Cleaning apparatus and cleaning system

Abstract

The utility model provides a kind of cleaning equipment, and the cleaning equipment includes: machine body;Power source is set on machine body;Lifting assembly, lifting assembly includes first fixed part and second fixed part, first fixed part and the output shaft transmission connection of power source, the bottom of second fixed part is equipped with universal wheel, machine body moves between lifting position and landing position, lifting position is higher than landing position, first fixed part is equipped with spiral groove, spiral groove middle part has positioning section, the extension direction of positioning section is perpendicular to vertical direction, second fixed part is equipped with guide pillar, guide pillar and spiral groove transmission cooperation, when guide pillar is in positioning section, machine body stays in the hovering position between lifting position and landing position.According to the cleaning equipment of the utility model, the switching between lifting position, hovering position and landing position of machine body can be realized, without frequently adjusting machine body to lifting position, significantly shorten the obstacle action time.

Description

Technical Field

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

[0002] With the continuous development of smart homes, robotic vacuum cleaners have become a common cleaning device for many families. As an important component at the bottom of the robotic vacuum cleaner, the lifting function of the omnidirectional wheels has a significant impact on the robot's obstacle-crossing ability and cleaning effect.

[0003] Robotic vacuum cleaners often face diverse and complex working environments during cleaning operations. When faced with different floor surfaces, such as numerous scattered obstacles or many indoor thresholds, the difficulty of planning a cleaning path increases, often requiring more time to complete cleaning in complex environments, resulting in lower cleaning efficiency and significantly reducing the user experience.

[0004] Therefore, there is an urgent need for a new type of cleaning equipment. Utility Model Content

[0005] In view of this, the present invention aims to provide a cleaning device and a cleaning system to solve the problem of low cleaning efficiency of existing cleaning devices in complex environments.

[0006] In a first aspect, this utility model proposes a cleaning device, the cleaning device comprising: Organism; The power source is located on the machine body; The lifting assembly includes a first fixing member and a second fixing member. The first fixing member is connected to the output shaft of the power source. The bottom of the second fixing member is provided with casters. The body moves between a raised position and a lower position relative to the casters. The raised position is higher than the lower position. The first fixing member is provided with a spiral groove. The spiral groove has a positioning section in the middle. The positioning section extends perpendicularly to the vertical direction. The second fixing member is provided with a guide post. The guide post is in drive cooperation with the spiral groove. When the guide post is in the positioning section, the body stays in a hovering position between the raised position and the lower position.

[0007] According to the cleaning device of this utility model, the first fixing member has an assembly cavity, the rotation axis of the assembly cavity extends in the vertical direction, and the spiral groove is disposed on the inner wall of the assembly cavity, the spiral groove extending spirally around the rotation axis on the circumferential inner wall of the assembly cavity.

[0008] Optionally, the spiral groove has an upper spiral section, a lower spiral section, and a positioning section, the two ends of which are connected to the upper spiral section and the lower spiral section, and the upper spiral section and the lower spiral section have the same direction of rotation.

[0009] According to the cleaning device of this utility model, the circumferential angle corresponding to the positioning segment is in the range of 20°~60°.

[0010] The cleaning device according to this utility model further includes: A control module, which is communicatively connected to the power source, the power source including a drive motor, is configured to: During the operation of the drive motor, the current of the drive motor is monitored; When the current is detected to be within a preset range and lasts for a first preset duration, it is determined that the guide post is in the positioning segment, and the drive motor is controlled to stop running, so that the body stays in the hovering position.

[0011] Optionally, the second fixing member is provided with a first guide member extending in a vertical direction, and the machine body is provided with a second guide member, the first guide member and the second guide member being slidably engaged.

[0012] According to the cleaning equipment of this utility model, the machine body or the first fixing member is provided with a first limiting member, the upper end of the second fixing member is provided with a snap-fit ​​part, the first limiting member is located above the second fixing member, and when the machine body is in the landing position, the first limiting member snaps with the snap-fit ​​part.

[0013] According to the cleaning equipment of this utility model, the machine body includes a gearbox, the first fixing member is rotatably installed in the gearbox, the gearbox is also provided with a gear assembly and the power source, the output shaft of the power source is drivenly connected to the driving gear of the gear assembly, and the driven gear of the gear assembly is drivenly connected to the first fixing member.

[0014] Optionally, the power source is a drive motor, the output shaft of the drive motor and the first fixing member both extend in the vertical direction, and the first fixing member and the power source are arranged sequentially at intervals in the horizontal plane.

[0015] Optionally, the first fixing member is fitted with a bushing, the bushing having a plurality of annular protrusions spaced apart in a vertical direction, the annular protrusions abutting against the housing of the gearbox, the outer wall of the first fixing member having meshing teeth that mesh with the driven gear, and the bushing being located above the meshing teeth and abutting against the upper end face of the meshing teeth.

[0016] Secondly, this utility model proposes a cleaning system, including a base station and the aforementioned cleaning equipment.

[0017] The technical solution provided by this utility model embodiment has the following advantages compared with the prior art: The cleaning device provided by this utility model has a first fixing member and a second fixing member that are driven together. The first fixing member is also connected to the output shaft of the power source. When the power source is working, the operation of the power source can drive the first fixing member to rotate. Since the universal wheel is located at the bottom of the second fixing member, the second fixing member cannot move, forcing the first fixing member to rise and fall. Through the support of the universal wheel and the ground, the first fixing member drives the machine body to rise and fall relative to the universal wheel. When the guide column moves upward along the spiral groove to the preset high point, the machine body reaches the landing position. When the guide column moves downward along the spiral groove to the preset low point, the machine body reaches the lifting position. When the guide column enters the positioning section in the middle of the spiral groove, since the extension direction of the positioning section is perpendicular to the vertical direction, the guide column does not produce any lifting displacement when it is in the positioning section. At this time, the power source stops driving, which allows the first fixing member and the machine body to remain in a fixed position, hovering between the lifting position and the landing position.

[0018] The cleaning equipment provided by this utility model, through the cooperation of spiral grooves and guide columns, enables the machine body to switch between a raised position, a hovering position, and a landing position, eliminating the need for frequent adjustments to the raised position and significantly shortening obstacle-crossing time. This is especially beneficial in obstacle-dense scenarios, reducing redundant movements and improving cleaning efficiency. Simultaneously, the cooperation of the guide columns and positioning sections enables stable hovering of the machine body without the need for additional components, simplifying the structural design, reducing production costs, and enhancing the adaptability of the cleaning equipment to complex environments. Attached Figure Description

[0019] Figure 1 The image shown is a front view of a cleaning device according to some embodiments of the present invention.

[0020] Figure 2 The image shown is a front view of a partial structure of a cleaning device according to some embodiments of the present invention.

[0021] Figure 3 The image shown is a partial sectional view of the cleaning equipment according to some embodiments of the present invention.

[0022] Figure 4 The image shown is a top view of the first fixing member of a cleaning device according to some embodiments of the present invention.

[0023] Figure 5 As shown Figure 4 Cross-sectional view at point AA.

[0024] Figure 6The image shown is an exploded view of a cleaning device according to some embodiments of the present invention.

[0025] Figure 7 The image shown is an exploded view of the cleaning equipment according to some embodiments of the present invention from another angle.

[0026] Figure 8 The image shown is a front view of the second fixing member of a cleaning device according to some embodiments of the present invention.

[0027] Figure label: 10 swivel wheels, 20 power source, 30 lifting assembly, 31 first fixing member, 311 spiral groove, 312 positioning section, 313 meshing teeth, 32 second fixing member, 321 guide post, 322 first guide member, 322 first end B, 323 second end C, 323 snap-fit ​​part, 324 second mounting hole, 34 sleeve cover, 35 first bearing, 36 bushing, 40 second guide member, 50 first limiting member, 60 gearbox, 70 gear assembly, 71 driving gear, 72 driven gear. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0030] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0031] like Figures 1-3 As shown, the cleaning device according to an embodiment of the present utility model includes: a body, a power source 20, a lifting assembly 30, and casters 10.

[0032] Figure 4 The first fastener 31 is shown. Figure 5 The spiral groove 311 and the positioning section 312 are shown.

[0033] Specifically, the power source 20 is mounted on the machine body; the lifting assembly 30 includes a first fixing member 31 and a second fixing member 32. The first fixing member 31 is connected to the output shaft of the power source 20 via a drive. The bottom of the second fixing member 32 is provided with a universal wheel 10. The machine body moves between a raised position and a lower position relative to the universal wheel 10. The raised position is higher than the lower position. The first fixing member 31 is provided with a spiral groove 311. The middle part of the spiral groove 311 has a positioning section 312. The extension direction of the positioning section 312 is perpendicular to the vertical direction. The second fixing member 32 is provided with a guide post 321. The guide post 321 is driven and cooperates with the spiral groove 311. When the guide post 321 is in the positioning section 312, the machine body stays in a hovering position between the raised position and the lower position.

[0034] The first fixing member 31 and the second fixing member 32 are driven together. The first fixing member 31 is also connected to the output shaft of the power source 20. When the power source 20 is working, the operation of the power source 20 can drive the first fixing member 31 to rotate. The rotation of the first fixing member 31 forces itself to rise and fall relative to the second fixing member 32. Since the universal wheel 10 is set at the bottom of the second fixing member 32, the second fixing member 32 is forced to remain stationary, forcing the first fixing member 31 to rise and fall relative to the second fixing member 32, thereby synchronously driving the machine body to rise and fall. When the spiral groove 311 moves downward and the guide post 321 moves to the preset high point position of the spiral groove 311, the machine body reaches the landing position. When the spiral groove 311 moves upward and the guide post 321 moves to the preset low point position of the spiral groove 311, the machine body reaches the raised position. When the guide post 321 enters the positioning section 312 in the middle of the spiral groove 311, since the extension direction of the positioning section 312 is perpendicular to the vertical direction, the guide post 321 does not produce lifting displacement when it is in the positioning section 312. At this time, the power source 20 stops driving, which allows the first fixing member 31 and the machine body to remain in the same position and stay in the hovering position between the lifting position and the landing position.

[0035] The machine body can be a cube, cuboid, or flattened cylinder, and has a receiving cavity inside. At least part of the power source 20 and the lifting assembly 30 are disposed within the receiving cavity. The bottom of the machine body usually also has an opening, thereby facilitating the movement of the second fixing member 32 relative to the first fixing member 31 to change the position of the machine body relative to the caster wheel 10. The caster wheel 10 is always in contact with the ground, and the second fixing member 32 is also stationary relative to the ground, while the first fixing member 31 moves up and down relative to the second fixing member 32, thereby changing the position of the caster wheel 10 relative to the machine body.

[0036] The bottom of the machine typically houses side brushes, roller brushes, and a cleaning disc. The cleaning disc contains cleaning components for wiping and cleaning the floor. The cleaning equipment usually also includes a water tank assembly with a water pipe to supply water to the cleaning components, enabling wet cleaning. The roller brush is usually located in the middle of the bottom of the machine, while the cleaning disc can be located either in front of or behind the roller brush.

[0037] The bottom of the machine is usually equipped with a drive wheel assembly, which provides the cleaning equipment with the power to move actively, helping the cleaning equipment to move forward, backward and turn. In conjunction with the casters, it enables the cleaning equipment to move flexibly.

[0038] The drive wheel assembly is typically symmetrically positioned on both sides of the central axis at the bottom of the machine body, i.e., on both sides of the roller brush. The casters can be located in the front or rear area of ​​the roller brush. There are usually two cleaning discs. The first axis of the machine body is defined as parallel to its forward direction, with the two cleaning discs located on opposite sides of this axis. When the casters are located in the rear area of ​​the machine body, they are positioned between the two cleaning discs along the width of the machine body, and typically behind the rotation axis of the cleaning discs along the length of the machine body. The length of the machine body is parallel to its forward direction, and the width of the machine body is perpendicular to its length.

[0039] When the aircraft is in the grounded position, the distance between the aircraft and the surface to be cleaned is smaller, and it is closer to the ground. When the aircraft is in the raised position, the distance between the aircraft and the surface to be cleaned is greater, and the aircraft is farther from the ground. When the aircraft is in the hovering position, its height above the ground is higher than when it is in the grounded position, but lower than when it is in the raised position.

[0040] When the cleaning equipment is in operation and encounters no obstacles, the machine is in a grounded position, allowing the cleaning components at the bottom to fit more closely to the ground. This also makes it suitable for cleaning low-lying areas. The cleaning components include a roller brush, mop, and suction port. When the cleaning equipment is stopped or in standby mode, it is also in a grounded position, ensuring greater stability.

[0041] When the cleaning equipment encounters obstacles such as thresholds, wires, or carpets during cleaning operations, it raises its body to a lifted position, allowing it to move away from the ground and overcome the obstacles.

[0042] The power source 20 includes a drive motor, which can be a DC drive motor or a stepper motor, etc. The first fixing member 31 can be located directly below or to the side of the drive motor.

[0043] Of course, the power source 20 may also include a transmission assembly, which drives the drive motor and the first fixed member 31, thereby enabling the drive motor to move the first fixed member 31 through the transmission assembly. When the output shaft of the drive motor is not collinear with the rotation axis of the first fixed member 31, for example, when the first fixed member 31 is vertically arranged and the drive motor is horizontally installed, and the output shaft of the drive motor is horizontal, the transmission assembly may be a gear assembly 70, which includes a driving gear 71, a driven gear 72, and may further include intermediate transmission gears, etc. Among them, the driving gear 71 is connected to the output shaft of the drive motor, and meshing teeth 313 may be provided on the outer wall surface of the first fixed member 31, with the driven gear 72 meshing with the meshing teeth 313.

[0044] The transmission connection between the first fixing member 31 and the second fixing member 32 is a screw-type connection. This connection provides mechanical self-locking, ensuring that the first fixing member 31 will not descend due to the weight of the machine or external forces when there is no power input, thus maintaining a stable lifting height. For example, when the cleaning equipment is placed on a carpet, the first fixing member 31 can lock the height of the machine, preventing it from suddenly falling due to machine swaying.

[0045] In addition, the spiral engagement between the first fixing member 31 and the second fixing member 32 can withstand a greater vertical load. The lifting and lowering of the machine can be set according to the needs of different movement modes such as fast first and then slow, or uniform lifting and lowering. For example, it can be quickly lifted when crossing obstacles and slowly lowered to the landing position when it touches the ground, thereby avoiding impact and improving the user experience.

[0046] The spiral groove has an upper spiral section, a lower spiral section, and a positioning section. The two ends of the positioning section are connected to the upper spiral section and the lower spiral section, and the upper spiral section and the lower spiral section have the same direction of rotation.

[0047] The first fixing member 31 has a cylindrical structure and an assembly cavity. The rotation axis of the assembly cavity extends vertically, and a spiral groove 311 is provided on the inner wall of the assembly cavity, extending spirally around the rotation axis on the circumferential inner wall of the assembly cavity. The spiral groove 311 extends continuously. Guide posts 321 are provided on both sides of the second fixing member 32. The guide posts 321 can be circular and can be slidably engaged in the spiral groove 311, so that the first fixing member 31 and the second fixing member 32 can be adapted to each other and ensure stable meshing and transmission between them.

[0048] The two guide posts 321 have different heights in the vertical direction and are engaged in the spiral groove 311. When the spiral groove 311 rotates with the first fixing member 31, the two guide posts 321 with different heights will slide simultaneously along the path of the spiral groove 311. The circular guide post 321 has a circular cross-sectional shape, and its axis is perpendicular to the outer wall of the second fixing member 32. Setting the guide post 321 as a circle can effectively avoid jamming caused by contact with sharp corners, making the sliding of the guide post 321 in the spiral groove 311 smoother.

[0049] In one specific embodiment, the outer side wall of the second fastener 32 is provided with two second mounting holes 324. The second mounting holes 324 can be through holes or blind holes. The second mounting holes 324 are used to install the guide post 321. This allows the guide post 321 and the second fastener 32 to be manufactured separately and then assembled and fixed, reducing the processing difficulty of the second fastener 32.

[0050] In some embodiments, the spiral groove 311 has an upper spiral segment, a lower spiral segment, and a positioning segment 312. The two ends of the positioning segment 312 are connected to the upper spiral segment and the lower spiral segment, and the upper spiral segment and the lower spiral segment have the same spiral direction.

[0051] The positioning segment 312 smoothly transitions with the upper and lower helical segments, allowing the guide post 321 to move flexibly between the upper helical segment, positioning segment 312, and lower helical segment without jamming. Similarly, the upper and lower helical segments rotate in the same direction to ensure the continuity of movement of the guide post 321 between the upper helical segment, positioning segment 312, and lower helical segment.

[0052] When the machine moves from the landing position to the lifting position, the guide post 321 moves sequentially from the upper spiral section to the positioning section 312 and then to the lower spiral section. Similarly, when the machine moves from the lifting position to the landing position, the guide post 321 moves sequentially from the lower spiral section to the positioning section 312 and then to the upper spiral section. The upper and lower spiral sections can have the same or different vertical heights. For example, if the lower spiral section is higher and the positioning section 312 is closer to the upper spiral section, this can be used for temporary lifting and stopping of the cleaning equipment when overcoming obstacles. After the cleaning equipment has passed the obstacle, the machine can return to the landing position as needed, thus simplifying the obstacle-crossing operation and shortening the waiting time for the machine to overcome obstacles and return to the landing position.

[0053] When the machine body is parallel to the horizontal plane, the caster wheel 10 moves vertically up and down. At this time, the positioning section 312 is parallel to the horizontal plane. The horizontal section extends along the circumference of the inner wall of the first fixing member 31. The positioning section 312 is connected to the upper and lower spiral sections by a smooth transition surface, thereby ensuring that the guide post 321 can move smoothly between the upper spiral section and the positioning section 312, and between the positioning section 312 and the lower spiral section. If the circumferential angle corresponding to the positioning section 312 is too large, the first fixing member 31 will need to rotate a large angle to allow the guide post 321 to slide out of the positioning section 312, delaying the lifting and lowering switching of the machine body. If the circumferential angle is too small, the guide post 321 may quickly slip out of the positioning section 312 due to vibration or other accidents, losing the positioning effect. Therefore, the circumferential angle corresponding to the positioning section 312 can be in the range of 20° to 60°. For example, 20°, 22°, 24°, 26°, 28°, 30°, 32°, 34°, 36°, 38°, 40°, 42°, 44°, 46°, 48°, 50°, 52°, 54°, 56°, 58°, and 60°.

[0054] The cleaning equipment provided by this utility model, through the cooperation of the spiral groove 311 and the guide post 321, enables the machine body to switch between a raised position, a hovering position, and a grounded position. This eliminates the need for frequent adjustments to the raised position, significantly shortening obstacle-crossing time. Especially in obstacle-dense scenarios, it reduces redundant movements, avoids interruptions to the cleaning path, ensures full coverage of the cleaning area, reduces missed or repeated cleaning, and improves cleaning efficiency. Simultaneously, the cooperation of the guide post 321 and the positioning section 312 enables stable hovering of the machine body without the need for additional components, simplifying the structural design, reducing production costs, and enhancing the adaptability of the cleaning equipment to complex environments.

[0055] The cleaning device according to the present utility model embodiment also includes a control module. The control module is communicatively connected to the power source 20. The power source 20 includes a drive motor. The control module is configured to: monitor the current of the drive motor during the operation of the drive motor; when the current is detected to be within a preset range and lasts for a first preset time, determine that the guide post 321 is in the positioning section 312, and then control the drive motor to stop running, so that the machine body stays in the hovering position.

[0056] When the guide post 321 slides along the upper or lower helical section, the drive motor needs to overcome the resistance of the universal wheel 10's lifting and lowering, and the current is maintained in a high working load range. After the guide post 321 enters the positioning section 312, since the positioning section 312 is perpendicular to the vertical direction, when the first fixing member 31 rotates, the guide post 321 only slides in the horizontal direction, the machine body no longer lifts or lowers, and remains at a certain height. The load on the drive motor is greatly reduced. When the current enters a preset range smaller than the current during the lifting and lowering process, and continues for a first preset time, the control module sends a stop command to the drive motor, the drive motor stops running, and the guide post 321 stays in the positioning section 312, thereby allowing the machine body to accurately stop at the hovering position.

[0057] Understandably, the drive motor is only stopped when the current is within the preset range and continues for the first preset duration, thereby avoiding false stops caused by interference and ensuring the accuracy of control.

[0058] The cleaning device of this utility model does not require additional position sensors or wiring, nor does it require reserving installation space and detection channels for sensors on the machine body. This reduces the complexity of the overall structural design of the cleaning device. The machine body can be detected by the change in current of the drive motor to determine whether it has reached the hovering position. This simplifies the structural setup of the cleaning device and reduces hardware costs, thereby further reducing the selling price of the cleaning device and improving the user experience.

[0059] In some embodiments, the control module is further configured to: monitor the current of the drive motor during operation; and when the current is detected to be greater than a preset threshold and lasts for a second preset duration, control the drive motor to stop operating, so that the body remains in the raised position or the ground position, wherein the preset threshold is greater than the maximum value of a preset range.

[0060] The control module determines the machine's position by monitoring the real-time changes in the drive motor's current. Understandably, the preset range is lower than the normal operating current range of the drive motor under load, while the preset threshold represents the current value the drive motor might reach when overloaded. Therefore, the preset threshold is greater than the maximum value of the preset range.

[0061] When the machine moves towards the raised or lowered position, the load on the drive motor remains stable and the current stays within the normal operating range until it reaches the desired position. When the machine touches the mechanical limit of the raised or lowered position and can no longer move, the rotation of the first fixing member 31 is obstructed, the load on the drive motor increases sharply, and the current rises instantaneously, exceeding the preset threshold. After the current exceeds the preset threshold and remains above the preset threshold for a second preset duration, the control module immediately sends a stop command, the drive motor stops running, and the machine precisely stops at the current position, i.e., the lowered or raised position.

[0062] The first preset duration and the second preset duration can be the same or different. In general, the second preset duration can be shorter than the preset duration to ensure that the drive motor can stop in time when overloaded.

[0063] The cleaning equipment according to this utility model embodiment can identify the position of the machine body and control its shutdown by using the operating parameters of the drive motor itself, without the need for additional position sensors, thus simplifying the structural design of the cleaning equipment. Furthermore, the drive motor will only be shut down when the current exceeds a preset threshold for a preset duration, ensuring accurate control and preventing false shutdowns caused by interference.

[0064] like Figure 6 and Figure 7 As shown, in some embodiments, the second fixing member 32 is provided with a first guide member 322 extending in the vertical direction, and the body is provided with a second guide member 40, with the first guide member 322 and the second guide member 40 slidingly engaged.

[0065] The first guide member 322 is a guide groove or a convex rail. The first guide member 322 can be directly set on the outer wall of the second guide member 40. During the up-and-down movement of the second fixing member 32, it moves up and down with the second fixing member 32 inside the first fixing member.

[0066] When the first guide member 322 is set as a guide groove, since the guide groove is recessed inward compared to the outer wall surface of the second fixing member 32, the space occupied can be reduced. During the movement of the second fixing member 32, it is not easy to interfere with the first fixing member 31, thereby making the overall mating structure more compact and reducing the overall size.

[0067] Of course, the first guide member 322 may not be completely set on the outer wall of the second fixing member 32, but may be spaced apart from the outer wall of the second fixing member 32 by a connecting structure. The connecting structure may be a connecting block or connecting rib extending in the vertical direction. One end of the connecting block is fixed to the outer cylinder wall of the second fixing member 32 (such as integral molding, welding or bolt fastening), and the other end extends away from the outer cylinder wall. The first guide member 322 is fixed on the side of the connecting block away from the outer cylinder wall.

[0068] The second guide member 40 can be configured as a slide rail, ridge, or protrusion adapted to the first guide member 322, and the structural type of the second guide member 40 corresponds to the structural type of the first guide member 322. When the first guide member 322 is a guide groove, the second guide member 40 can be configured as a ridge rail or protrusion. In a specific embodiment, the first guide member 322 is configured as a protrusion, which is embedded in the guide groove. The second guide member 40 is usually fixed to the corresponding inner wall of the machine body, such as on the support frame of the machine body, or when the machine body has a gearbox 60, and the power source 20 and the first fixing member 31 are disposed in the gearbox 60, the second guide member 40 can also be fixed to the inner wall of the gearbox 60.

[0069] like Figure 7 As shown, during the lifting and lowering of the first fixing member 31, the sliding cooperation of the first guide member 322 and the second guide member 40 accurately limits the movement trajectory of the first fixing member 31, improving the movement accuracy. When the machine body needs to move from the raised position to the landing position, the power source 20 drives the first fixing member 31 to rotate in the first direction, driving the first fixing member 31 to descend relative to the second fixing member 32, driving the machine body to descend synchronously until the machine body moves from the raised position to the landing position. During this process, the first guide member 322 and the second guide member 40 always cooperate to strictly limit the movement trajectory of the first fixing member 31. When the machine body needs to move from the landing position to the raised position, the power source 20 drives the first fixing member 31 to rotate in the second direction, driving the first fixing member 31 to rise relative to the second fixing member 32, driving the machine body to rise synchronously until the machine body moves from the landing position to the raised position. During this process, the first guide member 322 and the second guide member 40 always cooperate to strictly limit the movement trajectory of the first fixing member 31. The first and second directions are opposite.

[0070] According to the cleaning equipment of this utility model embodiment, the cooperation of the first guide member 322 and the second guide member 40 can precisely limit the movement trajectory of the second fixing member 32 and the first fixing member 31, avoiding wear or abnormal noise caused by large fitting gaps between the first fixing member 31 and the second fixing member 32 due to manufacturing errors, assembly errors, etc. At the same time, it can also avoid increased transmission gaps caused by the switching of the rotation direction of the first fixing member 31, reducing wear during long-term use, thereby reducing shaking and abnormal noise, improving the long-term operational stability and service life of the cleaning equipment, and ultimately enhancing the user experience.

[0071] like Figure 6 and Figure 8 As shown, in some embodiments, the first guide member 322 is configured as a guide groove, which includes a first end B and a second end C located below the first end B. The first end B is closed and the second end C is open. The second guide member 40 is slidably engaged in the guide groove, and when the machine body is in the raised position, the second guide member 40 abuts against the first end B.

[0072] At least one guide groove can be provided on the outer wall of the second fixing member 32. The number of guide grooves can be one, two, three, or four. When there are multiple guide grooves, the multiple guide grooves are arranged at intervals along the circumference of the second fixing member 32. For example, when two are provided, they are symmetrically distributed at 180° along the circumference of the second fixing member 32; when three are provided, they are distributed at 120° intervals along the circumference of the second fixing member 32; and when four are provided, they are distributed at 90° intervals along the circumference of the second fixing member 32. This can further improve the guiding stability of the cooperation between the guide grooves and the second guide member 40.

[0073] The second guide member 40 can be configured as a protrusion or a protrusion that mates with the guide groove. If it is a protrusion, it must also extend vertically. A protrusion will occupy more space, while a protrusion will occupy less space. The cross-sectional shape of the protrusion matches the cross-sectional shape of the guide groove. For example, if the guide groove is rectangular, the corresponding cross-sectional shape of the protrusion is also rectangular. If the guide groove is U-shaped, the cross-sectional shape of the protrusion is a corresponding arc or a semi-circle that fits the U-shaped groove. If the guide groove is a dovetail groove, the corresponding cross-sectional shape of the protrusion is trapezoidal, and so on. Users can configure the structure according to their needs.

[0074] In some embodiments, the cleaning device includes a gearbox 60, which includes a housing with a clearance opening at the bottom. A first fixing member 31 is disposed inside the housing. The upper end of a second fixing member 32 is located inside the housing, while the lower end extends outside the housing through the clearance opening. The second fixing member 32 can rise or fall through the clearance opening. In this case, a second guide member 40 can be disposed on the inner wall of the clearance opening.

[0075] The shape and size of the clearance opening can match the cross-sectional shape of the second fastener 32. If the second clearance opening is a cylindrical structure, it can be set as a circle. If the second fastener 32 is columnar, such as a square column, the second clearance opening is square to match the cross-section of the second fastener 32. This can prevent external dust, sewage, etc. from entering the first fastener 31 through the gap between the clearance opening and the second fastener 32.

[0076] To further prevent contamination of the spiral groove 311 of the first fixing member 31, a sealing structure can be provided at the mating point between the clearance opening and the second fixing member 32. For example, a sealing groove can be provided on the inner wall of the clearance opening, and an annular sealing element can be embedded in the sealing groove. The second guide member 40 and the sealing element are spaced apart. In the vertical direction, the second guide member 40 is located above or below the sealing element.

[0077] The guide post is positioned between two adjacent guide grooves. With the help of the guide grooves and the second guide member 40 on the machine body, the position of the guide post can be precisely defined, ensuring that the guide post can move smoothly in the spiral groove 311.

[0078] like Figure 6 and Figure 7 As shown, in some embodiments, a first limiting member 50 is provided on the body or the first fixing member 31, and a snap-fit ​​part 323 is provided at the upper end of the second fixing member 32. The first limiting member 50 is located above the second fixing member 32. When the body is in the landing position, the first limiting member 50 snaps into the snap-fit ​​part 323.

[0079] When the first limiting member 50 is disposed on the first fixing member 31, the first limiting member 50 needs to be disposed in the top area of ​​the first fixing member 31. For example, the first limiting member 50 can be configured as an annular protrusion or an annular groove, coaxially assembled with the first fixing member 31, and spaced apart from the spiral groove 311 in the first fixing member 31. The snap-fit ​​part 323 is configured to adapt to the annular groove or annular protrusion of the first limiting member 50.

[0080] When the first limiting member 50 is installed on the machine body, the first limiting member 50 is located directly above or diagonally above the first fixing member 31. The first limiting member 50 can be directly fixed to the top of the gearbox 60 through a bracket or support structure. In this way, a certain gap needs to be reserved between the first limiting member 50 and the first fixing member 31 in the circumferential direction to ensure that the first fixing member 31 can rotate.

[0081] like Figures 3-6As shown, in a specific embodiment, the top of the first fixing member 31 is provided with a sleeve cover 34, and the top of the gearbox 60 is provided with a first bearing 35. The top of the first fixing member 31 is open to form an opening. The sleeve cover 34 is installed in the opening and sleeved over the first bearing 35. The bottom of the sleeve cover 34 is provided with a first limiting member 50. During the rotation of the first fixing member 31, the sleeve cover 34 rotates synchronously with the first fixing member 31. The first bearing 35 can support the sleeve cover 34, limiting the radial displacement of the sleeve cover 34 during rotation, thereby indirectly providing radial positioning for the first fixing member 31 and supporting the first fixing member 31. At the same time, the first bearing 35 can also reduce the frictional resistance when the sleeve cover 34 rotates, making the rotation of the first fixing member 31 smoother. By assembling the sleeve cover 34 and the first bearing 35 and fixing the first limiting member 50, functional integration can be achieved at the top of the first fixing member 31, simplifying the overall structural assembly, reducing space occupation, and making the overall structure more compact.

[0082] When the first fixing member 31 moves the machine body from the raised position to the landing position, the first limiting member 50 at the bottom of the sleeve cover 34 will gradually approach the locking part 323 at the top of the second fixing member 32. Since the sleeve cover 34 rotates synchronously with the first fixing member 31, and the first limiting member 50 is fixed in the circumferential position at the bottom of the sleeve cover 34, when the first fixing member 31 descends and the machine body is in the landing position, the first limiting member 50 and the locking part 323 can be precisely aligned and locked, thereby completing the locking of the second fixing member 32 and ensuring that the machine body is stably maintained in the landing position.

[0083] In this embodiment, since the first limiting member 50 rotates synchronously with the first fixing member 31 and needs to engage with the locking part 323 during rotation, a guide slope is provided on the mating surfaces of the locking part 323 and the first limiting member 50. Both are provided with inclined guide surfaces that can engage, thereby ensuring that they can fit together after alignment.

[0084] During the movement of the machine body from the raised position to the landing position, as the first limiting member 50 gradually approaches the top of the second fixing member 32, the first limiting member 50 approaches the locking part 323. When the machine body reaches the landing position, the locking part 323 and the first limiting member 50 cooperate precisely, locking the second fixing member 32 in the current position and ensuring that the machine body remains stably in the landing position. When the machine body needs to move from the landing position to the raised position, the cooperation between the locking part 323 and the first limiting member 50 is released, and the second guide member 40 slides upward along the guide groove until the second guide member 40 abuts against the closed end (first end B) of the guide groove. The first fixing member 31 stops moving upward, and the machine body is accurately moved to the raised position. The locking part 323 may have a protrusion or a groove. The first limiting member 50 is provided with a corresponding groove when the locking part 323 has a protrusion, and a corresponding protrusion when the locking part 323 has a groove.

[0085] According to the cleaning equipment of this utility model embodiment, a first limiting member 50 is provided on the body or the first fixing member 31. The first limiting member 50 is located above the second fixing member 32. When the body is in the landing position, the first limiting member 50 is engaged with the locking part 323. The body can be accurately positioned to the landing position by the cooperation of the first limiting member 50 and the locking part 323, ensuring that the body is at the same height every time it lands.

[0086] like Figure 3 , Figure 6 and Figure 7 As shown, in some embodiments, the bottom of the sleeve cover 34 is provided with a first limiting member 50, the bottom of the first limiting member 50 is provided with an arc-shaped locking tooth, the lower end face of the arc-shaped locking tooth is inclined to the bottom surface of the sleeve cover 34, and the locking part 323 is configured as a limiting tooth groove. When the machine body is in the landing position, the arc-shaped locking tooth is embedded in the limiting tooth groove.

[0087] The first fixing member 31 has an open opening at its top, and the sleeve cover 34 is disposed in the open opening. The first fixing member 31 and the sleeve cover 34 can be connected by fasteners such as bolts, or by snap-fit. When the first fixing member 31 and the sleeve cover 34 are snap-fitted, the top of the open opening has a mating structure that mates with the sleeve cover 34, such as a limiting step or a limiting groove. The sleeve cover 34 has a flange that mates with the limiting step or an outwardly protruding block that mates with the limiting groove in its circumferential direction. The mating structure of the sleeve cover 34 snaps with the first fixing member 31, so that the two can rotate synchronously, ensuring the accuracy of their positions, and thus accurately snapping with the limiting groove.

[0088] The main body of the sleeve cover 34 is a circular cover structure. The outer diameter of the main body of the sleeve cover 34 is adapted to the inner diameter of the first fixing member 31. The center of the main body of the sleeve cover 34 is provided with a first mounting hole, and the inner diameter of the first mounting hole is adapted to the outer ring of the first bearing 35.

[0089] The number of arc-shaped locking teeth corresponds to the number of limiting tooth grooves, usually in a one-to-one correspondence. The limiting tooth grooves are set on the top end face of the second fixing member 32 and distributed along the circumferential direction.

[0090] The lower end face of the arc-shaped locking tooth is provided with a first guide surface, and the bottom end face of the limiting tooth groove is provided with a second guide surface with the same inclination angle as the first guide surface. When the arc-shaped locking tooth and the limiting tooth groove are engaged, along the circumferential direction of the sleeve cover 34, the two sides of the limiting tooth groove are engaged with the two sides of the arc-shaped locking tooth, thereby limiting the arc-shaped locking tooth in the circumferential direction.

[0091] In one specific embodiment, there are two arc-shaped locking teeth and two limiting grooves. The two arc-shaped locking teeth are set at 180° intervals along the circumferential direction with the central axis of the sleeve cover 34 as the center of symmetry, so as to ensure that the second fixing member 32 is subjected to more balanced force when the limiting grooves and arc-shaped locking teeth are locked, and no displacement will occur.

[0092] As the machine moves from the raised position to the landing position, the first fixing member 31 moves downward, and the arc-shaped locking teeth at the bottom of the sleeve cover 34 gradually approach the limiting tooth groove at the top of the second fixing member 32. Since the lower end face of the arc-shaped locking teeth is inclined to the bottom surface of the sleeve cover 34, as the sleeve cover 34 rotates with the first fixing member 31, the inclined surface will guide the arc-shaped locking teeth to accurately align with the limiting tooth groove.

[0093] When the machine reaches the preset landing position, the arc-shaped locking teeth precisely engage with the limiting tooth groove, forming a locking engagement to lock the position of the second fixing member 32. This keeps the machine stably in the landing position and locks the caster 10, preventing the caster 10 from suddenly disengaging due to vibration, other operating conditions, or accidents during machine movement, thus improving the overall reliability and safety of the cleaning equipment. When the machine needs to move from the landing position to the raised position, the first fixing member 31 rotates in the opposite direction, while the second fixing member 32 remains stationary, forcing the first fixing member 31 to move upward. The limiting tooth groove disengages from the arc-shaped locking teeth, and the first fixing member 31 continues to move upward until the machine reaches the raised position.

[0094] The machine body is provided with a first bearing 35, and a sleeve cover 34 is sleeved on the first bearing 35. The sleeve cover 34, which is located at the top of the first fixing member 31, rotates synchronously with the first fixing member 31. The sleeve cover 34 is sleeved on the first bearing 35 of the machine body. The first bearing 35 provides radial support for the sleeve cover 34 to limit the offset of the sleeve cover 34 when it rotates, and also reduces the friction between the sleeve cover 34 and the machine body.

[0095] According to the cleaning equipment of this utility model embodiment, the machine body includes a gearbox 60, a first fixing member 31 is rotatably installed in the gearbox 60, and a gear assembly and a power source 20 are also provided in the gearbox 60. The output shaft of the power source 20 is connected to the driving gear 71 of the gear assembly, and the driven gear 72 of the gear assembly is connected to the first fixing member 31.

[0096] The gearbox 60 includes a housing with a clearance opening at the bottom. A first fixing member 31 is disposed inside the housing. The upper end of a second fixing member 32 is located inside the housing, while the lower end extends outside the housing through the clearance opening. The second fixing member 32 can rise or fall through the clearance opening. At this time, a second guide member 40 can be disposed on the inner wall of the clearance opening.

[0097] The shape and size of the clearance opening can match the cross-sectional shape of the second fastener 32. If the second clearance opening is a cylindrical structure, it can be set as a circle. If the second fastener 32 is columnar, such as a square column, the second clearance opening is square to match the cross-section of the second fastener 32. This can prevent external dust, sewage, etc. from entering the first fastener 31 through the gap between the clearance opening and the second fastener 32.

[0098] To further prevent contamination of the spiral groove 311 of the first fixing member 31, a sealing structure can be provided at the mating point between the clearance opening and the second fixing member 32. For example, a sealing groove can be provided on the inner wall of the clearance opening, and an annular sealing element can be embedded in the sealing groove. The second guide member 40 and the sealing element are spaced apart. In the vertical direction, the second guide member 40 is located above or below the sealing element.

[0099] A gearbox 60 is installed inside the machine body, which can integrate the gear assembly 70, the power source 20, and the first fixing part 31, as well as other components that drive the universal wheel 10 to lift and lower. This makes it easier to assemble the whole machine and makes the whole machine more compact. It can be used as a module to avoid the accuracy error caused by scattered installation during the whole machine assembly.

[0100] like Figure 2 and Figure 7 As shown, the gear assembly 70 includes a driving gear 71 and a driven gear 72. The output shaft of the drive motor is vertically arranged and located below the main body of the drive motor. The driving gear 71 is sleeved on the output shaft of the drive motor.

[0101] The power source 20 is a drive motor. The output shaft of the drive motor and the first fixing member 31 both extend in the vertical direction. The first fixing member 31 is not below or above the power source 20. Instead, the power source 20 and the first fixing member 31 are arranged in sequence in the horizontal direction, with a certain distance between them in the horizontal direction, forming a staggered layout in the horizontal direction. This can reduce the size of the gearbox 60 in the vertical direction, which helps to reduce the space occupied by the gearbox 60 in the height space and can achieve the thinness of the body.

[0102] The driven gear 72 rotates along the vertical direction, and the first fixing member 31 also rotates along the vertical direction. Meshing teeth 313 can be provided on the outer wall of the first fixing member 31, and the driven gear 72 meshes with the meshing teeth 313. The driving gear 71 can directly mesh with the driven gear 72, or it can mesh through one or two intermediate gears, the rotation axis of which is also vertical.

[0103] Since the first fixing member 31 is rotatable, in addition to setting the first bearing 35 at the upper end of the first fixing member 31, a bearing can also be set at the lower end, or a bearing can be set between the upper and lower ends, thereby achieving support for the first fixing member 31. Since the lower end of the first fixing member 31 mates with the second fixing member 32, the meshing teeth 313 of the first fixing member 31 can be set close to the lower end of the first fixing member 31. In this way, the distance between the torque application point (mates with the driven gear 72) and the lower end force point (mates with the second fixing member 32) is closer, which can reduce the increase in the mating clearance caused by uneven force on both ends of the first fixing member 31, thereby preventing jamming of the relevant mating parts with the second fixing member 32.

[0104] like Figure 2 , Figure 6 and Figure 7 As shown, in a specific embodiment, the gearbox 60 is provided with an installation cavity, the first fixing member 31 is provided in the installation cavity, the first fixing member 31 is covered with a bushing 36, the bushing 36 is provided with a plurality of annular protrusions, the plurality of annular protrusions are spaced apart in the vertical direction, and the annular protrusions abut against the inner wall of the installation cavity.

[0105] The bushing 36 is fixedly connected to the outer periphery of the first fixing member 31, for example, through an interference fit. The bushing 36 rotates synchronously with the first fixing member 31 around the vertical axis. During the rotation of the first fixing member 31, the annular protrusions make sliding contact with the inner wall of the mounting cavity, thereby allowing the bushing 36, in conjunction with the first bearing 35, to constrain and support the first fixing member 31 from different heights. While supporting the first fixing member 31, the bushing 36, by providing multiple annular protrusions, can reduce the contact area with the inner wall of the mounting cavity, thereby reducing wear and jamming.

[0106] like Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, the outer wall of the first fixing member 31 is provided with a meshing tooth 313, which meshes with the driven gear 72, and the bushing 36 is located above the meshing tooth 313 and abuts against the upper end face of the meshing tooth 313.

[0107] The upper end face of the meshing teeth 313 can support and limit the bottom end face of the bushing 36, ensuring that the bushing 36 is always in the preset position, so that multiple annular protrusions can stably abut against the inner wall of the mounting cavity at the corresponding height, maintaining the balance of radial support. Through this structural design, both the meshing teeth 313 and the bushing 36 are positioned. Especially when the component size is small, the structural arrangement between the first fixing member 31 and the gearbox 60 is more compact, reducing structural complexity and thus reducing the failure rate of components.

[0108] The cleaning system according to an embodiment of the present invention includes a base station and the cleaning equipment described above.

[0109] According to the cleaning system of this utility model embodiment, the cooperation of the spiral groove 311 and the guide post 321 enables the machine body to switch between a raised position, a hovering position, and a landing position, eliminating the need to frequently adjust the caster wheel 10 to the raised or landing position. This significantly shortens the obstacle-crossing time, especially in obstacle-dense scenarios, reducing redundant movements and improving cleaning efficiency. Simultaneously, the cooperation of the guide post 321 and the positioning section 312 enables stable hovering of the machine body without the need for additional components, simplifying the structural design, reducing production costs, and enhancing the adaptability of the cleaning equipment to complex environments.

[0110] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms such as “a,” “an,” etc., used herein may also refer to the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0111] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0112] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications or equivalent substitutions made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A cleaning device, characterized in that, include: Organism; The power source is located on the machine body; The lifting assembly includes a first fixing member and a second fixing member. The first fixing member is connected to the output shaft of the power source. The bottom of the second fixing member is provided with casters. The body moves between a raised position and a lower position relative to the casters. The raised position is higher than the lower position. The first fixing member is provided with a spiral groove. The spiral groove has a positioning section in the middle. The positioning section extends perpendicularly to the vertical direction. The second fixing member is provided with a guide post. The guide post is in drive cooperation with the spiral groove. When the guide post is in the positioning section, the body stays in a hovering position between the raised position and the lower position.

2. The cleaning equipment according to claim 1, characterized in that, The first fastener has an assembly cavity, the axis of rotation of the assembly cavity extends vertically, and the spiral groove is disposed on the inner wall of the assembly cavity, the spiral groove extending spirally around the axis of rotation on the circumferential inner wall of the assembly cavity.

3. The cleaning equipment according to claim 2, characterized in that, The spiral groove has an upper spiral section, a lower spiral section, and a positioning section. The two ends of the positioning section are connected to the upper spiral section and the lower spiral section, and the upper spiral section and the lower spiral section have the same direction of rotation.

4. The cleaning equipment according to any one of claims 1-3, characterized in that, The circumferential angle corresponding to the positioning segment is in the range of 20° to 60°.

5. The cleaning equipment according to claim 1, characterized in that, Also includes: A control module, which is communicatively connected to the power source, the power source including a drive motor, is configured to: During the operation of the drive motor, the current of the drive motor is monitored; When the current is detected to be within a preset range and lasts for a first preset duration, it is determined that the guide post is in the positioning segment, and the drive motor is controlled to stop running, so that the body stays in the hovering position.

6. The cleaning equipment according to claim 5, characterized in that, The second fixing member is provided with a first guide member extending in the vertical direction, and the machine body is provided with a second guide member, the first guide member and the second guide member being slidably engaged.

7. The cleaning equipment according to claim 1, characterized in that, The machine body or the first fixing member is provided with a first limiting member, and the upper end of the second fixing member is provided with a snap-fit ​​part. The first limiting member is located above the second fixing member. When the machine body is in the landing position, the first limiting member snaps into the snap-fit ​​part.

8. The cleaning equipment according to claim 1, characterized in that, The machine body includes a gearbox, the first fixing member is rotatably installed in the gearbox, the gearbox also provides a gear assembly and the power source, the output shaft of the power source is connected to the driving gear of the gear assembly, and the driven gear of the gear assembly is connected to the first fixing member.

9. The cleaning equipment according to claim 8, characterized in that, The power source is a drive motor. The output shaft of the drive motor and the first fixing member both extend in the vertical direction. The first fixing member and the power source are arranged at intervals in the horizontal plane.

10. The cleaning equipment according to claim 8, characterized in that, The first fixing member is fitted with a bushing, which has a plurality of annular protrusions. The plurality of annular protrusions are spaced apart in a vertical direction. The annular protrusions abut against the housing of the gearbox. The outer wall of the first fixing member is provided with meshing teeth, which mesh with the driven gear. The bushing is located above the meshing teeth and abuts against the upper end face of the meshing teeth.

11. A cleaning system, characterized in that, Includes base stations and cleaning equipment as described in any one of claims 1-10.

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