Cleaning module, cleaning device and cleaning system

Abstract

This disclosure provides a cleaning module, cleaning equipment, and cleaning system, relating to the field of smart home technology. The cleaning module includes a lifting mechanism and a cleaning head. The lifting mechanism includes a lifting component, a mounting component, and a drive assembly. The drive assembly is configured to drive the lifting component to reciprocate between a first position and a second position along the height direction. The mounting component is movably connected to the lifting component in the height direction, and a limiting structure is provided between the mounting component and the lifting component. When the mounting component moves relative to the lifting component towards the side closer to the lifting component in the height direction to a connection position, the mounting component and the lifting component are circumferentially limited by the limiting structure. When the mounting component moves relative to the lifting component towards the side farther from the lifting component in the height direction to a connection position, the mounting component and the lifting component can rotate relative to each other. The cleaning head is connected to the mounting component. When the mounting component is in a separated position, the cleaning head can rotate relative to the lifting component, improving the reliability of the cleaning module.

Description

Technical Field

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

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

[0003] Currently, lifting mechanisms are widely used in cleaning modules of cleaning equipment. However, due to the complex and varied working scenarios faced by cleaning equipment, when the cleaning head encounters an obstacle or rubs against a wall while in the raised state, the cleaning head may rotate due to external force, thus potentially being knocked off and falling to the ground.

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

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

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

[0007] A lifting mechanism includes a lifting component, a mounting component, and a drive assembly. The drive assembly is configured to drive the lifting component to reciprocate between a first position and a second position along a height direction. The mounting component is movably connected to the lifting component along the height direction, and a limiting structure is provided between the mounting component and the lifting component. When the mounting component moves relative to the lifting component along the height direction toward a position closer to the lifting component, it reaches a connection position, and the mounting component and the lifting component are circumferentially limited by the limiting structure. When the mounting component moves relative to the lifting component along the height direction toward a position away from the lifting component, it reaches a separation position, and the mounting component and the lifting component can rotate relative to each other.

[0008] A cleaning head is connected to the mounting component, and the cleaning head can rotate relative to the lifting component when the mounting component is in the separated position.

[0009] In one exemplary embodiment of this disclosure, the lifting mechanism further includes:

[0010] A rotating component, wherein the lifting component is threadedly connected to the rotating component, and the driving assembly is configured to drive the lifting component to rotate in a forward or reverse direction, so that the lifting component reciprocates relative to the rotating component between a first position and a second position in the height direction.

[0011] In one exemplary embodiment of this disclosure, the lifting mechanism further includes:

[0012] The housing has a first frictional force between the rotating component and the housing. When the lifting component is in the second position, the lifting component drives the rotating component to overcome the first frictional force and rotate synchronously.

[0013] In one exemplary embodiment of this disclosure, the lifting mechanism further includes:

[0014] A friction element is fixed to the end of the lifting element away from the cleaning head. When the lifting element is in the second position, there is a second frictional force between the friction element and the rotating element, and the second frictional force is greater than the first frictional force, so as to drive the rotating element to overcome the first frictional force and rotate synchronously.

[0015] In one exemplary embodiment of this disclosure, the housing forms a receiving space, the lifting member is located in the receiving space, and when the lifting member reciprocates between the first position and the second position through the opening of the receiving space, it can extend or retract into the receiving space through the opening; the lifting mechanism further includes:

[0016] A sealing element is disposed at the opening of the housing, and the sealing element is configured to block the gap between the housing and the lifting element.

[0017] In one exemplary embodiment of this disclosure, the lifting mechanism further includes:

[0018] A transmission component is movably connected to the lifting component in the height direction and is upper-limited connected in the rotation direction. The drive assembly is configured to drive the transmission component to rotate, thereby driving the lifting component to rotate via the transmission component.

[0019] In one exemplary embodiment of this disclosure, the lifting mechanism further includes:

[0020] An elastic element is provided between the mounting component and the lifting component. When the mounting component is located at the connection position, the elastic element is in a compressed state.

[0021] In one exemplary embodiment of this disclosure, when the mounting member is in the separated position, the elastic member is in a compressed state.

[0022] In an exemplary embodiment of this disclosure, the mounting member is provided with a mounting portion and a guide portion, the lifting member is provided with a mounting space, the mounting space is provided with a through hole, one end of the guide portion away from the mounting portion passes through the through hole and is connected to the lifting member in the height direction via a limiting member, and the elastic member is sleeved on the guide portion and located on the side of the through hole near the mounting portion.

[0023] In an exemplary embodiment of this disclosure, the limiting structure includes a first circumferential engagement structure and a second circumferential engagement structure. The first circumferential engagement structure is provided on one of the mounting member and the lifting member, and the second circumferential engagement structure is provided on the other. When the mounting member is located in the connection position, the first circumferential engagement structure and the second circumferential engagement structure engage together to form a circumferential limiting connection.

[0024] In an exemplary embodiment of this disclosure, the first circumferential engagement structure is an external spline, and the second circumferential engagement structure is an internal spline. When the mounting member is located in the connection position, the external spline and the internal spline engage to form a circumferential limiting connection.

[0025] In one exemplary embodiment of this disclosure, the lifting mechanism further includes an elastic element, the mounting member is provided with a mounting portion and a guide portion, the elastic element is located between the mounting portion and the lifting member and is sleeved on the guide portion; when the mounting member is located in the connection position, the elastic element is in a compressed state;

[0026] The mounting component is provided with an external spline, and an annular space is provided between the external spline and the guide portion. The end of the elastic member near the mounting portion is located in the annular space.

[0027] In one exemplary embodiment of this disclosure, the first circumferential engagement structure is a ratchet, and the second circumferential engagement structure is a pawl; when the mounting member is in the connection position, the ratchet and the pawl engage to form a circumferential limiting connection.

[0028] In an exemplary embodiment of this disclosure, the first circumferential meshing structure is a first face gear, the second circumferential meshing structure is a second face gear, and the rotation axes of the first face gear and the second face gear are parallel or substantially parallel to the height direction; when the mounting member is located in the connection position, the first face gear and the second face gear mesh to form a circumferential limiting connection.

[0029] In one exemplary embodiment of this disclosure, the lifting member further has a third position between the first position and the second position. When the cleaning head cleans the surface to be cleaned, the mounting member is able to be located in the separated position when the lifting member moves from the third position toward the first position; and the mounting member is able to be located in the connected position when the lifting member moves from the third position toward the second position. The cleaning head is detachably connected to the mounting member, and the lifting member further has a fourth position between the third position and the first position.

[0030] When the lifting member moves from the side near the second position to the fourth position, the cleaning head abuts against the device body; when the lifting member moves from the fourth position to the first position or to the fifth position between the first position and the third position, the cleaning head separates from the lifting member.

[0031] In one exemplary embodiment of this disclosure, the cleaning head is magnetically connected to the mounting component.

[0032] According to another aspect of this disclosure, a cleaning device is provided, which includes the cleaning module described above.

[0033] In one exemplary embodiment of this disclosure, the cleaning device further includes a device body, and the cleaning head is detachably mounted to the device body via the connecting portion.

[0034] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:

[0035] The aforementioned cleaning equipment;

[0036] A base station, which is used to interface with the cleaning equipment.

[0037] The cleaning module disclosed herein includes a lifting component that reciprocates between a first position and a second position under the drive of a drive assembly; and a mounting component that reciprocates along the height direction under the drive of the lifting component. When the lifting component moves toward the first position, it drives the mounting component to move toward the raised position, so that the cleaning head is positioned in the raised position under the drive of the mounting component. When the lifting component moves toward the second position, it drives the mounting component to move toward the lowered position. When the mounting component moves along the height direction toward the side closer to the lifting component to the connection position, the mounting component and the lifting component are connected in the circumferential direction by a limiting structure, thereby allowing the cleaning head to perform rotational cleaning operations while the lifting component rotates. When the lifting component moves toward the first position, it drives the mounting component to move toward the raised position. When the mounting component moves along the height direction toward the side away from the lifting component to the separation position, the mounting component and the lifting component can rotate relative to each other. In other words, when the cleaning head encounters an obstacle or rubs against a wall while in the raised state and is rotated by external force, the mounting component can rotate relative to the lifting component, but will not drive the lifting component to rotate synchronously. This avoids the cleaning head being rubbed and rising when the lifting and rotation functions of the cleaning head are coupled, thus preventing the cleaning head from being pushed off by the bottom shell of the cleaning equipment and falling to the ground, which can improve the user experience.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0040] Figure 1 A schematic diagram of a cleaning system provided in one embodiment of this disclosure.

[0041] Figure 2 This is a front view of a cleaning device provided in one embodiment of the present disclosure.

[0042] Figure 3 This is a schematic diagram of the rear of a cleaning device provided in one embodiment of the present disclosure.

[0043] Figure 4 This is a schematic diagram of the device body and cleaning module provided in one embodiment of the present disclosure.

[0044] Figure 5 This is a schematic diagram showing the cleaning head in the raised position in a cleaning module provided in one embodiment of the present disclosure.

[0045] Figure 6 This is a schematic diagram showing the cleaning head in a descending position in a cleaning module provided in one embodiment of the present disclosure.

[0046] Figure 7 This is a schematic diagram showing the mounting component in a critical position within a cleaning module provided in one embodiment of the present disclosure.

[0047] Figure 8 This is a schematic diagram showing the mounting component in a second position in a cleaning module provided according to an embodiment of the present disclosure.

[0048] Figure 9 This is a schematic diagram showing the mounting component in a critical position in a lifting mechanism according to an embodiment of the present disclosure.

[0049] Figure 10 This is a schematic diagram showing the mounting component in a second position in a lifting mechanism provided according to an embodiment of the present disclosure.

[0050] Figure 11 This is a partial exploded view of a lifting mechanism provided in one embodiment of the present disclosure.

[0051] Figure 12 This is a schematic diagram of a rotating component provided in one embodiment of the present disclosure.

[0052] Figure 13 This is a schematic diagram of a lifting component provided in one embodiment of the present disclosure.

[0053] Figure 14 This is a schematic diagram of another perspective of a rotating component provided in one embodiment of the present disclosure.

[0054] Figure 15 This is a schematic diagram of a transmission component provided in one embodiment of the present disclosure.

[0055] Figure 16 This is a schematic diagram of a transmission component provided in one embodiment of the present disclosure from another perspective.

[0056] Figure 17 This is a schematic diagram of an installation component provided in one embodiment of the present disclosure.

[0057] Figure 18 This is a schematic diagram of a lifting component provided in one embodiment of the present disclosure from another perspective.

[0058] Figure 19 This is a schematic diagram of an installation component provided in one embodiment of the present disclosure from another perspective.

[0059] Figure 20 This is a schematic diagram showing a cleaning head, provided in one embodiment of the present disclosure, rotating outside the device body via a swing arm.

[0060] Explanation of reference numerals in the attached figures:

[0061] 10. Cleaning equipment; 20. Base station; 30. Equipment body;

[0062] 40. Cleaning module;

[0063] 50. Lifting mechanism; 511. Top cover; 512. Middle shell; 513. Bottom shell; 521. Transmission component; 5210. Transmission part; 5211. Gear; 5212. Strip groove; 5213. Mounting protrusion; 522. Lifting component; 5221. Threaded cylinder part; 5222. Outer cylinder part; 5223. Sliding part; 5224. Strip slider; 5225. Internal spline; 5226. Through hole; 523. Mounting component; 5231. Mounting part 5232, External spline; 5233, Guide section; 5234, Mounting hole; 5235, Mounting structure; 524, Rotating component; 5241, Sleeve section; 5242, Annular limiting section; 5243, Threaded guide protrusion; 525, Elastic component; 526, Friction component; 527, Sealing component; 528, Fastener; 53, Drive assembly; 531, Driver; 532, Transmission gear set; 541, First bearing; 542, Second bearing;

[0064] 60. Cleaning head; 610. Pallet section; 620. Rotating shaft section;

[0065] 71. First magnetic component; 72. Second magnetic component. Detailed Implementation

[0066] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0067] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0068] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0069] Embodiments of this disclosure provide a cleaning system, such as Figures 1 to 4 As shown, the cleaning system includes a cleaning device 10 and a base station 20. The cleaning device 10 can be, for example, a mopping robot or a sweeping and mopping robot; the cleaning device 10 may include a device body 30, a drive module, a sensing module, a control module, a cleaning module 40, an energy module, and a human-machine interaction module. The base station 20 is used to dock with the cleaning device 10, allowing the cleaning device 10 to be parked. The cleaning device 10 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 20.

[0070] In one embodiment, the device body 30 is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 10. If the cleaning device 10 is a sweeping and mopping robot, then the cleaning device 10 operates on the ground.

[0071] In one embodiment, the drive module may include a drive wheel assembly. The drive module can simultaneously control the left and right wheels. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body 30. In one embodiment, to enable the automatic cleaning device 10 to move more stably or with greater mobility on the ground, the automatic cleaning device 10 may include one or more steering wheels. These steering wheels may be driven wheels or drive wheels, and their structural forms include, but are not limited to, casters. The steering wheels may be located in front of the drive wheel assembly. A drive motor provides power to the drive wheel assembly and / or the steering wheels.

[0072] In one embodiment, the sensing module may include a position determination device located above the device body 30, a buffer located on the forward portion of the device body 30, and a cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and other sensing devices located at the bottom of the device body 30, providing the control module with various position and motion state information of the device body 30. For example, the forward portion of the device body 30 is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 10 to move on the ground, the buffer detects one or more objects in the travel path of the cleaning device 10 via a sensor module, such as a collision sensor. The cleaning device 10 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure causes the cleaning device 10 to respond to the objects, such as stepping over steps.

[0073] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 10 work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 10.

[0074] In one embodiment, the energy module may include a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.

[0075] In one embodiment, the human-machine interaction module may include buttons on the main unit panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available functions to the user; and it may also include a mobile client application. For path navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0076] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.

[0077] Currently, lifting mechanisms are widely used in the cleaning components of cleaning equipment 10. In related technologies, due to the complex and varied working scenarios faced by the cleaning equipment 10, when the cleaning head 60 encounters an obstacle or rubs against a wall while in a raised state, the cleaning head 60 will rotate due to external force. Since the lifting and rotation functions of most cleaning heads 60 are coupled, the cleaning head 60 may rise after being rubbed, meaning it may be pushed off by the bottom shell of the cleaning equipment 10 and fall to the ground. This requires manual reinstallation by the user, affecting the cleaning effect and efficiency of the cleaning equipment, ultimately impacting the user experience. To address this, embodiments of this disclosure provide a cleaning module 40 for cleaning equipment 10.

[0078] like Figures 5 to 8 As shown, the cleaning module 40 includes a lifting mechanism 50 and a cleaning head 60. The lifting mechanism 50 includes a lifting member 522, a mounting member 523, and a drive assembly 53. The drive assembly 53 is configured to drive the lifting member 522 to reciprocate between a first position and a second position along the height direction Z of the lifting mechanism 50. The mounting member 523 is movably connected to the lifting member 522 along the height direction Z. A limiting structure is provided between the mounting member 523 and the lifting member 522. When the mounting member 523 moves relative to the lifting member 522 along the height direction Z toward the side closer to the lifting member 522 to the connection position, the mounting member 523 and the lifting member 522 are circumferentially limited by the limiting structure. When the mounting member 523 moves relative to the lifting member 522 along the height direction Z toward the side farther from the lifting member 522 to the separation position, the mounting member 523 and the lifting member 522 can rotate relative to each other. The cleaning head 60 is connected to the mounting member 523. When the mounting member 523 is in the separation position, the cleaning head 60 can rotate relative to the lifting member 522.

[0079] The cleaning head 60 is connected to the equipment body 30 via a lifting mechanism 50. Driven by the lifting mechanism 50, the cleaning head 60 can be positioned either in a raised position close to the equipment body 30 or in a lowered position close to the cleaning surface. Raising or lowering the cleaning head 60 prevents it from obstructing the equipment body 30 when it is moving and cleaning is not required, such as during obstacle crossing, thus improving obstacle crossing efficiency. Alternatively, when the equipment body 30 is equipped with both dry and wet cleaning modules, the wet or dry cleaning head 60 can be raised in a single cleaning mode to improve cleaning efficiency. The cleaning module 40 provided in this disclosure includes a lifting component 522 that can reciprocate between a first position and a second position under the drive of a drive assembly 53; and an mounting component 523 that can reciprocate along the height direction Z under the drive of the lifting component 522. When the lifting component 522 moves toward the second position, it can drive the mounting component 523 to move toward the lower position. When the mounting component 523 moves along the height direction Z toward the side closer to the lifting component 522 to the connection position, the mounting component 523 and the lifting component 522 are connected in the circumferential upper limit by a limiting structure, thereby enabling the cleaning head 60 to perform rotational cleaning operations when the lifting component 522 rotates. When the lifting component 522 moves toward the first position, it can drive the mounting component 523 to move toward the raised position. When the mounting component 523 moves along the height direction Z toward the side away from the lifting component 522 to the separation position, the mounting component 523 and the lifting component 522 can rotate relative to each other. That is to say, when the cleaning head 60 encounters an obstacle or rubs against a wall in the raised state and is rotated by external force, the mounting component 523 can rotate relative to the lifting component 522, but will not drive the lifting component 522 to rotate synchronously. This avoids the cleaning head 60 being rubbed and rising when the lifting and rotating functions of the cleaning head 60 are coupled, that is, it avoids the cleaning head 60 being pushed off by the bottom shell of the cleaning device 10 and falling to the ground, which can improve the user experience.

[0080] It should be noted that the first position and the second position are the highest and lowest positions that the lifting component 522 can move up and down. That is, the first position can be the raised position and the second position can be the lowered position. When the cleaning head 60 is raised or lowered under the drive of the lifting mechanism 50, the reciprocating distance between the raised and lowered positions can be determined according to the lowest point of contact between the cleaning device 10 and the cleaning surface. For example, the cleaning head 60 is closer to the cleaning surface than the lowest point of contact between the cleaning head 60 and the cleaning surface of other parts of the cleaning device 10, so as to make close contact with the cleaning surface and improve the cleaning effect. When the cleaning head 60 is in the raised position, it is spaced at a preset distance from the cleaning surface and can be tightly set with the device body 30 to prevent foreign objects from entering the gap when the gap between the cleaning head 60 and the device body 30 is large.

[0081] In one embodiment, such as Figures 7 to 11As shown, the lifting mechanism 50 also includes a rotating component 524. The lifting component 522 is threadedly connected to the rotating component 524. The drive assembly 53 is configured to drive the lifting component 522 to rotate forward or backward, so that the lifting component 522 rotates relative to the rotating component 524 along the height direction Z, thereby realizing reciprocating motion between the first position and the second position. Because the lifting component 522 is rotatably connected to the rotating component 524 and can reciprocate relative to the rotating component 524 along the axis of rotation (height direction Z) between the first and second positions, that is, the structural components that drive the cleaning head 60 to move up and down are rotatably connected, with movement only in the height direction Z of the device body 30, the lifting mechanism 50 has a compact structure and occupies little space, thus improving the space utilization of the cleaning equipment 10. At the same time, by controlling the angle of rotation of the lifting component 522 relative to the rotating component 524, the vertical movement distance of the lifting component 522 can be precisely controlled, thereby improving the accuracy of position control of the cleaning head 60.

[0082] When the lifting component 522 rotates relative to the rotating component 524 to the second position under the drive of the drive component 53, the threaded structure on the lifting component 522 and the threaded structure on the rotating component 524 reach their limit rotation positions, so that the lifting component 522 is locked relative to the rotating component 524 in the rotational direction toward the downward position. When the lifting component 522 continues to rotate under the drive of the drive component 53, it will drive the rotating component 524 to rotate synchronously, thereby achieving the purpose of adjusting the height of the cleaning head 60 and driving the cleaning head 60 to rotate for cleaning operations. This realizes the coupling of the lifting and rotating functions of the cleaning head 60, eliminating the need for a separate drive component to drive the cleaning head 60 to rotate, saving space and reducing costs.

[0083] It is understandable that when the lifting member 522 rotates relative to the rotating member 524, if the lifting member 522 is not at the limit position of the rotating structure with the rotating member 524, the rotating member 524 needs to be in a relatively stationary state so that the height of the cleaning head 60 can be adjusted by rotating the lifting member 522 relative to the rotating member 524. To address this, the rotating component 524 needs to be limited in the axial direction of the lifting component 522's rotation, i.e., the height direction Z. There is a first frictional force between the rotating component 524 and the housing of the lifting mechanism 50 in the rotational direction. The first frictional force keeps the rotating component 524 stationary when the lifting component 522 rotates relative to the rotating component 524. When the lifting component 522 and the rotating component 524 are locked in the rotational direction towards the descending position, the rotating component 524 can overcome the first frictional force under the drive of the lifting component 522 to rotate synchronously with the lifting component 522. This avoids the cleaning head 60 from being rubbed and rotating upward when the lifting and rotating functions of the cleaning head 60 are coupled, thus preventing the cleaning head 60 from being pushed off by the bottom shell of the cleaning device 10 and falling to the ground, thereby improving the user experience.

[0084] like Figure 12 As shown, an annular limiting portion 5242 may be provided on the outer peripheral surface of the sleeve portion 5241 of the rotating member 524. By providing friction members on the upper and lower sides of the annular limiting portion 5242 in the height direction Z, a first frictional force can be provided to the rotating member 524 while supporting and limiting it in the height direction Z. Of course, friction members may be provided only above or below the annular limiting portion 5242, and a limiting structure may be provided on the other side where no friction members are provided. The limiting structure and the friction members form a clamping and limiting effect on the annular limiting portion 5242 in the height direction Z. The friction members may be fixed to the inner wall of the housing, and the limiting structure may be fixed to the inside of the housing. The limiting structure may also be part of the housing, such as a structure protruding from the inner wall of the housing, which is an integrally formed structure.

[0085] like Figure 13 As shown, the lifting member 522 includes a threaded cylindrical portion 5221 and an outer cylindrical portion 5222. The threaded cylindrical portion 5221 has an external thread structure, and the outer cylindrical portion 5222 is sleeved on the threaded cylindrical portion 5221 to form a sleeve structure. There is a gap between the threaded cylindrical portion 5221 and the outer cylindrical portion 5222 to accommodate at least a portion of the rotating member 524. The sleeve portion 5241 of the rotating member 524 has an internal thread structure, and the sleeve portion 5241 is sleeved on the threaded cylindrical portion 5221 to realize the threaded connection between the rotating member 524 and the lifting member 522.

[0086] like Figure 13 As shown, the threaded cylindrical portion 5221 of the lifting member 522 can be an externally threaded structure with continuous threads, so as to ensure that it engages with the internally threaded structure on the rotating member 524 during both lifting and lowering between the first and second positions. Figure 14 As shown, the internal thread structure on the rotating member 524 can be multiple threaded guide protrusions 5243. These multiple threaded guide protrusions 5243 serve as external thread structures and are threadedly connected to the threaded cylinder portion 5221, enabling the lifting member 522 to rotate relative to the rotating member 524. For example, three threaded guide protrusions 5243 can be provided, evenly distributed along the circumference of the rotating member 524, to improve the stability of the lifting member 522 when locked in the second position with the threaded structure of the rotating member 524.

[0087] like Figure 14 As shown, the threaded guide protrusion 5243 can be located on the side of the rotating member 524 near the cleaning head 60, enabling the lifting member 522 to reach the bottom of the rotating member 524 when it moves to the second position relative to the rotating member 524. This reduces the size of the rotating member 524 and improves the compactness of the lifting mechanism 50. It is understood that the internal thread on the rotating member 524 can also be a continuous thread structure to cooperate with the external thread structure of the lifting member 522, and this disclosure does not limit this.

[0088] In one embodiment, the lifting member 522 is provided with a friction member 526, which is fixed on the end of the lifting member 522 away from the cleaning head 60. When the lifting member 522 is in the second position, there is a second friction force between the friction member 526 and the rotating member 524, and the second friction force is greater than the first friction force, so as to drive the rotating member 524 to overcome the first friction force and rotate synchronously.

[0089] The friction member 526 is located at the end of the threaded cylinder portion 5221. When the lifting member 522 and the rotating member 524 are locked in the rotational direction of moving toward the descending position, the friction member 526 is locked together with the threaded guide protrusion 5243 on the rotating member 524. The friction member 526 can improve the stability when the lifting member 522 and the rotating member 524 are locked.

[0090] Among them, the friction component 526 can be a rubber component, which has good wear resistance and reliability, and can also provide a certain buffering effect to avoid unstable locking force when hard connection is used.

[0091] In one embodiment, such as Figure 15 As shown, the cleaning module 40 also includes a transmission component 521, which is slidably connected to a lifting component 522 in the axial direction. The lifting component 522 is capable of reciprocating along the axial direction relative to the transmission component 521. The transmission component 521 and the lifting component 522 are connected at the upper limit in the rotation direction so as to drive the cleaning head 60 to rotate through the lifting component 522. For example, when the cleaning head 60 is in the lowered position for cleaning operations, the drive assembly 53 drives the lifting component 522 to rotate through the transmission component 521, thereby driving the cleaning head 60 to perform rotational cleaning operations.

[0092] Among them, such as Figure 13 As shown, the lifting member 522 also includes a sliding part 5223, which can be a cylindrical structure. The transmission part 5210 of the transmission member 521 can also be a cylindrical structure, so that the transmission part 5210 of the transmission member 521 can be sleeved on the sliding part 5223 of the lifting member 522, while the rotating member 524 is sleeved on the threaded cylindrical part 5221 of the lifting member 522. By using this nesting method, the rotating component 524, the transmission component 521, and the lifting component 522 are assembled together. When the cleaning head 60 moves to the raised position, the rotating component 524, the transmission component 521, and the lifting component 522 are basically overlapped in the height direction Z, thereby reducing the space occupied in the height direction Z. In the width direction, the outer cylinder portion 5222 of the lifting component 522 is located on the outermost side, and the rotating component 524 and the transmission component 521 are located in the lifting component 522. This allows the width to be occupied by only the width of one lifting component 522, making the motion mechanism structure formed by the rotating component 524, the transmission component 521, and the mounting component 523 compact and space-saving.

[0093] Among them, such as Figure 13 , Figure 15 and Figure 16 As shown, the inner wall of the transmission part 5210 of the transmission component 521 is provided with a strip groove 5212, and the outer peripheral surface of the sliding part 5223 of the lifting component 522 is provided with a strip slider 5224. Through the cooperation of the strip slider 5224 and the strip groove 5212, the transmission component 521 and the lifting component 522 are slidably connected in the axial direction and limited in the circumferential direction. Of course, the inner wall of the transmission part 5210 of the transmission component 521 may be provided with a strip slider 5224, and the outer peripheral surface of the sliding part 5223 of the lifting component 522 may be provided with a strip groove 5212; or, the inner wall of the transmission part 5210 of the transmission component 521 may be provided with a strip slider 5224 and a strip groove 5212, and the outer peripheral surface of the sliding part 5223 of the lifting component 522 may be provided with a strip groove 5212 and a strip slider 5224.

[0094] In one embodiment, such as Figure 7 and Figure 8 As shown, the housing of the lifting mechanism 50 can be formed by combining a top cover 511, a middle shell 512, and a bottom shell 513 to facilitate the assembly of each component on the housing. A first bearing 541 is provided between the inner ring of the transmission component 521 and the top cover 511, and a second bearing 542 is provided between the outer ring of the transmission component 521 and the middle shell 512 to realize the rotational connection of the transmission component 521.

[0095] Among them, such as Figure 13 As shown, a mounting protrusion 5213 is provided on the transmission component 521 at the position where the second bearing 542 is located, so as to facilitate the assembly of the second bearing 542 and improve the assembly reliability.

[0096] Among them, such as Figure 13 As shown, a gear 5211 is provided on the outer peripheral surface of the transmission part 5210 of the transmission component 521. The drive assembly 53 drives the gear 5211 to rotate, thereby causing the transmission component 521 to rotate. The gear 5211 and the transmission part 5210 can be integrally molded, which can improve the coaxiality of the gear 5211 and the transmission component 521, reduce assembly procedures, improve structural strength, and reduce costs. Of course, the gear 5211 can be sleeved on the transmission part 5210 and can be fixedly connected by means of bonding, snap-fitting, welding, etc. This disclosure does not impose any limitations on this.

[0097] Among them, such as Figure 9 and Figure 10As shown, the drive assembly 53 includes a driver 531 and a transmission gear set 532. The driver 531 can be a drive motor, and the driver 531 is connected to the gear 5211 via the transmission gear set 532. By setting the transmission gear set 532, the speed ratio between the gear 5211 and the driver 531 can be set, and the position of the driver 531 can be adjusted so that the driver 531 is closely arranged with other components, improving the structural compactness of each component and improving space utilization.

[0098] In one embodiment, the top cover 511, the middle shell 512 and the bottom shell 513 cooperate to form a first accommodating space. The transmission component 521 and the rotating component 524 can be located in the first accommodating space. The shell forms protection for the transmission component 521 and the rotating component 524, preventing sewage, debris and other contaminants from entering the transmission component 521 and the rotating component 524 during cleaning operations or during the self-cleaning process of the base station 20, thereby improving the stability and service life of the lifting mechanism 50.

[0099] In one embodiment, the housing also forms a second receiving space, and the drive assembly 53 is disposed within the second receiving space. The drive assembly 53 is assembled on the middle shell 512 and the top cover 511, that is, the middle shell 512 and the top cover 511 cooperate to form a receiving space. The housing provides protection for the drive assembly 53, preventing sewage, debris, etc. from entering the drive assembly 53 during cleaning operations or during the self-cleaning process of the base station 20, thereby improving the stability and service life of the drive assembly 53.

[0100] This disclosure forms a sealed assembly of the lifting mechanism 50 and the drive component 53 through a housing, so that each functional component is basically located in the housing, making the overall structure of the cleaning module 40 compact and space-efficient.

[0101] In one embodiment, such as Figure 7 and Figure 8 As shown, the lifting mechanism 50 further includes a sealing member 527, which is disposed on the housing. When the lifting member 522 reciprocates between the first position and the second position through the opening of the first receiving space, it can extend or retract into the first receiving space through the opening. The sealing member 527 is located at the opening and is configured to seal the gap between the housing and the lifting member 522, that is, the gap between the bottom shell 513 and the lifting member 522. When the lifting member 522 moves towards the second position relative to the rotating member 524, it extends out of the bottom shell 513 through the opening. By providing the sealing member 527 between the bottom shell 513 and the lifting member 522, the gap between the opening of the bottom shell 513 and the lifting member 522 can be sealed, preventing sewage or foreign objects from entering the bottom shell 513, thereby improving the reliability of the lifting mechanism 50.

[0102] Among them, the sealing component 527 can be felt. Since the sealing component 527 is fixedly installed at the opening of the bottom shell 513, the sealing component 527 is in close contact with the outer peripheral surface of the lifting component 522 to form a sealing effect. The felt can provide a good sealing effect, while having a good service life and good economic efficiency in later maintenance.

[0103] It is understandable that by setting the sealing component 527, a third frictional force is created between the lifting component 522 and the housing. When the cleaning head 60 rotates due to external force when it encounters an obstacle or rubs against a wall in the raised state, the frictional force between the mounting component 523 and the lifting component 522 is less than the sum of the third frictional force and the resistance brought by the driving system to the lifting component 522. Therefore, when the cleaning head 60 rotates due to external force when it encounters an obstacle or rubs against a wall in the raised state, the mounting component 523 can rotate relative to the lifting component 522, but will not drive the lifting component 522 to rotate synchronously. This avoids the cleaning head 60 being rubbed and rising when the lifting and rotating functions of the cleaning head 60 are coupled, that is, it avoids the cleaning head 60 being pushed off by the bottom shell 513 of the cleaning device 10 and falling to the ground, which can improve the user experience.

[0104] In one embodiment, such as Figure 7 and Figure 8 As shown, the lifting mechanism 50 further includes an elastic element 525, which is disposed between the mounting member 523 and the lifting member 522. When the cleaning head 60 is not subjected to an external force in the height direction Z, the elastic element 525 is in a compressed state when the mounting member 523 is in the connected position. That is, the elastic element 525 is configured to apply a force to the mounting member 523 that moves from the connected position side towards the separated position side. When the mounting member 523 moves axially towards the lifting member 522, it can compress the elastic element 525.

[0105] As the lifting member 522 moves towards the descending position, the cleaning head 60 contacts the ground. If the lifting member 522 continues to descend, the mounting member 523 can move towards the lifting member 522 to compress the elastic member 525. When the lifting member 522 lifts towards the first position, separating the limiting structure between the mounting member 523 and the lifting member 522, the elastic member 525 can move the mounting member 523 towards the separation position, preventing the mounting member 523 from failing to separate from the lifting member 522 due to jamming or other reasons, thus improving the reliability of the separation between the mounting member 523 and the lifting member 522.

[0106] When the mounting component 523 is in the separated position and the cleaning head 60 is not subjected to an external force in the height direction Z, the elastic component 525 is in a compressed state. That is, the elastic component 525 provides an elastic force towards the cleaning surface to the cleaning head 60, causing the cleaning head 60 to experience an initial downward pressure relative to the mounting component 523 even without an external force in the height direction Z. This allows the limiting structure between the mounting component 523 and the lifting component 522 to separate when the cleaning head 60 is in the raised state, and ensures that the cleaning head 60 remains stably raised due to the elastic force of the elastic component 525, preventing wobbling. When the external force on the cleaning head 60 exceeds the initial downward pressure, the cleaning head 60 compresses the elastic component 525 and moves towards the raised position.

[0107] In one embodiment, such as Figure 6 and Figure 7 As shown, the cleaning head 60 includes a tray portion 610 and a rotating shaft portion 620. The cleaning head 60 is detachably connected to the lifting member 522 via the rotating shaft portion 620, for example, by plugging, magnetic connection, or snap-fit. A mop can be provided on the tray portion 610. By rotating the cleaning head 60, the cleaning surface can be effectively mopped by the rotating mop, improving the cleaning effect. It is understood that the cleaning head 60 can be used for both dry and wet cleaning. The cleaning head 60 for wet cleaning is, for example, a rotating mop or a vibrating mop, while the cleaning head 60 for dry cleaning is, for example, a side brush or a main brush. It can be set as needed, and this disclosure does not limit it.

[0108] When the cleaning head 60 is not subjected to an external force in the height direction Z, the support plate portion 610 of the cleaning head 60 has an axial gap with the opposite portion of the lifting member 522, so that the lifting member 522 can move a preset distance axially toward the lifting mechanism 50.

[0109] Among them, such as Figure 6 and Figure 7 As shown, the tray portion 610 of the cleaning head 60 can be recessed in the area surrounding the pivot portion 620, that is, the remaining area of ​​the tray portion 610 can be set towards the side of the device body 30, thereby reducing the overall thickness of the cleaning module 40.

[0110] In one embodiment, such as Figure 16 As shown, the mounting component 523 has a mounting portion 5231 and a guide portion 5233. The cleaning head 60 is detachably connected to the mounting component 523 via a rotating shaft portion 620, which is located in the mounting portion 5231. The lifting component 522 has a mounting space with a through hole 5226. The end of the guide portion 523 away from the mounting portion 5231 passes through the through hole 5226 and is connected to the lifting component 522 in the height direction Z by a limiting member. The elastic member 525 is sleeved on the guide portion 5233 and is located on the side of the through hole 5226 near the mounting portion 5231.

[0111] Among them, such as Figure 9 and Figure 10 As shown, a fastener 528 is provided on the guide portion 5233. The fastener 528 connects the guide portion 5233 of the mounting member 523 to the lifting member 522 in an axial upper limit connection, thereby restricting the guide portion 5233 from exiting the through hole 5226. The fastener 528 can be a screw, and the end of the conductive part can be provided with a threaded hole. The screw can be connected to the guide portion 5233 from the side of the through hole 5226 away from the mounting member 523, thereby restricting the guide portion 5233 from exiting the through hole 5226 through the head of the screw.

[0112] In one embodiment, the limiting structure includes a first circumferential engagement structure and a second circumferential engagement structure. One of the mounting member 523 and the lifting member 522 is provided with the first circumferential engagement structure, and the other is provided with the second circumferential engagement structure. When the mounting member 523 is in the connection position, the first circumferential engagement structure and the second circumferential engagement structure engage together to form a circumferential limiting connection. Through the circumferential engagement structure, the mounting member 523 and the lifting member 522 can engage when moving relative to each other in the height direction Z, thereby achieving a circumferential limiting connection.

[0113] In one embodiment, such as Figure 17 and Figure 18 As shown, the limiting structure that enables the mounting member 523 and the lifting member 522 to be connected in the circumferential direction includes an external spline 5232 and an internal spline 5225. Specifically, the first circumferential engagement structure is the external spline 5232, and the second circumferential engagement structure is the internal spline 5225. One of the mounting member 523 and the lifting member 522 has an internal spline 5225, and the other has an external spline 5232. When the mounting member 523 is in the connection position, the external spline 5232 and the internal spline 5225 engage to form a circumferential limiting connection. When the mounting member 523 moves relative to the lifting member 522, the external spline 5232 and the internal spline 5225 can mesh together, forming a circumferential limiting connection between the mounting member 523 and the lifting member 522, without affecting the axial movement of the mounting member 523 relative to the lifting member 522, resulting in high structural reliability.

[0114] Among them, such as Figure 17 and Figure 18 As shown, the mounting part 523 is provided with an external spline 5232, and an annular space is provided between the external spline 5232 and the guide part 5233. The end of the elastic member 525 near the mounting part 5231 is located in the annular space.

[0115] In one embodiment, the limiting structure that enables the mounting member 523 and the lifting member 522 to be circumferentially connected includes a ratchet and a pawl, i.e., the first circumferential engagement structure is a ratchet, and the second circumferential engagement structure is an internal spline pawl; one of the mounting member 523 and the lifting member 522 is provided with a ratchet, and the other is provided with a pawl; when the mounting member 523 is in the connected position, the ratchet and pawl engage to form a circumferential limiting connection. When the mounting member 523 moves relative to the lifting member 522, the ratchet and pawl can engage together to form a circumferential limiting of the mounting member 523 and the lifting member 522, without affecting the axial movement of the mounting member 523 relative to the lifting member 522, resulting in high structural reliability.

[0116] In one embodiment, the limiting structure that enables the mounting member 523 and the lifting member 522 to be connected in the circumferential direction includes a first face gear and a second face gear whose rotating shaft is parallel or substantially parallel to the height direction Z. That is, the first circumferential meshing structure is the first face gear, and the second circumferential meshing structure is the second face gear. One of the mounting member 523 and the lifting member 522 is provided with the first face gear, and the other is provided with the second face gear. When the mounting member 523 is in the connection position, the first face gear and the second face gear mesh to form a circumferential limiting connection. When the mounting member 523 moves relative to the lifting member 522, the first face gear and the second face gear can mesh together, forming a circumferential limiting connection between the mounting member 523 and the lifting member 522, without affecting the axial movement of the mounting member 523 relative to the lifting member 522, resulting in high structural reliability.

[0117] In one embodiment, the lifting member 522 also has a third position between the first position and the second position. When the cleaning head 60 cleans the surface to be cleaned, when the lifting member 522 moves from the third position toward the first position, the mounting member 523 can be located in the separated position; when the lifting member 522 moves from the third position toward the second position, under the action of the surface to be cleaned, the mounting member 523 can move relative to the lifting member 522, so that the mounting member 523 can be located in the connected position. That is, the third position can be understood as the critical position for the connection and separation of the mounting member 523 and the lifting member 522. It is understood that when the mounting member 523 moves relative to the lifting member 522 from the critical position toward the first position, any position in which the mounting member 523 and the lifting member 522 are in a separated state can be understood as a separated position; when the mounting member 523 moves relative to the lifting member 522 from the critical position toward the second position, any position in which the mounting member 523 and the lifting member 522 are in a connected state can be understood as a connected position. In other words, the connected position and the separated position of the mounting member 523 are not limited to a specific position, but are a range of positions.

[0118] The cleaning head 60 is detachably connected to the mounting component 523, and the lifting component 522 also has a fourth position between the third position and the first position. When the lifting component 522 moves from the side near the second position to the fourth position, it drives the mounting component 523 to move upward synchronously. At this time, the cleaning head 60, driven by the mounting component 523, causes the tray 610 to abut against the equipment body 30. When the lifting component 522 continues to move upward from the fourth position to the first position or to the fifth position between the first and third positions, the cleaning head 60 is blocked by the equipment body 30 and cannot continue to move upward with the mounting component 523. However, the mounting component 523 continues to move upward synchronously under the drive of the lifting component 522, thereby separating the detachably connected cleaning head 60 from the mounting component 523 to achieve automatic removal of the cleaning head 60.

[0119] In particular, since the area of ​​the tray portion 610 of the cleaning head 60 is relatively large, the force provided by the contact between the tray portion 610 and the equipment body 30 is relatively stable.

[0120] In one embodiment, when the lifting member 522 is in the fourth position, the support plate portion 610 abuts against the bottom shell 513. The force provided by the abutment between the support plate portion 610 and the bottom shell 513 of the device body 30 causes the rotating shaft portion 620 to separate from the mounting member 523. In another embodiment, the device body 30 may also include a limiting structure. When the lifting member 522 is in the fourth position, the support plate portion 610 abuts against the limiting structure. The force provided by the abutment between the support plate portion 610 and the limiting structure of the device body 30 causes the rotating shaft portion 620 to separate from the mounting member 523.

[0121] The cleaning head 60 and the mounting component 523 can be magnetically connected, meaning the mounting component 523 can be equipped with a first magnetic element 71, and the cleaning head 60 can be equipped with a second magnetic element 72. When the cleaning head 60 and the mounting component 523 are magnetically connected using the first magnetic element 71 and the second magnetic element 72, the separation process only requires overcoming the magnetic force between the first magnetic element 71 and the second magnetic element 72. This facilitates the smooth separation of the cleaning head 60 from the mounting component 523 after it comes into contact with the device body 30, avoiding the need for the user to manually remove the cleaning head 60. This is especially important after the cleaning head 60 has become dirty, as manually removing a wet and soiled cleaning head 60 severely impacts the user experience. Therefore, the cleaning device 10 provided in this disclosure can improve the user experience, thereby enhancing the product's market competitiveness.

[0122] In this design, at least one of the first magnetic component 71 and the second magnetic component 72 is magnetic. When only one is magnetic, the other can be a magnetic component made of a material that can be attracted by magnetism. For example, the first magnetic component 71 is a metal component that can be attracted by magnetism, and the second magnetic component 72 is a magnetic component with magnetic attraction.

[0123] Among them, such as Figure 19 As shown, the inner shell of the mounting hole 5234 of the mounting member 523 may be provided with a mounting structure 5235, which enables the first magnetic member 71 to be positioned and assembled. Similarly, a structure for mounting the second magnetic member 72 may be provided on the rotating shaft portion 620 of the cleaning head 60. This structure, for example, is a mounting groove provided at the end of the rotating shaft portion 620, so that the first magnetic member 71 and the second magnetic member 72 can abut together, improving the stability of the cleaning head 60 assembled in the mounting hole 5234 of the mounting member 523.

[0124] In one embodiment, the cleaning device 10 may be provided with multiple cleaning modules 40, that is, multiple cleaning heads 60, such as two cleaning heads 60; at least one of the multiple cleaning heads 60 is connected to the device body 30 through the aforementioned lifting mechanism 50.

[0125] In one embodiment, the cleaning device 10 includes a swing arm, a drive assembly 53, and an elastic element 525. The cleaning head 60 is connected to the swing arm, and the swing arm is rotatably connected to the device body 30. Figure 20 As shown, the cleaning head 60 can be positioned in the retracted position and the extended position relative to the device body 30. That is, the cleaning head 60 can rotate between the retracted position and the extended position relative to the device body 30 under the drive of the swing arm, so as to achieve edge cleaning and corner cleaning, to cover more cleaning areas, reduce dead corners, and thus improve the cleaning effect.

[0126] It should be noted that, driven by the swing arm, the cleaning head 60 rotates relative to the device body 30 between the retracted position and the extended position. For example, when the cleaning device 10 has a cylindrical structure, the cleaning head 60, in the extended position relative to the retracted position, is positioned radially closer to the periphery of the cleaning device 10. That is, in the thickness direction of the device body 30, the overlapping area of ​​the orthographic projection of the device body 30 and the cleaning head 60 on the preset reference plane when the swing arm is in the retracted position is greater than the overlapping area of ​​the orthographic projection of the device body 30 and the cleaning head 60 on the preset reference plane when the swing arm is in the extended position. Therefore, by rotating the cleaning head 60 to the extended position, edge cleaning and corner cleaning can be achieved, covering more cleaning areas, reducing dead corners, and thus improving the cleaning effect.

[0127] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A cleaning module, characterized in that, include: A lifting mechanism includes a lifting component, a mounting component, and a drive assembly. The drive assembly is configured to drive the lifting component to reciprocate between a first position and a second position along the height direction of the lifting mechanism. The mounting component is movably connected to the lifting component in the height direction, and a limiting structure is provided between the mounting component and the lifting component. When the mounting component moves relative to the lifting component along the height direction toward the side closer to the lifting component to a connection position, the mounting component and the lifting component are circumferentially limited by the limiting structure. When the mounting component moves relative to the lifting component along the height direction toward the side farther from the lifting component to a separation position, the mounting component and the lifting component can rotate relative to each other. A cleaning head is connected to the mounting component, and the cleaning head can rotate relative to the lifting component when the mounting component is in the separated position.

2. The cleaning module according to claim 1, characterized in that, The lifting mechanism also includes: A rotating component, wherein the lifting component is threadedly connected to the rotating component, and the driving assembly is configured to drive the lifting component to rotate in a forward or reverse direction, so that the lifting component reciprocates relative to the rotating component between a first position and a second position in the height direction.

3. The cleaning module according to claim 2, characterized in that, The lifting mechanism also includes: The housing has a first frictional force between the rotating component and the housing. When the lifting component is in the second position, the lifting component drives the rotating component to overcome the first frictional force and rotate synchronously.

4. The cleaning module according to claim 3, characterized in that, The lifting mechanism also includes: A friction element is fixed to the end of the lifting element away from the cleaning head. When the lifting element is in the second position, there is a second frictional force between the friction element and the rotating element, and the second frictional force is greater than the first frictional force, so as to drive the rotating element to overcome the first frictional force and rotate synchronously.

5. The cleaning module according to claim 3, characterized in that, The housing has a receiving space, the lifting member is located in the receiving space, and when the lifting member reciprocates between the first position and the second position through the opening of the receiving space, it can extend or retract into the receiving space through the opening; The lifting mechanism also includes: A sealing element is disposed at the opening of the housing, and the sealing element is configured to block the gap between the housing and the lifting element.

6. The cleaning module according to claim 2, characterized in that, The lifting mechanism also includes: A transmission component is movably connected to the lifting component in the height direction and is upper-limited connected in the rotation direction. The drive assembly is configured to drive the transmission component to rotate, thereby driving the lifting component to rotate via the transmission component.

7. The cleaning module according to claim 1, characterized in that, The lifting mechanism also includes: An elastic element is provided between the mounting component and the lifting component. When the mounting component is located at the connection position, the elastic element is in a compressed state.

8. The cleaning module according to claim 7, characterized in that, When the mounting component is in the separated position, the elastic element is in a compressed state.

9. The cleaning module according to claim 7, characterized in that, The mounting component is provided with a mounting part and a guide part. The lifting component is provided with a mounting space. The mounting space is provided with a through hole. The end of the guide part away from the mounting part passes through the through hole and is connected to the lifting component in the upper direction through a limiting component. The elastic component is sleeved on the guide part and is located on the side of the through hole closer to the mounting part.

10. The cleaning module according to claim 1, characterized in that, The limiting structure includes a first circumferential engagement structure and a second circumferential engagement structure. The first circumferential engagement structure is provided on one of the mounting member and the lifting member, and the second circumferential engagement structure is provided on the other. When the mounting member is located in the connection position, the first circumferential engagement structure and the second circumferential engagement structure engage together to form a circumferential limiting connection.

11. The cleaning module according to claim 10, characterized in that, The first circumferential engagement structure is an external spline, and the second circumferential engagement structure is an internal spline. When the mounting component is located in the connection position, the external spline and the internal spline engage to form a circumferential limiting connection.

12. The cleaning module according to claim 11, characterized in that, The lifting mechanism further includes an elastic element. The mounting component is provided with a mounting part and a guide part. The elastic element is located between the mounting part and the lifting component and is sleeved on the guide part. When the mounting component is located at the connection position, the elastic element is in a compressed state. The mounting component is provided with an external spline, and an annular space is provided between the external spline and the guide portion. The end of the elastic member near the mounting portion is located in the annular space.

13. The cleaning module according to claim 10, characterized in that, The first circumferential engagement structure is a ratchet, and the second circumferential engagement structure is a pawl; when the mounting component is in the connection position, the ratchet and the pawl engage to form a circumferential limiting connection.

14. The cleaning module according to claim 10, characterized in that, The first circumferential meshing structure is a first face gear, and the second circumferential meshing structure is a second face gear. The rotation axes of the first face gear and the second face gear are parallel or substantially parallel to the height direction. When the mounting component is located in the connection position, the first face gear and the second face gear mesh to form a circumferential limiting connection.

15. The cleaning module according to claim 1, characterized in that, The lifting member also has a third position between the first position and the second position. When the cleaning head cleans the surface to be cleaned, the mounting member can be located in the separated position when the lifting member moves from the third position toward the first position. When the lifting member moves from the third position toward the second position, the mounting member can be located at the connection position; the cleaning head is detachably connected to the mounting member, and the lifting member also has a fourth position between the third position and the first position; When the lifting member moves from the side near the second position to the fourth position, the cleaning head abuts against the device body; when the lifting member moves from the fourth position to the first position or to the fifth position between the first position and the third position, the cleaning head separates from the mounting member.

16. The cleaning module according to claim 15, characterized in that, The cleaning head is magnetically connected to the mounting component.

17. A cleaning device, characterized in that, Includes the cleaning module as described in any one of claims 1 to 16.

18. A cleaning system, characterized in that, include: The cleaning equipment as claimed in claim 17; A base station, which is used to interface with the cleaning equipment.

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