Rotating assembly, cleaning module, cleaning device and cleaning system

Abstract

The present disclosure provides a rotating assembly, a cleaning module, a cleaning device and a cleaning system, and relates to the technical field of smart home. The rotating assembly comprises a base body, a rotating part and a steering engine. The rotating part and the base body are rotationally connected. The steering engine is connected with the rotating part. The steering engine can drive the rotating part to rotate relative to the base body. The steering engine comprises a shell and a circuit board assembly. The shell has a receiving cavity. The circuit board is arranged in the receiving cavity. The cleaning module provided by the present disclosure improves the use performance of the steering engine.

Description

Technical Field

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

[0002] Cleaning robots are more time-saving and labor-saving than traditional manual cleaning, and are being used by more and more families.

[0003] Cleaning robots typically have rotating parts to perform functions such as opening, closing, and shielding. These rotating parts are usually driven by electric actuators, so the usability of the electric actuators directly affects the user experience of the cleaning robot.

[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 rotating component, a cleaning module, a cleaning device, and a cleaning system that improve the performance of a servo motor.

[0006] According to one aspect of this disclosure, a rotating assembly is provided for use in a cleaning device, comprising:

[0007] Matrix;

[0008] A rotating component, wherein the rotating component is rotatably connected to the base;

[0009] A servo motor is connected to the rotating component, and the servo motor can drive the rotating component to rotate relative to the base.

[0010] The servo motor includes a housing and a circuit board assembly. The housing has a receiving cavity, and the circuit board is disposed within the receiving cavity.

[0011] In one exemplary embodiment of this disclosure, the servo motor further includes a motor connected to the circuit board assembly; the housing has a plurality of the receiving cavities, and the motor and the circuit board assembly are located in different receiving cavities.

[0012] In one exemplary embodiment of this disclosure, the servo motor further includes a motor, a transmission assembly, an output shaft, and a magnetic encoder. The motor and the magnetic encoder are connected to the circuit board assembly, and the motor is connected to the output shaft via the transmission assembly. The magnetic encoder is used to acquire the rotation angle of the output shaft.

[0013] In one exemplary embodiment of this disclosure, the magnetic encoder includes a magnet and a magnetic sensor, the magnet being disposed on the output shaft and the magnetic sensor being disposed on the circuit board assembly.

[0014] According to another aspect of this disclosure, a cleaning module is provided, the cleaning module comprising:

[0015] A cleaning component, wherein a first side of the cleaning component along a first direction is used to contact the surface to be cleaned;

[0016] In the aforementioned rotating assembly, the servo motor is used to drive the rotating member to move between a first position and a second position; when the rotating member is in the first position, a first side of the cleaning member is exposed from the rotating member at least along the first direction; when the rotating member is in the second position, the rotating member blocks the first side of the cleaning member at least in the first direction.

[0017] In one exemplary embodiment of this disclosure, the cleaning member extends along a second direction, which intersects with the first direction; the rotating member includes a main body and a driving part, the main body extends along the second direction, and the driving part is connected to one end of the main body along the second direction; the output shaft of the servo motor is connected to the driving part, and the driving part drives the main body to move between the first position and the second position.

[0018] In one exemplary embodiment of this disclosure, the output shaft of the servo motor is provided with a drive gear, and the drive unit is provided with a driven gear or gear structure, wherein the drive gear meshes with the driven gear or gear structure.

[0019] In one exemplary embodiment of this disclosure, the cleaning module further includes:

[0020] Mounting bracket, the cleaning component, the rotating component and the servo are mounted on the mounting bracket, and a first side of the cleaning component is exposed from the mounting bracket at least along the first direction.

[0021] In one exemplary embodiment of this disclosure, the servo motor is located at one end of the mounting bracket along the second direction.

[0022] In one exemplary embodiment of this disclosure, the axial direction of the output shaft of the servo motor is parallel to the second direction.

[0023] In an exemplary embodiment of this disclosure, the cleaning member further has a second side opposite to the first side along the first direction; when the rotating member moves from the first position toward the second position, the rotating member moves from the second side of the cleaning member toward the first side; when the rotating member moves from the second position toward the second position, the rotating member moves from the first side of the cleaning member toward the second side.

[0024] In one exemplary embodiment of this disclosure, the cleaning component is a roller mop.

[0025] According to another aspect of this disclosure, a cleaning device is provided, which includes the cleaning module described above.

[0026] In one exemplary embodiment of this disclosure, the cleaning device is a self-propelled cleaning device.

[0027] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:

[0028] The aforementioned cleaning equipment;

[0029] A base station, which is used to interface with the cleaning equipment.

[0030] The rotating assembly provided in this disclosure, driven by a servo motor, enables precise control of the rotating component's position. Simultaneously, by housing the circuit board assembly within the cavity formed by the housing, the protective function of the housing effectively prevents external dust, moisture, impurities, and other contaminants from affecting the motor, circuit board assembly, and other components, thereby improving the servo motor's operational stability and lifespan, and ultimately enhancing its performance.

[0031] 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

[0032] 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.

[0033] Figure 1 A schematic diagram of a cleaning system provided in one embodiment of this disclosure.

[0034] Figure 2 A schematic diagram of a cleaning device provided in one embodiment of this disclosure.

[0035] Figure 3 This is a schematic diagram of a cleaning module provided in one embodiment of the present disclosure.

[0036] Figure 4 This is a schematic diagram showing the rotating component in a first position in a cleaning module provided according to an embodiment of the present disclosure.

[0037] Figure 5 This is a side view of a cleaning module provided in an embodiment of the present disclosure, showing the rotating component in a first position.

[0038] Figure 6 This is a schematic diagram showing the rotating component in a second position in a cleaning module provided according to an embodiment of the present disclosure.

[0039] Figure 7 A side view of a cleaning module provided in one embodiment of this disclosure, showing the rotating component in a second position.

[0040] Figure 8 An exploded view of a cleaning module provided in one embodiment of this disclosure.

[0041] Figure 9 This is a schematic diagram of a servo motor provided for one embodiment of the present disclosure.

[0042] Figure 10 An exploded view of a servo motor provided for one embodiment of this disclosure.

[0043] Figure 11 This is a schematic diagram of a motor, transmission assembly, magnet connector, and magnet provided in one embodiment of the present disclosure.

[0044] Explanation of reference numerals in the attached figures:

[0045] 10. Cleaning equipment; 20. Base station;

[0046] 110. Equipment body; 120. Cleaning module; 121. Cleaning component; 122. Rotating component; 1221. Main body; 1222. Drive unit; 1223. Gear structure; 123. Servo motor; 1231. Housing; 12311. Top housing; 12312. Middle housing; 12313. Bottom housing; 1232. Motor; 1233. Transmission assembly; 1234. Circuit board assembly; 1235. Magnet connector; 1236. Magnet; 1237. Output shaft; 1238. Drive gear; 124. Mounting bracket; 125. Mounting plate; 126. Cover plate;

[0047] X, first direction; Z, second direction; Y, third direction. Detailed Implementation

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Embodiments of this disclosure provide a cleaning system, such as Figure 1 and Figure 2 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, a sweeping robot, or a combined sweeping and mopping robot; the cleaning device 10 may include a device body 110, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 20 is used to dock with the cleaning device 10, allowing it 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.

[0052] In some embodiments, the device body 110 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.

[0053] In some embodiments, the drive module may include a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. 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 110. In some embodiments, to enable the cleaning device 10 to move more stably or with greater mobility on the ground, the cleaning device 10 may include one or more steering wheels. The 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, and a drive motor provides power to the drive wheel assembly and / or the steering wheels.

[0054] In some embodiments, the cleaning device 10 may be a self-propelled cleaning device. The sensing module may include a position determination device located above the device body 110, a buffer located on the forward portion of the device body 110, 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 110, providing the control module with various position and motion state information of the device body 110. For example, the forward portion of the device body 110 is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 10 to walk 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 makes the cleaning device 10 respond to the objects, such as stepping over steps.

[0055] In some embodiments, 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.

[0056] In some embodiments, 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 device.

[0057] In some embodiments, the human-machine interface module may include buttons on the main control 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 function options 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, and can provide users with richer and more user-friendly functions.

[0058] Typically, cleaning equipment includes rotating components to perform functions such as opening, closing, and shielding. In this regard, embodiments of the present disclosure provide a rotating assembly for a cleaning equipment. The rotating assembly includes a base, a rotating component, and a servo motor. The rotating component is rotatably connected to the base, and the servo motor is connected to the rotating component, enabling the servo motor to drive the rotating component to rotate relative to the base.

[0059] In some embodiments, the servo motor includes a housing, a motor, a transmission assembly, an output shaft, and a circuit board assembly (PCBA). The motor is connected to the circuit board assembly, and the housing forms a receiving cavity in which the motor and the transmission assembly are located. The motor is driven to the output shaft via the transmission assembly, and the output shaft extends out of the housing. The output shaft is driven to a rotating component, so that the rotation of the motor can be controlled by the circuit board assembly, thereby driving the rotating component to move by controlling the rotation of the output shaft. The motor can be a DC motor, which is relatively small in size.

[0060] The circuit board assembly can also be located within the housing cavity. The protective shell effectively prevents external dust, moisture, and impurities from affecting components such as the motor and circuit board assembly, improving the servo's operational stability and lifespan, thereby enhancing its performance.

[0061] The housing may have multiple cavities, with the motor and circuit board assembly located in different cavities. Electromagnetic radiation generated during motor operation can interfere with signal transmission on the circuit board assembly, causing control signal distortion and affecting the servo's control accuracy. By separating the motor and circuit board assembly in different cavities, the impact of vibration and electromagnetic interference generated during motor operation on the circuit board assembly can be effectively reduced.

[0062] In some embodiments, the servo motor further includes a magnetic encoder connected to a circuit board assembly. The magnetic encoder is used to acquire the rotation angle of the output shaft. The magnetic encoder has high accuracy and reliability, and can accurately acquire the rotation angle of the output shaft, providing precise feedback signals for the position control of the servo motor.

[0063] The magnetic encoder comprises a magnet and a magnetic sensor. The magnet can be cylindrical, with its magnetic poles distributed radially along the cylinder. The magnet is mounted on and coaxially with the output shaft. The magnetic sensor is mounted on a circuit board assembly. The magnet and magnetic sensor together form a non-contact absolute angular position sensor. By directly mounting the magnet on the output shaft, it can rotate synchronously with the shaft, allowing the magnet's rotation to accurately reflect the output shaft's rotation. The magnetic sensor, mounted on the circuit board assembly, can sense changes in the magnet's magnetic field at close range, thereby precisely acquiring the output shaft's rotation angle information. This ensures the magnetic encoder can detect the output shaft's motion state in real time and accurately, providing a reliable basis for the precise control of the servo motor.

[0064] In some embodiments, 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 mopping component, a water tank, etc. The mopping component in the wet cleaning module may be a roller mop for mopping the surface to be cleaned.

[0065] The roller mop can be mounted on the equipment body 110 via a mounting bracket, and can clean the area to be cleaned along the travel path of the equipment body 110 under the drive of the equipment body 110. During cleaning, the roller mop is driven by a drive motor to rotate relative to the mounting bracket, and in the process of rotation, it rolls and rubs the surface to be cleaned, thereby efficiently removing dirt. To improve the cleaning efficiency of the roller mop during the rolling and rubbing process, cleaning fluid can be sprayed onto the roller mop, so that the roller mop is wetted by the cleaning fluid before rolling and rubbing the surface to be cleaned, thereby further improving the cleaning efficiency.

[0066] The cleaning scenarios in which cleaning equipment 10 is used typically include areas that do not require mopping, such as carpets in a user's home. However, a wet and dusty roller mop will wet or soil these areas, severely impacting the user experience.

[0067] To address the aforementioned technical problems, embodiments of this disclosure provide a cleaning module 120, such as... Figures 3-8As shown, the cleaning module 120 includes a cleaning component 121 and the aforementioned rotating assembly. The first side of the cleaning component 121 along the first direction X is used to contact the surface to be cleaned. The rotating component 122 in the rotating assembly is movable relative to the cleaning component 121 between a first position and a second position, and can be regarded as a shield for the cleaning component 121. When the rotating component 122 is in the first position, the first side of the cleaning component 121 is exposed at least along the first direction X from the rotating component 122. When the rotating component 122 is in the second position, the rotating component 122 blocks the first side of the cleaning component 121 at least in the first direction X. The servo motor 123 is used to drive the rotating component 122 to move between the first position and the second position.

[0068] The cleaning module 120 provided in this disclosure, when the rotating member 122 is in the first position, has at least one side of the cleaning member 121 exposed along the first direction X from the rotating member 122. At this time, the cleaning member 121 can normally contact the surface to be cleaned, realizing an effective mopping and cleaning function, ensuring good cleaning performance in areas that need cleaning (such as hard floors). When the cleaning device 10 moves to an area that does not need mopping (such as carpet), the servo motor 123 drives the rotating member 122 to move to the second position. At this time, the rotating member 122 blocks at least the first side of the cleaning member 121 in the first direction X, that is, the rotating member 122 is located between the cleaning member 121 and the area that does not need mopping, completely avoiding contact between the cleaning member 121 and the area that does not need mopping, thereby avoiding wetting or soiling the area that does not need mopping, and greatly improving the user experience. When the cleaning device 10 moves away from an area that does not need to be mopped and returns to an area that needs cleaning, the servo motor 123 drives the rotating component 122 from the second position to the first position, so that the first side of the cleaning component 121 is exposed again from the rotating component 122, and the mopping and cleaning of the surface to be cleaned continues. Simultaneously, by driving the rotating component 122 with the servo motor 123, precise control of the rotating component 122's position can be achieved, making it more stable and reliable. This allows for a quick and accurate response to the cleaning device 10's cleaning needs for different areas, improving the intelligence and efficiency of the cleaning device 10. Furthermore, the servo motor 123 is small in size, making it easy to integrate into the cleaning device 10 and avoiding occupying too much installation space.

[0069] In some embodiments, the cleaning component 121 further has a second side opposite to the first side along a first direction X; when the rotating component 122 moves from the first position to the second position, the rotating component 122 moves from the second side of the cleaning component 121 to the first side; when the rotating component 122 moves from the second position to the second position, the rotating component 122 moves from the first side of the cleaning component 121 to the second side. The rotating component 122 only needs to move back and forth on one side of the cleaning component 121 to achieve the functions of blocking and revealing, without the need for a complex motion mechanism, thus reducing the manufacturing difficulty and cost of the rotating component 122. At the same time, the simple motion trajectory also reduces the risk of interference between the rotating component 122 and other components, improving the safety and stability of the entire cleaning module 120. In addition, the movement of the rotating component 122 from the second side to the first side to achieve blocking, and from the first side to the second side to achieve revealing, is consistent with the working logic of the cleaning device 10. When the cleaning device 10 detects an area that does not need to be mopped, it controls the rotating component 122 to move to the first side to block it; when it returns to the area that needs to be mopped, it controls the rotating component 122 to move to the second side to expose the cleaning component 121. The operation logic is clear, which makes it easy for the control system of the cleaning device 10 to be programmed and controlled, and can improve the intelligence level of the cleaning device 10.

[0070] When the cleaning component 121 is a rolling mop, the rotating component 122 can move to the bottom of the roller mop along the first direction X to cover the roller mop; the rotating component 122 can move to the side of the roller mop along the third direction Y or above the first direction X to allow the roller mop to be exposed and contact the surface to be cleaned.

[0071] In some embodiments, the base of the rotating assembly can serve as the mounting bracket 124 of the cleaning module 120, i.e., the cleaning component 121 is mounted on the base, and the entire cleaning module 120 can be connected to the device body 110 through the base. Below, using the mounting bracket 124 as an example, the cleaning module 120 will be described in detail, and the components in the rotating assembly will be further described in detail.

[0072] The cleaning component 121, rotating component 122, and servo motor 123 can be mounted on the mounting bracket 124. The first side of the cleaning component 121 is exposed from the mounting bracket 124 at least along the first direction X, so that when the rotating component 122 is in the first position, the first side of the cleaning component 121 and the rotating component 122 can simultaneously be exposed along the first direction X to contact the surface to be cleaned. The mounting bracket 124 provides a mounting platform for the cleaning component 121, rotating component 122, and servo motor 123, allowing each component to be assembled according to a preset positional relationship, ensuring the stability and consistency of the overall structure of the cleaning module 120. During the manufacturing process, the positioning function of the mounting bracket 124 can reduce assembly errors of each component, improve product accuracy and quality stability, and facilitate standardized and large-scale production. Simultaneously, the cleaning module 120 can be used as an independent module, which can be quickly installed onto the cleaning equipment 10 via the mounting bracket 124, or removed from the cleaning equipment 10 for maintenance and replacement. This greatly improves the assembly efficiency and maintenance convenience of the cleaning equipment 10, and reduces production and maintenance costs.

[0073] The cleaning component 121 extends in the second direction Z, and its two ends are rotatably connected to the mounting bracket 124 in the second direction Z, so that the cleaning component 121 can quickly rotate and wipe the surface to be cleaned.

[0074] In this design, one or both ends of the rotating component 122 in the second direction Z are rotatably connected to the mounting bracket 124 to rotate under the drive of the servo motor 123. When one end of the rotating component 122 is rotatably connected to the mounting bracket 124, the servo motor 123 is located on the side where the rotating component 122 is rotatably connected to the mounting bracket 124. This fully utilizes the space at the end of the mounting bracket 124 and avoids spatial interference between the servo motor 123 and other components such as the cleaning component 121 and the rotating component 122. This makes the overall structure of the cleaning module 120 more compact and improves space utilization, which is beneficial for the miniaturization design of the cleaning module 120 and adapts to the limited installation space inside the cleaning equipment 10. At the same time, this layout facilitates the connection between the servo motor 123 and the drive unit 1222 of the rotating component 122. Since the drive unit 1222 of the rotating component 122 is located at one end of the main body 1221, and the servo motor 123 is also located at one end of the mounting bracket 124, their positions are closer, reducing the length and complexity of the transmission components and improving the efficiency and stability of power transmission. In addition, the servo motor 123 is located at one end of the mounting bracket 124, which makes it easier to access the servo motor 123 for inspection, repair or replacement, reducing maintenance difficulty and cost. At the same time, the air circulation at the end is relatively good, which can help the servo motor 123 dissipate heat in time and avoid affecting its working performance and service life due to overheating.

[0075] Among them, such as Figures 4-8As shown, the servo motor 123 can be fixed on the mounting bracket 124 by the mounting plate 125, which facilitates the placement of the servo motor 123 on the mounting bracket 124, making the overall structure of the cleaning module 120 more compact and the space utilization rate higher, which is conducive to the miniaturization design of the cleaning module 120.

[0076] Among them, such as Figure 3 As shown, after the servo motor 123 is fixed to the mounting bracket 124 by the mounting plate 125, the servo motor 123 can be enclosed by the cover plate 126 to prevent sewage, dust, etc. from entering the servo motor 123 and affecting its service life and reliability. Both the mounting plate 125 and the cover plate 126 are detachably connected to the mounting bracket 124 by threaded parts, which facilitates installation and removal and improves maintenance economy.

[0077] In some embodiments, the rotating member 122 includes a main body 1221 and a drive part 1222. The main body 1221 extends along a second direction Z, and the drive part 1222 is connected to one end of the main body 1221 along the second direction Z. The output shaft 1237 of the servo motor 123 is connected to the drive part 1222, and the drive part 1222 drives the main body 1221 to move between a first position and a second position. The connection between the output shaft 1237 of the servo motor 123 and the drive part 1222, and the drive part 1222 drives the main body 1221 to move, achieves precise control of the movement of the rotating member 122. The cleaning member 121 and the main body 1221 extend in the same direction. The servo motor 123 drives the overall movement by driving the drive part 1222 of the cleaning member 121, which is beneficial to the miniaturization design of the cleaning module 120.

[0078] The main body 1221 and the drive part 1222 of the rotating component 122 can be integrally molded, or they can be connected together by means of threaded connection, snap-fit, or adhesive bonding. When the main body 1221 and the drive part 1222 are separate structures, it facilitates the structural design of the more complex drive part 1222 and reduces production costs. At the same time, when the main body 1221 is damaged, it can be replaced separately, reducing maintenance costs.

[0079] Among them, such as Figure 8As shown, the output shaft 1237 of the servo motor 123 is equipped with a drive gear 1238, and the drive unit 1222 is equipped with a gear structure 1223. The drive gear 1238 meshes with the gear structure 1223. The gear structure 1223 can be fan-shaped, sufficient to drive the main body 1221 to move between the first position and the second position. It is understood that the drive unit 1222 can also be equipped with a driven gear that meshes with the drive gear 1238. In the cleaning module 120, through the meshing of the drive gear 1238 with the driven gear or the gear structure 1223, precise power transmission between the output shaft 1237 of the servo motor 123 and the drive unit 1222 can be achieved, ensuring that the driving force of the servo motor 123 can be efficiently and stably transmitted to the rotating component 122, so that the rotating component 122 can move at the expected speed and trajectory, improving the position control accuracy of the rotating component 122. Meanwhile, the gear transmission has a compact structure and occupies little space, which helps maintain the miniaturization and lightweight characteristics of the cleaning module 120 and adapts to the limited installation space inside the cleaning equipment 10. In addition, the gear transmission has high reliability and is not prone to slippage or loosening, ensuring that the rotating component 122 maintains stable motion performance during long-term use. Even if the cleaning equipment 10 encounters resistance during operation, the gear transmission can stably transmit power, ensuring that the rotating component 122 accurately reaches the designated position, thereby reliably achieving the function of blocking or exposing the cleaning component 121. Furthermore, during production, the transmission ratio can be precisely controlled by adjusting the gear ratio to meet different speed and position requirements.

[0080] In this design, the output shaft 1237 of the servo motor 123 is parallel to the second direction Z. When the main body 1221 is driven by the drive unit 1222, this axial arrangement allows the direction of the driving force to better match the movement trajectory of the main body 1221, reducing additional torque and energy loss during movement and improving the efficiency and stability of power transmission. For example, when using gear transmission, the parallelism of the output shaft 1237 to the second direction Z makes the rotation direction of the drive gear 1238 more coordinated with the rotation direction of the driven gear or gear structure 1223. This avoids unnecessary lateral forces during gear meshing, reduces gear wear, extends gear life, and ensures smooth and precise transmission. Furthermore, the parallelism of the output shaft 1237 to the second direction Z allows the servo motor 123 to be arranged along the second direction Z, aligning with the extension direction of the cleaning component 121 and the rotating component 122. This avoids the servo motor 123 occupying space in other directions, further reducing the volume of the cleaning module 120 and improving space utilization. Furthermore, this axial arrangement facilitates the connection and assembly of the servo motor 123 and the drive unit 1222 of the rotating component 122, and allows for easier adjustment of their relative positions, ensuring accurate meshing or connection of the transmission components and improving product quality.

[0081] In some embodiments, such as Figures 8-10 As shown, the servo motor 123 includes a housing 1231, a motor 1232, a transmission assembly 1233, an output shaft 1237, and a circuit board assembly (PCBA) 1234. The motor 1232 is connected to the circuit board assembly 1234. The housing 1231 forms a receiving cavity, in which the motor 1232 and the transmission assembly 1233 are located. The motor 1232 is driven by the transmission assembly 1233 and the output shaft 1237, which extends out of the housing 1231. The output shaft 1237 is driven by a rotating member 122, so that the rotation of the motor 1232 can be controlled by the circuit board assembly 1234, thereby controlling the rotation of the output shaft 1237 to drive the rotating member 122 to move between a first position and a second position. The rotating member 122 can switch between the first position and the second position under the drive of the servo motor 123, or it can be located at any position between the first position and the second position. The motor 1232 can be a DC motor, which is relatively small in size.

[0082] The circuit board assembly 1234 can also be located within the housing cavity. The housing 1231 effectively protects the motor 1232, circuit board assembly 1234, and other components from external dust, moisture, and impurities, improving the operational stability and lifespan of the servo motor 123. This protection is particularly important in environments like the cleaning equipment 10, which may be humid and dusty. Furthermore, integrating the motor 1232 and circuit board assembly 1234 into the same housing cavity makes the overall structure of the servo motor 123 more compact. In addition, the built-in circuit board assembly 1234 significantly reduces motor EMC (Electromagnetic Compatibility) radiation, improving lifespan and control angle accuracy.

[0083] The accommodating cavity includes multiple accommodating cavities, with the motor 1232 and the circuit board assembly 1234 located in different accommodating cavities. For example... Figure 8 As shown, the housing 1231 includes a top shell 12311, a middle shell 12312, and a bottom shell 12313. The top shell 12311 and the middle shell 12312 cooperate to form a receiving cavity, in which the circuit board assembly 1234 can be located. The middle shell 12312 and the bottom shell 12313 cooperate to form a receiving cavity, in which the motor 1232 and the transmission assembly 1233 can be located. The electromagnetic radiation generated by the motor 1232 during operation may also interfere with the signal transmission on the circuit board assembly 1234, causing control signal distortion and affecting the control accuracy of the servo motor 123. By separating the motor 1232 and the circuit board assembly 1234 in different receiving cavities, the impact of vibration and electromagnetic interference generated by the motor 1232 during operation on the circuit board assembly 1234 can be effectively reduced.

[0084] In some embodiments, the servo motor 123 further includes a magnetic encoder connected to the circuit board assembly 1234. The magnetic encoder is used to acquire the rotation angle of the output shaft 1237. Traditional servo motors 123 use Hall effect feedback signals for position feedback, which suffers from signal loss and inaccurate position determination. They often require a position switch to assist in position determination, which not only increases structural complexity but also hinders standardized, large-scale production in factories. Magnetic encoders, on the other hand, offer higher accuracy and reliability, accurately acquiring the rotation angle of the output shaft 1237 and providing precise feedback signals for the position control of the servo motor 123.

[0085] The use of a magnetic encoder enables the servo motor 123 to achieve closed-loop control. By acquiring the rotation angle of the output shaft 1237 in real time and comparing it with the target angle, the operating state of the motor 1232 is adjusted in a timely manner, thereby achieving precise positioning of the output shaft 1237. This improves the positional accuracy of the rotating component 122 driven by the servo motor 123, ensuring that the rotating component 122 can accurately reach the first or second position, and making the switching of the cleaning module 120 in different working states more reliable. Simultaneously, due to the high position feedback accuracy of the magnetic encoder, auxiliary components such as position switches are no longer needed, simplifying the overall structure of the servo motor 123 and reducing the number of parts and assembly complexity. Furthermore, the magnetic encoder has strong environmental adaptability, maintaining stable operating performance even in harsh environments such as humid and dusty conditions, further improving the reliability of the servo motor 123.

[0086] The magnetic encoder includes a magnet 1236 and a magnetic sensor. The magnet 1236 may be cylindrical, with its magnetic poles distributed radially along the cylindrical shape. The magnet 1236 is mounted on and coaxially with the output shaft 1237. The magnetic sensor is mounted on a circuit board assembly 1234. The magnet 1236 and the magnetic sensor together form a non-contact absolute angular position sensor. By directly mounting the magnet 1236 on the output shaft 1237, it can rotate synchronously with the output shaft 1237, allowing the rotation state of the magnet 1236 to accurately reflect the rotation of the output shaft 1237. The magnetic sensor, mounted on the circuit board assembly 1234, can sense changes in the magnetic field of the magnet 1236 at close range, thereby accurately acquiring the rotation angle information of the output shaft 1237. This ensures that the magnetic encoder can detect the motion state of the output shaft 1237 in real time and accurately, providing a reliable basis for the precise control of the servo motor 123. Furthermore, this structural design is simple and compact, facilitating integration into the overall structure of the servo motor 123 without excessively increasing its size and weight. This helps maintain the miniaturization and lightweight characteristics of the servo motor 123, adapting to the limited installation space of the cleaning equipment 10. For example, Figure 11As shown, magnet 1236 is fixed to the end of output shaft 1237 via magnet connector 1235. A mounting groove may be provided on magnet connector 1235, into which magnet 1236 can be embedded. A plug-in portion may be provided on magnet connector 1235, through which it is fixed to a slot at the end of output shaft 1237 to achieve a fixed connection.

[0087] The magnet 1236 can also be a radially magnetized magnetic ring, with the magnetic poles of the ring distributed radially. The magnetic ring is sleeved on the output shaft 1237, and the magnetic ring sleeved on the output shaft 1237 moves synchronously with the output shaft 1237. Thus, the magnetic sensor obtains relevant angle information based on the change in magnetic flux, and calculates the angle information based on the change in magnetic flux.

[0088] 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 rotating assembly, characterized in that, For use in cleaning equipment, including: Matrix; A rotating component, wherein the rotating component is rotatably connected to the base; A servo motor is connected to the rotating component, and the servo motor can drive the rotating component to rotate relative to the base. The servo motor includes a housing and a circuit board assembly. The housing has a receiving cavity, and the circuit board is disposed within the receiving cavity.

2. The rotating assembly according to claim 1, characterized in that, The servo also includes a motor connected to the circuit board assembly; the housing has multiple accommodating cavities, with the motor and the circuit board assembly located in different accommodating cavities.

3. The rotating assembly according to claim 1, characterized in that, The servo motor also includes a motor, a transmission assembly, an output shaft, and a magnetic encoder. The motor and the magnetic encoder are connected to the circuit board assembly. The motor is connected to the output shaft via the transmission assembly. The magnetic encoder is used to obtain the rotation angle of the output shaft.

4. The rotating assembly according to claim 3, characterized in that, The magnetic encoder includes a magnet and a magnetic sensor. The magnet is disposed on the output shaft, and the magnetic sensor is disposed on the circuit board assembly.

5. A cleaning module, characterized in that, include: A cleaning component, wherein a first side of the cleaning component along a first direction is used to contact the surface to be cleaned; The rotating assembly according to any one of claims 1 to 4, wherein the servo motor is used to drive the rotating member to move between a first position and a second position; when the rotating member is in the first position, a first side of the cleaning member is exposed from the rotating member at least along the first direction; when the rotating member is in the second position, the rotating member blocks the first side of the cleaning member at least in the first direction.

6. The cleaning module according to claim 5, characterized in that, The cleaning component extends along a second direction, which intersects with the first direction; the rotating component includes a main body and a driving part, the main body extends along the second direction, and the driving part is connected to one end of the main body along the second direction; the output shaft of the servo motor is connected to the driving part, and the driving part drives the main body to move between the first position and the second position.

7. The cleaning module according to claim 6, characterized in that, The servo motor has a drive gear on its output shaft and a driven gear or gear structure on its drive unit. The drive gear meshes with the driven gear or gear structure.

8. The cleaning module according to claim 6, characterized in that, The cleaning module also includes: Mounting bracket, the cleaning component, the rotating component and the servo are mounted on the mounting bracket, and a first side of the cleaning component is exposed from the mounting bracket at least along the first direction.

9. The cleaning module according to claim 8, characterized in that, The servo is located at one end of the mounting bracket along the second direction.

10. The cleaning module according to claim 6, characterized in that, The axial direction of the output shaft of the servo motor is parallel to the second direction.

11. The cleaning module according to claim 5, characterized in that, The cleaning component also has a second side opposite to the first side along the first direction; when the rotating component moves from the first position toward the second position, the rotating component moves from the second side of the cleaning component toward the first side; When the rotating member moves from the second position toward the second position, the rotating member moves from the first side of the cleaning member toward the second side.

12. The cleaning module according to claim 5, characterized in that, The cleaning component is a roller mop.

13. A cleaning device, characterized in that, Includes the cleaning module as described in any one of claims 5 to 12.

14. The cleaning equipment according to claim 13, characterized in that, The cleaning equipment is a self-propelled cleaning device.

15. A cleaning system, characterized in that, include: The cleaning equipment as described in claim 13 or 14; A base station, which is used to dock the cleaning equipment.

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