Cleaning module, cleaning device and cleaning system

Abstract

The present disclosure provides a cleaning module, a cleaning device and a cleaning system, and relates to the technical field of smart home. The cleaning module comprises a cleaning piece, a mounting frame, a shielding piece, a driving assembly and a first rolling piece. The mounting frame is provided with a containing portion and a first connecting portion, and the cleaning piece is arranged in the containing portion. The shielding piece is provided with a second connecting portion, the first connecting portion and the second connecting portion are matched, the shielding piece can move between a first position and a second position relative to the mounting frame to shield or expose the cleaning piece. The driving assembly is connected with the shielding piece to drive the shielding piece to move between the first position and the second position. The first rolling piece is at least partially arranged between the first connecting portion and the second connecting portion, thereby improving the stability of the shielding piece during movement.

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] As society continues to develop and people's living standards improve, cleaning robots are becoming increasingly popular in households because they save time and effort compared to traditional manual cleaning. Cleaning robots typically include a mopping component that rotates at high speed to scrub the floor.

[0003] However, when cleaning equipment moves to areas that do not need to be mopped, such as carpeted areas, the damp or debris-covered mopping parts can wet or soil the areas that do not need to be mopped, seriously affecting the user experience.

[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 that improves the stability of the shielding component during movement.

[0006] According to one aspect of this disclosure, a cleaning module has been known to include:

[0007] Cleaning parts;

[0008] The mounting frame is provided with a receiving portion and a first connecting portion, and the cleaning component is disposed in the receiving portion;

[0009] A shielding member is provided with a second connecting part, the first connecting part and the second connecting part cooperate, and the shielding member can move between a first position and a second position relative to the mounting bracket to shield or expose the cleaning component;

[0010] A driving component is connected to the blocking member to drive the blocking member to move between the first position and the second position;

[0011] A first rolling element is at least partially disposed between the first connecting portion and the second connecting portion.

[0012] In one exemplary embodiment of this disclosure, the second connecting portion is located at one end of the blocking member, and the driving component is connected to the other end of the blocking member.

[0013] In one exemplary embodiment of this disclosure, the blocking member includes a main body and a driving part, the main body having a first end and a second end opposite to each other; the driving part is connected to the first end of the main body, and the driving assembly is connected to the driving part; the second connecting part is located at the second end of the main body.

[0014] In one exemplary embodiment of this disclosure, the first connecting portion is formed with a guide groove, the second connecting portion is located in the guide groove, the guide groove is used to guide the movement of the blocking member between the first position and the second position; the first rolling member is located in the guide groove, and the first rolling member makes rolling contact with the groove wall of the guide groove.

[0015] In one exemplary embodiment of this disclosure, the second connecting portion is provided with an extension portion, the extension portion being located on the side of the second connecting portion facing the first position from the second position; when the blocking member is located in the second position, the first rolling member and at least part of the extension portion are within the guide groove.

[0016] In one exemplary embodiment of this disclosure, the extension is provided with a mounting hole, the first rolling element is fitted into the mounting hole, and at least a portion of the first rolling element protrudes from the surfaces on both sides of the extension in the thickness direction.

[0017] In one exemplary embodiment of this disclosure, the first rolling element is provided on one side of the extension in the thickness direction, or the first rolling element is provided on both sides of the extension in the thickness direction.

[0018] In one exemplary embodiment of this disclosure, a groove is formed on the wall of the guide groove, extending along the movement trajectory of the first rolling member, the first rolling member rolls in the groove, and the groove is used to limit the axial movement of the first rolling member.

[0019] In one exemplary embodiment of this disclosure, the rolling surface of the first rolling member is at least formed of an elastic material, or the rolling surface of the first rolling member is provided with an elastic material layer.

[0020] In one exemplary embodiment of this disclosure, the rotation axis of the first rolling element is parallel to the rotation axis of the cleaning element.

[0021] In one exemplary embodiment of this disclosure, the first rolling element is a roller or a ball.

[0022] In one exemplary embodiment of this disclosure, the drive assembly includes a servo motor for driving the blocking member to move between the first position and the second position.

[0023] In one exemplary embodiment of this disclosure, the cleaning component is a roller mop.

[0024] According to another aspect of this disclosure, a cleaning apparatus is provided, the cleaning apparatus comprising:

[0025] Equipment body;

[0026] The cleaning module described above is located on the device body.

[0027] In one exemplary embodiment of this disclosure, the cleaning device further includes:

[0028] The second rolling element is provided on the shielding member and / or the device body. When the shielding member moves between the first position and the second position, it makes rolling contact with the device body through the second rolling element.

[0029] In one exemplary embodiment of this disclosure, the cleaning device is a self-propelled cleaning device.

[0030] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:

[0031] The aforementioned cleaning equipment;

[0032] A base station, which is used to dock the cleaning equipment.

[0033] The cleaning module disclosed herein, by setting a first rolling element between the first connecting part and the second connecting part, can change the sliding friction between the shield and the mounting bracket to rolling friction, which can significantly reduce the friction between the two. This change in friction type effectively reduces energy loss, allowing the drive component to output only a smaller driving force to move the shield. This not only reduces the power requirements of the drive component but also extends its service life and reduces its size. Simultaneously, due to the reduced friction, the resistance experienced by the shield during movement is more uniform and stable, avoiding jamming caused by sudden changes in local friction. When the drive component drives the shield to switch between the first and second positions, each part of the shield can more smoothly follow the movement of the drive component, ensuring that the movement rhythm of the active and driven sides remains consistent, further improving the accuracy of the shield switching between the two positions. In addition, the first rolling element can reduce wear between the shield and the mounting bracket. Sliding friction can easily cause scratches, deformation and other wear phenomena on the contact surface, while rolling friction disperses the contact stress through the rotation of the rolling element, reducing the friction force per unit area, thereby slowing down the aging speed of the parts, and also avoiding abnormal noise caused by friction.

[0034] 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

[0035] 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.

[0036] Figure 1 A schematic diagram of a cleaning system provided in one embodiment of this disclosure.

[0037] Figure 2 A schematic diagram of a cleaning device provided in one embodiment of this disclosure.

[0038] Figure 3 This is a schematic diagram of a cleaning module provided in one embodiment of the present disclosure.

[0039] Figure 4 This is a schematic diagram showing the shielding element in a first position in a cleaning module provided according to an embodiment of the present disclosure.

[0040] Figure 5 A side view of a shielding element in a first position in a cleaning module provided according to an embodiment of this disclosure.

[0041] Figure 6 This is a schematic diagram showing the shielding element in a second position in a cleaning module provided according to an embodiment of the present disclosure.

[0042] Figure 7 A side view of a cleaning module provided in an embodiment of this disclosure, showing the shielding element in a second position.

[0043] Figure 8 An exploded view of a cleaning module provided in one embodiment of this disclosure.

[0044] Figure 9 This is a schematic diagram of a servo motor provided for one embodiment of the present disclosure.

[0045] Figure 10 This is a schematic diagram of a shielding member and a first rolling member provided in one embodiment of the present disclosure.

[0046] Figure 11 This is a schematic diagram of a mounting bracket provided in one embodiment of the present disclosure.

[0047] Figure 12 A schematic cross-sectional view of a first rolling element located in a guide groove, according to an embodiment of this disclosure.

[0048] Explanation of reference numerals in the attached figures:

[0049] 10. Cleaning equipment; 20. Base station;

[0050] 110. Equipment body; 120. Cleaning module; 121. Cleaning component; 122. Shielding component; 1221. Main body; 1222. Drive unit; 1223. Gear structure; 1224. Extension; 1225. Second connecting part; 123. Drive assembly; 1231. Servo motor; 1232. Drive gear; 1233. Output shaft; 124. Mounting bracket; 1240. First connecting part; 1241. Mounting bracket body; 1242. Guide plate; 1243. Guide groove; 1244. Receiving part; 125. Mounting plate; 126. Cover plate; 127. First rolling element;

[0051] X, first direction; Z, second direction; Y, third direction. Detailed Implementation

[0052] 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.

[0053] 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.

[0054] 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.

[0055] Embodiments of this disclosure provide a cleaning system, such as Figure 1 and Figure 2As 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] The roller mop can be mounted on the device body 110 via a mounting bracket, and can clean the areas to be cleaned along the travel path of the device body 110 under the drive of the device 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 liquid can be sprayed onto the roller mop, so that the roller mop is wetted before rolling and rubbing the surface to be cleaned, thereby further improving cleaning efficiency. However, in the cleaning scenario where the cleaning device 10 is used, there are usually areas that do not need to be mopped, such as carpets in a user's home. However, a wet roller mop with dirt attached will wet or soil the areas that do not need to be mopped, seriously affecting the user experience.

[0064] In some embodiments, such as Figures 3-8 As shown, the cleaning module 120 includes: a cleaning component 121, a shielding component 122, and a driving assembly 123. The cleaning component 121 has a first side along a first direction X for contacting the surface to be cleaned. The shielding component 122 is movable relative to the cleaning component 121 between a first position and a second position. When the shielding component 122 is in the first position, the first side of the cleaning component 121 is exposed from the shielding component 122 at least along the first direction X. When the shielding component 122 is in the second position, the shielding component 122 shields the first side of the cleaning component 121 at least along the first direction X. The driving assembly 123 is connected to the shielding component 122 and is used to drive the shielding component 122 to move between the first position and the second position.

[0065] When the blocking member 122 is in the first position, the first side of the cleaning member 121 is exposed from the blocking member 122 at least along the first direction X. At this time, the cleaning member 121 can make normal contact with 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 drive assembly 123 drives the blocking member 122 to move to the second position. At this time, the blocking member 122 blocks the first side of the cleaning member 121 at least in the first direction X. That is, the blocking 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 preventing the area that does not need mopping from getting wet or dirty, and greatly improving the user experience. When the cleaning device 10 moves away from the area that does not need to be mopped and returns to the area that needs to be cleaned, the drive assembly 123 drives the shield 122 to move from the second position to the first position, so that the first side of the cleaning member 121 is exposed again from the shield 122, and the surface to be cleaned is continued to be mopped and cleaned.

[0066] Among them, such as Figure 8 and Figure 9 As shown, the drive component 123 may include a servo motor 1231, which drives the blocking member 122 to move between a first position and a second position. By driving the blocking member 122 with the servo motor 1231, precise control of the blocking member 122's position can be achieved, resulting in greater stability and reliability. This allows for rapid and accurate response to the cleaning equipment 10's cleaning needs for different areas, improving the intelligence and efficiency of the cleaning equipment 10. Furthermore, the servo motor 1231 is small in size, making it easy to integrate into the cleaning equipment 10 and avoiding excessive installation space. Of course, the drive component 123 can also be of other types, such as a drive motor. Below, this disclosure provides a detailed description of the cleaning module 120 using the servo motor 1231 as the driver.

[0067] In some embodiments, the cleaning component 121 further has a second side opposite to the first side along a first direction X; when the blocking component 122 moves from the first position to the second position, the blocking component 122 moves from the second side of the cleaning component 121 to the first side; when the blocking component 122 moves from the second position to the second position, the blocking component 122 moves from the first side of the cleaning component 121 to the second side. The blocking component 122 only needs to move back and forth on one side of the cleaning component 121 to achieve the blocking and exposure functions, without the need for a complex motion mechanism, reducing the manufacturing difficulty and cost of the blocking component 122. At the same time, the simple motion trajectory also reduces the risk of interference between the blocking component 122 and other components, improving the safety and stability of the entire cleaning module 120. In addition, the blocking component 122 moves from the second side to the first side of the cleaning component 121 to achieve blocking, and moves from the first side to the second side to achieve exposure. This movement mode 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 blocking member 122 to move to the first side to block it; when it returns to the area that needs to be mopped, it controls the blocking member 122 to move to the second side to expose the cleaning member 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.

[0068] When the cleaning component 121 is a roller mop, the blocking component 122 can be positioned at the bottom of the roller mop along the first direction X to block the roller mop; the blocking component 122 can be positioned on the side of the roller mop along the third direction Y or above the roller mop along the first direction X to allow the roller mop to be exposed and contact the surface to be cleaned.

[0069] In some embodiments, the cleaning module 120 further includes a mounting bracket 124, through which the cleaning module 120 can be connected to the device body 110. The cleaning component 121, the shielding component 122, and the servo motor 1231 can be mounted on the mounting bracket 124. The mounting bracket 124 is provided with a receiving portion 1244, in which the cleaning component 121 is located. At least one side of the cleaning component 121 protrudes from the receiving portion 1244 of the mounting bracket 124 along a first direction X, so that when the shielding component 122 is in a first position, the first side of the cleaning component 121 can simultaneously protrude from the mounting bracket 124 and the shielding component 122 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, the shielding component 122, and the servo motor 1231, allowing the components 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 reduces assembly errors of various components, improves product precision and quality stability, and facilitates standardized and large-scale production. Simultaneously, it allows the cleaning module 120 to function as an independent module, enabling quick installation onto the cleaning equipment 10 via the mounting bracket 124, or removal from the cleaning equipment 10 for maintenance and replacement. This significantly improves the assembly efficiency and maintenance convenience of the cleaning equipment 10, while reducing production and maintenance costs.

[0070] 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.

[0071] The mounting bracket 124 has a first connecting portion 1240 at one end in the second direction Z, and the shielding member 122 has a second connecting portion 1225 at one end in the second direction Z. The first connecting portion 1240 and the second connecting portion 1225 cooperate, and the shielding member 122 can move between a first position and a second position relative to the mounting bracket 124 to shield or expose the cleaning member 121.

[0072] The other end of the shield 122 in the second direction Z is rotatably connected to the mounting bracket 124, so as to rotate under the drive of the servo motor 1231. When the other end of the shield 122 is rotatably connected to the mounting bracket 124, the servo motor 1231 is located on the side where the shield 122 is rotatably connected to the mounting bracket 124. This makes full use of the space at the end of the mounting bracket 124 and avoids spatial interference between the servo motor 1231 and other components such as the cleaning component 121 and the shield 122. This makes 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 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 1231 and the drive unit 1222 of the shield 122. Since the drive unit 1222 of the shield 122 is located at one end of the main body 1221, and the servo motor 1231 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. Furthermore, the servo motor 1231 being located at one end of the mounting bracket 124 allows for easier access for inspection, repair, or replacement, reducing maintenance difficulty and costs. Simultaneously, the better airflow at the end helps the servo motor 1231 dissipate heat promptly, preventing overheating from affecting its performance and lifespan.

[0073] Among them, such as Figures 4-8 As shown, the servo motor 1231 can be fixed on the mounting bracket 124 by the mounting plate 125, which facilitates the placement of the servo motor 1231 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.

[0074] Among them, such as Figure 3 As shown, after the servo motor 1231 is fixed to the mounting bracket 124 by the mounting plate 125, the servo motor 1231 can be enclosed by the cover plate 126 to prevent sewage, dust, etc. from entering the servo motor 1231 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.

[0075] In some embodiments, the shielding member 122 includes a main body 1221 and a drive unit 1222. The main body 1221 extends along a second direction Z, and the drive unit 1222 is connected to one end of the main body 1221 along the second direction Z. The output shaft 1233 of the servo motor 1231 is connected to the drive unit 1222, and the drive unit 1222 drives the main body 1221 to move between a first position and a second position. The connection between the output shaft 1233 of the servo motor 1231 and the drive unit 1222, and the drive unit 1222 drives the main body 1221 to move, achieves precise control of the movement of the shielding member 122. The cleaning member 121 and the main body 1221 extend in the same direction. The servo motor 1231 drives the overall movement by driving the drive unit 1222 of the cleaning member 121, which is beneficial for the miniaturization design of the cleaning module 120.

[0076] The main body 1221 and the drive part 1222 of the shielding member 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, the main body 1221 can be replaced separately, reducing maintenance costs.

[0077] Among them, such as Figure 8As shown, the output shaft 1233 of the servo motor 1231 is equipped with a drive gear 1232, and the drive unit 1222 is equipped with a gear structure 1223. The drive gear 1232 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 1232. In the cleaning module 120, through the meshing of the drive gear 1232 with the driven gear or the gear structure 1223, precise power transmission between the output shaft 1233 of the servo motor 1231 and the drive unit 1222 can be achieved, ensuring that the driving force of the servo motor 1231 can be efficiently and stably transmitted to the blocking member 122, so that the blocking member 122 can move at the expected speed and trajectory, improving the position control accuracy of the blocking member 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 blocking 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 blocking component 122 accurately reaches the designated position, thereby reliably achieving the blocking or exposure function of the cleaning component 121. Furthermore, during production, the transmission ratio can be precisely controlled by adjusting the gear ratio to meet different movement speed and position requirements.

[0078] In this design, the output shaft 1233 of the servo motor 1231 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 1233 to the second direction Z makes the rotation direction of the drive gear 1232 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 1233 to the second direction Z allows the servo motor 1231 to be arranged along the second direction Z, aligning with the extension direction of the cleaning component 121 and the shielding component 122. This avoids the servo motor 1231 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 1231 and the drive unit 1222 of the shield 122, and allows for easier adjustment of their relative positions, ensuring accurate meshing or connection of the transmission components and improving product quality.

[0079] In some embodiments, such as Figure 8 As shown, the first rolling element 127 is at least partially disposed between the first connecting portion 1240 and the second connecting portion 1225. That is, the first rolling element 127 is provided on the shielding member 122 and / or the mounting bracket 124. When the shielding member 122 moves between the first position and the second position, it makes rolling contact with the mounting bracket 124 through the first rolling element 127. By providing the first rolling element 127 between the first connecting portion 1240 and the second connecting portion 1225, the sliding friction between the shielding member 122 and the mounting bracket 124 can be changed to rolling friction, which can significantly reduce the friction between the two. The change in the form of friction can effectively reduce energy loss, so that the drive assembly 123 only needs to output a smaller driving force to drive the shielding member 122 to move. This not only reduces the power requirements of the drive assembly 123, but also extends the service life of the drive assembly 123 and reduces the size of the drive assembly 123. Meanwhile, due to the reduced friction, the resistance experienced by the shielding component 122 during movement is more uniform and stable, avoiding jamming caused by sudden changes in local friction. When the drive assembly 123 drives the shielding component 122 to switch between the first and second positions, each part of the shielding component 122 can follow the movement of the drive assembly 123 more smoothly, ensuring that the movement rhythm of the active and driven sides is consistent, further improving the accuracy of the shielding component 122 in switching between the two positions. In addition, the setting of the first rolling element 127 can also reduce the wear between the shielding component 122 and the mounting bracket 124. Sliding friction can easily lead to scratches, deformation and other wear phenomena on the contact surface, while rolling friction disperses the contact stress through the rotation of the rolling element, reducing the friction force per unit area, thereby slowing down the aging rate of the parts, and also avoiding abnormal noise caused by friction.

[0080] In some embodiments, such as Figure 8 As shown, the blocking member 122 includes a first end and a second end along the second direction Z. The driving assembly 123 is located at the first end of the blocking member 122, and a first rolling member 127 is provided on the second end of the blocking member 122. The driving assembly 123 applies a driving force to the first end of the blocking member 122, while the first rolling member 127 is provided at the second end, which is the driven side, forming a force balance structure of "active driving + driven rolling". The friction range of the driven side can be changed from surface friction to line friction, which reduces the friction force between the blocking member 122 and the mounting bracket 124. This reduces the friction force that the driven side can overcome, allowing it to follow the active side more smoothly and further improving the stability of the movement. Meanwhile, since the second end is the driven side, it is easy for it to lag behind the first end in movement due to high friction. By specifically setting the first rolling element 127 at the second end, the friction in this part can be reduced in a targeted manner, so that the second end can follow the first end more closely and minimize the time difference between the two ends. This can avoid the deviation and jamming caused by the asynchrony between the two ends.

[0081] Among them, such as Figure 10 As shown, the shielding member 122 includes a main body 1221 and a driving part 1222. The main body 1221 extends along the second direction Z and includes a first end and a second end. The driving part 1222 is connected to the first end of the main body 1221, and a driving assembly 123 is connected to the driving part 1222. A first rolling member 127 is located at the second end of the main body 1221. The main body 1221, as the main functional component of the shielding member 122, extends along the second direction Z and plays a core role in shielding or exposing the cleaning member 121. By placing the first rolling member 127 at the second end of the main body 1221, the smoothness of the driven side of the main body 1221 during movement is ensured, enabling the main body 1221 to move stably along a preset trajectory and ensuring the accuracy of shielding or exposing. The power of the drive assembly 123 is transmitted to the first end of the main body 1221 through the drive part 1222, and then the second end is driven by the main body 1221. The setting of the first rolling element 127 reduces the vibration of the main body 1221 caused by friction during movement, and avoids the relative displacement between the main body 1221 and the cleaning element 121 caused by vibration, thereby ensuring the stability of the cleaning element 121 during operation.

[0082] In some embodiments, such as Figure 11 and Figure 12 As shown, a guide groove 1243 is formed on the first connecting portion 1240 of the mounting bracket 124. The second connecting portion 1225 of the shielding member 122 is located in the guide groove 1243. The guide groove 1243 is used to guide the movement of the shielding member 122 between the first position and the second position. The first rolling member 127 is located in the guide groove 1243 and rolls in contact with the groove wall of the guide groove 1243. The configuration of the guide groove 1243 provides a trajectory constraint for the movement of the main body portion 1221, ensuring that the main body portion 1221 moves along a preset path between the first position and the second position, avoiding deviation and shaking during the movement. The second end of the main body portion 1221 is located in the guide groove 1243, so that the guide groove 1243 can restrict the vertical movement of the main body portion 1221 in the thickness direction. By making the first rolling member 127 roll into contact with the wall of the guide groove 1243, the friction range of the main body 1221 on the driven side changes from surface friction with the wall of the guide groove 1243 to line friction. This reduces the frictional force between the driven side of the main body 1221 and the wall of the guide groove 1243, thus doubly improving the movement accuracy and smoothness of the shielding member 122. At the same time, the noise generated by the rolling contact is also less, which helps to reduce noise pollution when the cleaning module 120 is working. In addition, the guide groove 1243 also plays a role in preventing dust and debris from entering the rolling contact surface, preventing problems such as increased friction, jamming, and abnormal noise caused by the accumulation of debris.

[0083] Among them, such as Figure 11 As shown, the mounting bracket 124 includes a mounting bracket body 1241 and a guide plate 1242. A guide groove 1243 is provided between the mounting bracket body 1241 and the guide plate 1242. The shape of the guide groove 1243 matches the movement trajectory of the blocking member 122. The main body 1221 extends into the guide groove 1243 and can move along the guide groove 1243, using the guide groove 1243 for limiting and guiding. The guide groove 1243 is open at the first end facing the main body 1221, so that the second end of the main body 1221 can extend into the guide groove 1243. At the same time, the guide groove 1243 also has an inlet and outlet in a square shape from the first position to the second position, so that the main body 1221 can enter and exit the guide groove 1243 when moving between the first position and the second position.

[0084] In some embodiments, such as Figure 10As shown, the second connecting portion 1225 of the main body 1221 is further provided with an extension 1224, which is located on the side of the second connecting portion 1225 facing the first position from the second position. When the blocking member 122 is in the second position, the main body 1221 is located outside the guide groove 1243, and at least part of the first rolling member 127 and the extension 1224 are within the guide groove 1243. When the blocking member 122 is in the second position, its main function is to block the first side of the cleaning member 121. At this time, the main body 1221 needs to cover the cleaning member 121 as much as possible. Therefore, it is reasonable for the main body 1221 to be located outside the guide groove 1243, while the extension 1224 and the first rolling member 127 are still located within the guide groove 1243. This allows the blocking member 1221 to continue to provide guidance and support when it is in the extreme position, preventing the main body 1221 from shaking or shifting due to loss of guidance constraint. The extension 1224 extends the effective range of the main body 1221 and the guide groove 1243, allowing the guide groove 1243 to continue its guiding function for a longer stroke as the blocking member 122 moves from the first position to the second position. Even if the main body 1221 gradually moves out of the guide groove 1243, the extension 1224 and the first rolling member 127 can still cooperate with the guide groove 1243 to ensure the consistency of the movement trajectory. For example, when the blocking member 122 approaches the second position, the main body 1221 has partially moved out of the guide groove 1243, but the extension 1224 is still within the guide groove 1243, and the first rolling member 127 continues to roll along the groove wall, avoiding trajectory deviation caused by insufficient guidance at the end of the movement. Furthermore, the positioning of the extension 1224 (towards the first position from the second position) allows the extension 1224 to enter the guide groove 1243 first when the blocking member 122 moves towards the first position, providing advance guidance for the movement of the main body 1221 and ensuring a smooth transition throughout the movement process. This design detail reflects a comprehensive consideration of the movement stroke, further improving the accuracy and reliability of the blocking member 122's movement. It is understood that when the blocking member 122 is in the second position, most of the main body 1221 can be located outside the guide groove 1243, and a small portion of the main body 1221 can also be located inside the guide groove 1243. Positioning the main body 1221 outside the guide groove 1243 when the blocking member 122 is in the second position allows for a relatively smaller size of the blocking member 122.

[0085] The extension 1224 has mounting holes, and the first rolling element 127 is fitted into the mounting holes. At least a portion of the first rolling element 127 protrudes from the surfaces of both sides of the extension 1224 in the thickness direction. By making the first rolling element 127 protrude from the surfaces of both sides of the extension 1224 in the thickness direction, the first rolling element 127 can simultaneously form rolling contact with the groove walls on both sides of the guide groove 1243. This double-sided contact makes the constraint on the extension 1224 in the guide groove 1243 more balanced, avoiding the force imbalance caused by unilateral contact, thereby reducing the shaking and offset of the blocking element 122 during movement. In other embodiments, the first rolling element 127 only protrudes from one side of the extension 1224 in the thickness direction. Therefore, the first rolling element 127 can be provided on one side of the extension 1224 in the thickness direction, or the first rolling element 127 can be provided on both sides of the extension 1224 in the thickness direction. The single-sided arrangement can reduce the number of first rolling elements 127 and reduce the overall weight of the shielding element 122, thereby reducing the load on the drive assembly 123; the first rolling elements 127 on both sides contact the groove walls on both sides of the guide groove 1243 to form symmetrical rolling support, which can minimize the lateral displacement of the shielding element 122 during the movement and ensure the consistency of the movement trajectory.

[0086] In some embodiments, a groove extending along the movement trajectory of the first rolling member 127 is formed on the groove wall of the guide groove 1243. The first rolling member 127 rolls in the groove, and the groove serves to limit the movement of the first rolling member 127 in the first direction X. The groove extends along the movement trajectory of the first rolling member 127, providing a more precise movement path constraint for the first rolling member 127. The contour of the groove matches the rolling trajectory of the first rolling member 127, guiding the first rolling member 127 to always move along a preset trajectory, avoiding movement deviations caused by positional fluctuations of the first rolling member 127 on the groove wall. This precise guiding effect further improves the movement accuracy of the blocking member 122, ensuring more accurate positioning at the first and second positions. The guide groove 1243 provides movement guidance for the main body 1221, and the groove provides movement guidance for the first rolling member 127, forming a dual guidance system, further enhancing the stability of the blocking member 122 during movement.

[0087] In some embodiments, the rolling surface of the first rolling element 127 is at least formed of an elastic material, or an elastic material layer is provided on the rolling surface of the first rolling element 127, such as a rubber wheel or a rubber layer wrapped around the surface of the first rolling element 127. When the first rolling element 127 contacts the groove wall of the guide groove 1243, the elastic rolling surface undergoes a certain elastic deformation, increasing the contact area and making the contact stress distribution more uniform. This stress dispersion effect can reduce local wear of the first rolling element 127 and the contact surface, and extend the service life of both. At the same time, the elastic force generated by the elastic deformation can keep the first rolling element 127 in close contact with the contact surface. Even when there are minor unevenness or impurities on the contact surface, it can adapt to these changes through deformation, ensuring smooth rolling and reducing jamming caused by surface defects. Meanwhile, the elastic material has good vibration absorption performance. When the shield 122 is subjected to impact or vibration during movement (such as inertial impact when the equipment starts or stops, or slight collision with other components), the elastic rolling surface can absorb some of the vibration energy, reducing the transmission of vibration to the shield 122 and the mounting bracket 124. This not only reduces the noise during equipment operation, but also reduces the impact of vibration on the movement accuracy of the shield 122, and avoids the positional displacement of the shield 122 caused by vibration, thereby protecting the cleaning component 121 and other components from vibration damage.

[0088] The first rolling element 127 is either a roller or a ball. When the first rolling element 127 is a roller, it has a longer rolling contact line and a relatively larger contact area with the contact surface, reducing the wobble of the blocking element 122 in the direction perpendicular to the roller axis and providing stronger motion constraint in the axial direction, ensuring the linearity of the motion. When the first rolling element 127 is a ball, it has a spherical structure, enabling rolling in multiple directions and providing better flexibility. The ball makes point contact with the contact surface, resulting in a lower coefficient of friction and lower rolling resistance.

[0089] The rollers or balls can be rotatably assembled via a pivot. The first rolling element 127 rotates around a preset axial direction, which is parallel to the first direction X. This ensures that the rolling direction of the first rolling element 127 is compatible with the movement direction of the blocking element 122, guaranteeing that the first rolling element 127 always provides effective support along the movement direction of the blocking element 122 during rolling. This avoids sliding friction components caused by the inconsistency between the rolling direction and the movement direction, further reducing overall friction. Simultaneously, the setting of the preset axial direction being parallel to the first direction X allows for a more compact installation structure for the first rolling element 127, adapting to the limited space inside the cleaning module 120.

[0090] In some embodiments, the cleaning device 10 may further include a second rolling element. The second rolling element is provided on the shield 122 and / or the device body 110. When the shield 122 moves between a first position and a second position, it makes rolling contact with the device body 110 through the second rolling element. The second rolling element forms a rolling contact between the shield 122 and the device body 110, working together with the first rolling element 127 inside the cleaning module 120 to comprehensively reduce the friction of the shield 122 during movement. Especially when the shield 122 not only contacts the mounting bracket 124 but also has relative movement with the device body 110, the second rolling element can specifically reduce the friction generated by this contact, preventing excessive frictional resistance between the device body 110 and the shield 122 from affecting the overall smoothness of movement. Furthermore, the second rolling element also reduces wear between the shield 122 and the device body 110, protecting the surface structure of the device body 110 and extending the overall service life of the cleaning device. Simultaneously, the low noise characteristic generated by the rolling contact further reduces the operating noise of the cleaning device, improving the user experience.

[0091] The second rolling element can also be a roller or a ball, and the rolling surface of the second rolling element can be formed of at least an elastic material, or the rolling surface of the second rolling element is provided with an elastic material layer, such as a rubber wheel or a rubber layer wrapped around the surface of the first rolling element 127.

[0092] It is understood that the number of the first rolling element 127 and the second rolling element can be one, two or more, and their positions can be adjusted according to actual structural needs. This disclosure does not impose any restrictions on this.

[0093] 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: Cleaning parts; The mounting frame is provided with a receiving portion and a first connecting portion, and the cleaning component is disposed in the receiving portion; A shielding member is provided with a second connecting part, the first connecting part and the second connecting part cooperate, and the shielding member can move between a first position and a second position relative to the mounting bracket to shield or expose the cleaning component; A driving component is connected to the blocking member to drive the blocking member to move between the first position and the second position; A first rolling element is at least partially disposed between the first connecting portion and the second connecting portion.

2. The cleaning module according to claim 1, characterized in that, The second connecting part is located at one end of the shielding member, and the driving component is connected to the other end of the shielding member.

3. The cleaning module according to claim 2, characterized in that, The shielding member includes a main body and a driving part. The main body includes a first end and a second end that are opposite to each other. The driving part is connected to the first end of the main body, and the driving assembly is connected to the driving part. The second connecting part is located at the second end of the main body.

4. The cleaning module according to claim 3, characterized in that, The first connecting portion has a guide groove, and the second connecting portion is located in the guide groove. The guide groove is used to guide the movement of the blocking member between the first position and the second position. The first rolling member is located in the guide groove and makes rolling contact with the groove wall of the guide groove.

5. The cleaning module according to claim 4, characterized in that, The second connecting portion is provided with an extension portion, which is located on the side of the second connecting portion facing the first position from the second position; when the blocking member is located in the second position, the first rolling member and at least part of the extension portion are in the guide groove.

6. The cleaning module according to claim 5, characterized in that, The extension is provided with a mounting hole, the first rolling element is assembled in the mounting hole, and at least a portion of the first rolling element protrudes from the surfaces on both sides of the extension in the thickness direction.

7. The cleaning module according to claim 5, characterized in that, The first rolling element is provided on one side of the extension in the thickness direction, or the first rolling element is provided on both sides of the extension in the thickness direction.

8. The cleaning module according to claim 4, characterized in that, The guide groove has a groove formed on its wall that extends along the movement trajectory of the first rolling element. The first rolling element rolls in the groove, and the groove is used to limit the axial movement of the first rolling element.

9. The cleaning module according to claim 1, characterized in that, The rolling surface of the first rolling element is at least formed of an elastic material, or the rolling surface of the first rolling element is provided with an elastic material layer.

10. The cleaning module according to claim 1, characterized in that, The rotation axis of the first rolling element is parallel to the rotation axis of the cleaning element.

11. The cleaning module according to claim 1, characterized in that, The first rolling element is a roller or a ball.

12. The cleaning module according to claim 1, characterized in that, The drive assembly includes a servo motor for driving the shield to move between the first position and the second position.

13. The cleaning module according to claim 1, characterized in that, The cleaning component is a roller mop.

14. A cleaning device, characterized in that, include: Equipment body; The cleaning module according to any one of claims 1 to 13, wherein the cleaning module is disposed on the device body.

15. The cleaning equipment according to claim 14, characterized in that, The cleaning equipment also includes: The second rolling element is provided on the shielding member and / or the device body. When the shielding member moves between the first position and the second position, it makes rolling contact with the device body through the second rolling element.

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

17. A cleaning system, characterized in that, include: The cleaning equipment according to any one of claims 14 to 16; A base station, which is used to dock the cleaning equipment.

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