting shaft 800 passes through the connecting hole 1210. The connecting hole 1210 is non-circular, and the upper part of the connecting shaft 800 is also a corresponding non-circular shaft.

[0145] When the cleaning gear 2225 starts to rotate, the friction part 1100 provides horizontal friction to the connecting shaft 800 through the support 1200 to prevent it from rotating synchronously with the cleaning gear 2225; after the connecting shaft moves downward to the limit position, the support 1200 overcomes the friction of the friction part 1100 and rotates synchronously with the connecting shaft 800.

[0146] Specifically, when the drive device 500 is turned on, the drive device 500 drives the second rotary transmission assembly 222 to rotate. The first straight gear 22242 in the fourth gear set 2224 meshes with the cleaning component gear 2225 and drives the cleaning component gear 2225 to rotate. Since the internal thread of the inner peripheral wall of the cleaning component gear 2225 meshes with the external thread of the outer wall of the connecting column 820, it provides the connecting column 820 with a horizontal force and a vertical downward force. However, the horizontal force is small and less than the circumferential friction force provided by the friction part 1100 to the connecting shaft 800 through the support member 1200. At this time, the connecting shaft 800 can only move downward relative to the cleaning component gear 2225 and drive the cleaning component 300 to move downward. When the connecting shaft 800 moves downward until the connecting post 820 on the connecting shaft 800 abuts against the inner bottom wall of the cleaning component gear 2225, the connecting shaft 800 can no longer move downward. At this time, the connecting shaft 800 can only be engaged with the cleaning component gear 2225 by the thread, and the cleaning component 300 rotates in the horizontal direction under the drive of the cleaning component gear 2225. In addition, at this time, the horizontal force exerted by the cleaning component gear 2225 on the connecting shaft 800 is large, which is greater than the horizontal friction force provided by the friction part 1100 to the connecting shaft 800 through the support member 1200. At this time, the connecting shaft 800 drives the support member 1200 to rotate relative to the friction part 1100, and the support member 1200 rotates relative to the friction component 1000.

[0147] The cleaning module includes a reset mechanism, which is used to move the cleaning component 300 upward away from the ground when the cleaning component 300 stops rotating. The reset mechanism includes an elastic element 600, which can be a compression spring. When the cleaning component 300 moves downward and touches the ground, the elastic element 600 is compressed; when the drive device 500 is turned off, the cleaning component 300 stops rotating, and the elastic element 600 returns from the compressed state to its natural state, thereby causing the cleaning component 300 to move upward. Alternatively, the elastic element 600 can be a tension spring. When the cleaning component 300 moves downward and touches the ground, the elastic element 600 is stretched; when the drive device 500 is turned off, the cleaning component 300 stops rotating, and the elastic element 600 returns from the stretched state to its natural state, thereby causing the cleaning component 300 to move upward. During the upward movement, the cleaning component gear 2225 rotates in the opposite direction to the connecting shaft 800. The friction component 1000 applies a horizontal frictional force to the connecting shaft 800 that is greater than the horizontal force exerted on the connecting shaft 800 by the cleaning component gear 2225. This ensures that the connecting shaft 800 only undergoes an upward linear motion and does not rotate synchronously with the cleaning component gear 2225. At this time, the reverse rotation of the cleaning component gear 2225 is transmitted from the fourth gear set 2224 to the sixth transmission gear 22221 or the fourth spur gear 22223, causing the movable helical gear 22222 to disengage from the sixth transmission gear 22221 or the fourth spur gear 22223.

[0148] like Figure 13 and Figure 14 As shown, in some specific embodiments, the cleaning component 300 is a side brush, and a side brush housing 320 is provided outside the side brush. The side brush can be movably disposed within the side brush housing 320. When the elastic element 600 is located inside the side brush housing 320, for example, when the elastic element 600 is a compression spring, one end abuts against the inner top or bottom wall of the side brush housing 320, and the other end abuts against the side brush. When the connecting shaft 800 moves downward, the elastic element 600 is compressed, causing the side brush to move downward. When the driving device 500 is turned off, the connecting shaft 800 stops rotating. At this time, the elastic element 600 changes from the compressed state to the open state. The elastic force of the elastic element 600 causes the side brush to move upward, and the elastic element 600 provides an upward force to the bottom of the connecting shaft 800, causing the connecting shaft 800 to move upward. Of course, the elastic element can also be a tension spring, and the abutment form can be changed to a fixed connection.

[0149] In this embodiment, the side brush housing 320 does not move in the vertical direction, but the side brush housing 320 is connected to the bottom of the cleaning component gear 2225 or the connecting shaft 800, and can rotate coaxially with it to drive the side brush to rotate and clean the ground.

[0150] In some specific embodiments, the cleaning component 300 is a side brush assembly (including a side brush and a side brush housing) with a side brush housing 320. When the elastic element 600 is located outside the side brush housing, the elastic element 600 is a tension spring, with its lower end mounted on the side brush housing 320 and its upper end mounted on the bottom of the cleaning component gear 2225. When the connecting shaft 800 moves downward, the elastic element 600 is stretched. When the drive device 500 is turned off, the connecting shaft 800 stops rotating, and the elastic element 600 quickly returns to its natural state, exerting an upward force on the bottom of the connecting shaft 800, causing the connecting shaft 800 to drive the entire side brush assembly upward and away from the ground. In this embodiment, the side brush housing and the side brush move up and down and rotate together.

[0151] In some specific embodiments, the cleaning component 300 is a side brush, and a side brush housing 320 is provided outside the side brush. The side brush housing does not move in the vertical direction, but it is connected to the bottom of the cleaning component gear 2225 or the second connecting shaft and can rotate coaxially with it to drive the side brush to rotate and sweep the floor. The elastic element 600 is partially located inside the side brush housing 320 and partially located outside the side brush housing. The elastic element 600 is a tension spring, with its lower end mounted on the side brush and its upper end mounted on the bottom of the cleaning component gear 2225. When the connecting shaft 800 moves downward, the elastic element 600 is stretched. When the drive device 500 is turned off, the connecting shaft 800 stops rotating. At this time, the elastic element 600 quickly returns to its natural state, giving the bottom of the connecting shaft 800 an upward force, causing the connecting shaft 800 to drive the side brush upward and away from the ground.

[0152] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0153] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0154] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A cleaning module applied to the bottom of a cleaning robot main unit, characterized in that, include: Connector; The swinging component has one end rotatably connected to the connecting seat, and the other end is equipped with a rotatable cleaning component; A limiting shaft is rotatably connected to the swing member and positioned on the connecting seat; The drive device is configured to drive the swing member to swing relative to the connecting seat about the limiting axis, thereby moving the cleaning member between a retracted position and an extended position. The drive device is also capable of driving the cleaning member to rotate. The cleaning module has a first cleaning mode and a second cleaning mode. In the first cleaning mode, the cleaning component is located in the retracted position, and in the second cleaning mode, the cleaning component is located in the extended position.

2. The cleaning module according to claim 1, characterized in that, The driving device is mounted on the swinging member and can swing along with the swinging member.

3. The cleaning module according to claim 1, characterized in that, The cleaning component is disposed on the swinging component and can float up and down; when the cleaning component starts to rotate, the cleaning component moves downward relative to the swinging component to touch the ground, and when the cleaning component stops rotating, the cleaning component moves upward relative to the swinging component to move away from the ground.

4. The cleaning module according to claim 3, characterized in that, The drive device is configured to drive the cleaning component to move downward relative to the swing component.

5. The cleaning module according to claim 3, characterized in that, The cleaning module includes a reset mechanism, which is used to move the cleaning component upward away from the ground when the cleaning component stops rotating.

6. The cleaning module according to claim 1, characterized in that, The swing component includes a housing and a transmission assembly; The housing defines a receiving cavity, the transmission assembly is disposed in the receiving cavity, one end of the transmission assembly is drivenly connected to the connecting seat, the other end of the transmission assembly is drivenly connected to the cleaning component, and the limiting shaft passes through the receiving cavity.

7. The cleaning module according to claim 6, characterized in that, The motor output shaft of the drive device is connected to the transmission assembly. In the first cleaning mode, the motor output shaft rotates along a first direction; in the second cleaning mode, the motor output shaft rotates along a second direction. When the rotation direction of the motor output shaft changes from the first direction to the second direction, the cleaning module switches from the first cleaning mode to the second cleaning mode. When the rotation direction of the motor output shaft changes from the second direction to the first direction, the cleaning module switches from the second cleaning mode to the first cleaning mode. The cleaning component rotates in the same direction in both the first cleaning mode and the second cleaning mode.

8. The cleaning module according to claim 7, characterized in that, The transmission assembly includes a first rotary transmission assembly and a second rotary transmission assembly; One end of the first rotary transmission assembly is connected to the connecting seat, the other end of the first rotary transmission assembly is connected to one end of the second rotary transmission assembly, and the other end of the second rotary transmission assembly is connected to the cleaning component. The first rotary transmission component or the second rotary transmission component is rotatably connected to the output shaft of the motor.

9. The cleaning module according to claim 8, characterized in that, The first rotary transmission assembly includes a first gear set, a second gear set, and a third gear connected in sequence. The first gear set is rotatably connected to the motor output shaft, the second gear set is sleeved on the limiting shaft, and the third gear is rotatably connected to the connecting seat; When the first gear set changes its rotation direction, it can drive the swinging component to change its swing direction through the second gear set and the third gear, so that the cleaning module can switch between the first cleaning mode and the second cleaning mode.

10. The cleaning module according to claim 9, characterized in that, The first gear set includes a first transmission gear and a second transmission gear connected coaxially, and the second gear set includes a third transmission gear and a fourth transmission gear connected coaxially. The first transmission gear is connected to the output shaft of the motor, the second transmission gear is connected to the third transmission gear, and the fourth transmission gear is connected to the third gear.

11. The cleaning module according to claim 10, characterized in that, The gear shafts of the first gear set and the second gear set are parallel to each other. The motor output shaft is connected to the first transmission gear through a worm gear, and the motor output shaft is perpendicular to the gear shaft of the first gear set.

12. The cleaning module according to claim 11, characterized in that, The second rotary transmission assembly includes a third gear set, a fourth gear set, and a cleaning component gear that are connected in sequence. The third gear set is connected to the output shaft of the motor or the first gear set. The cleaning component gear is a helical gear. The first helical gear in the fourth gear set meshes with the cleaning component gear to give the cleaning component gear a downward force, thereby driving the cleaning component to descend relative to the swinging component.

13. The cleaning module according to claim 12, characterized in that, The second rotary transmission assembly further includes an adjusting gear set and a fifth helical gear connected in transmission; the third gear set includes a fifth transmission gear and a third helical gear, the adjusting gear set includes a sixth transmission gear, a movable helical gear and a fourth helical gear connected in coaxial direction, and the fourth gear set includes a seventh transmission gear and the first helical gear; The third helical gear is rotatably connected to the movable helical gear, the sixth transmission gear meshes with the seventh transmission gear, and the fourth helical gear and the first helical gear mesh with the fifth helical gear respectively; When the fifth transmission gear changes its rotation direction, it can rotate in different directions through the third helical gear, thereby allowing the movable helical gear to be selectively coaxially connected to the sixth transmission gear or the fourth helical gear.

14. A cleaning robot, characterized in that, include: A main unit capable of moving automatically on the ground and a cleaning module as described in any one of claims 1 to 13, wherein the cleaning module is disposed at the bottom of the main unit.

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