A cleaning device

Abstract

This invention provides a cleaning device, comprising: a body, a swing arm assembly, a cleaning component, a first drive assembly, and a first elastic component. The swing arm assembly includes a first swing arm and a second swing arm rotatably connected, the second swing arm being rotatable relative to the first swing arm about a first axis, and the first swing arm being mounted on the body and rotatable relative to the body about a second axis. The cleaning component is mounted on the second swing arm and can move between an inwardly retracted position and an outwardly swinging position. The first drive assembly is mounted on the body and is used to drive the first swing arm to rotate relative to the body. The first elastic component is disposed between the first swing arm and the first drive assembly, at least for buffering the rotation between the body and the first swing arm about the second axis. The swing arm assembly also includes a second elastic component, which at least buffers the rotation between the first and second swing arms about the first axis. This invention can improve the problem of the cleaning component being affected by external collisions during operation, thus affecting the operational stability of the cleaning device.

Description

Technical Field

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

[0002] Existing cleaning equipment typically includes main components such as the body, a swing arm assembly, and cleaning components. The swing arm assembly drives the cleaning components to switch between an inward and outward position to adapt to cleaning needs in different scenarios. However, when the cleaning equipment operates in complex cleaning environments, the swing arm assembly and cleaning components are susceptible to collisions with external obstacles (such as sofa legs, table legs, etc.). The risk of collision increases significantly, especially when the cleaning components are in the outward position, as they extend beyond the body. In this situation, the swing arm assembly is relatively long, resulting in a large impact torque. If this impact torque is transmitted to the interior of the body, it may interfere with the internal drive or control system, leading to reduced cleaning efficiency, decreased motion precision, and ultimately affecting the stability of the cleaning equipment's operation. Summary of the Invention

[0003] This utility model provides a cleaning device to improve the technical problem of the stability of the cleaning device being affected by collisions between the swing arm assembly or the cleaning component and external obstacles during the operation of the cleaning component.

[0004] This utility model provides a cleaning device, comprising: a body, a swing arm assembly, a cleaning component, a first drive assembly, and a first elastic component; the swing arm assembly includes a first swing arm and a second swing arm rotatably connected, the second swing arm being rotatable relative to the first swing arm about a first axis, the end of the first swing arm opposite to the second swing arm being mounted on the body and being rotatable relative to the body about a second axis, the first axis and the second axis being parallel; the cleaning component is mounted on the second swing arm and can move relative to the body between an inward position and an outward swing position under the drive of the swing arm assembly; the first drive assembly is mounted on the body and is used to drive the first swing arm to rotate relative to the body; the first elastic component is disposed between the first swing arm and the first drive assembly, and is at least used to buffer the rotation between the body and the first swing arm about the second axis; wherein, the swing arm assembly further includes a second elastic component, the second elastic component being at least used to buffer the rotation between the first swing arm and the second swing arm about the first axis.

[0005] The beneficial effects of this design are as follows: By providing a first elastic element between the first swing arm and the first drive assembly, this first elastic element can at least buffer the rotation of the machine body and the first swing arm about the second axis; simultaneously, by providing a second elastic element on the swing arm assembly, this second elastic element is used at least to buffer the rotation of the first and second swing arms about the first axis. Based on the above structure, when the cleaning component or the swing arm assembly is subjected to an external collision, the resulting collision torque can be effectively absorbed at least partially through the elastic deformation of the first or second elastic element, thereby reducing the transmission of the collision torque to the inside of the machine body. This reduces the impact of external collisions on the internal drive or control system of the machine body, reducing its adverse effects on cleaning efficiency and motion accuracy, and thus helps maintain the stable operation of the cleaning equipment in complex environments, ensuring the uniformity and consistency of the cleaning effect.

[0006] In one embodiment of the present invention, the first elastic element is used to buffer the rotational torque between the body and the first swing arm about the second axis along the first rotation direction; the second elastic element is used to buffer the rotational torque between the second swing arm and the first swing arm about the first axis along the second rotation direction, and the first rotation direction is opposite to the second rotation direction.

[0007] The beneficial effects of this design are as follows: In practical applications, cleaning equipment often operates in complex environments and may be subjected to collisions and impacts from different directions. Therefore, this invention incorporates a first elastic element between the first swing arm and the main body to buffer rotation around the second axis in the first rotation direction. When the cleaning component or swing arm assembly is subjected to a collision torque in this direction, the first elastic element undergoes elastic deformation, absorbing some or all of the impact energy, thereby reducing the collision torque transmitted to the main body. Simultaneously, a second elastic element is provided between the first and second swing arms to buffer rotation of the second swing arm around the first axis in the second rotation direction. When the cleaning component or swing arm assembly is subjected to a collision torque in the second rotation direction, the second elastic element undergoes corresponding elastic deformation, absorbing some or all of the collision energy in this direction, further reducing torque transmission to the main body. Since the first and second rotation directions are opposite, this structure can cope with collisions from different horizontal directions. Regardless of the direction of impact, a corresponding elastic element provides buffering, thus offering multi-directional collision protection for the swing arm assembly and the cleaning component, further improving the operational stability of the cleaning equipment in complex environments.

[0008] In one embodiment of the present invention, when the cleaning component is in the outward swing position, at least a portion of the second swing arm extends to the outside of the machine body. When the cleaning component is subjected to a collision force in the direction of travel of the machine body, at least the second elastic component undergoes elastic deformation. When the cleaning component is subjected to a collision force opposite to the direction of travel of the machine body, at least the first elastic component undergoes elastic deformation.

[0009] The beneficial effects of this design are as follows: when the cleaning component is subjected to an impact force in the same direction as the machine's travel, at least the second elastic element will undergo elastic deformation; when subjected to an impact force in the opposite direction, at least the first elastic element will undergo elastic deformation. This design means that by setting first and second elastic elements that respond to impact forces in different directions, the cleaning equipment, during its movement, provides corresponding elastic elements to provide buffer protection regardless of whether the cleaning component or the swing arm assembly is subjected to an impact force in the same or opposite direction. This structure can improve the buffering capacity of the cleaning equipment under impacts in different directions, thereby improving the stability and reliability of the entire machine in complex working environments.

[0010] In one embodiment of this utility model, the cleaning component is a wiping disc assembly, and the rotation direction of the wiping disc assembly during cleaning is consistent with the first rotation direction.

[0011] The beneficial effects of this setting are as follows: Since the rotation direction of the cleaning component is consistent with the preset buffer direction of the first elastic component, when the cleaning component is subjected to external obstruction or impact during operation, the inertial force generated during its rotation and the buffer response of the first elastic component can work together to enable the first elastic component to deform more quickly and fully, thereby absorbing collision energy more rapidly and reducing the peak torque transmitted to the machine body.

[0012] In one embodiment of the present invention, the swing arm assembly further includes a connecting mechanism, through which the second swing arm rotates with the first swing arm; the second elastic member includes a first mounting portion and a second mounting portion for mounting, the first mounting portion being connected to the second swing arm and the second mounting portion being connected to the connecting mechanism; the elastic deformation force generated by the second elastic member can drive the connecting mechanism to operate, thereby causing the second swing arm to rotate relative to the first swing arm.

[0013] The beneficial effects of this design are as follows: In this embodiment, the second elastic element can achieve a dual function of driving and buffering. On the one hand, the elastic deformation force of the second elastic element can be converted into an effective torque to drive the connecting mechanism, enabling the second swing arm to rotate relative to the first swing arm. This provides a driving force for the rotation of the second swing arm relative to the first swing arm. On the other hand, when the second swing arm or the cleaning component is subjected to external impact, the impact torque can be transmitted to the second elastic element through the connecting mechanism, forcing it to undergo elastic deformation. This absorbs at least part of the impact energy, providing a buffering effect in a specific direction, reducing the risk of damage to the cleaning equipment, and improving its operational reliability in complex environments.

[0014] In one embodiment of the present invention, the connecting mechanism includes a first gear and a second gear. The first gear is fixedly connected to the first swing arm, and its rotation axis coincides with the first axis. The second gear is rotatably connected to the second swing arm, and the second gear is externally meshed with the first gear for transmission. The first mounting part is connected to the second swing arm, and the second mounting part is connected to the second gear. The elastic deformation force generated by the second elastic element can drive the second gear to rotate.

[0015] The beneficial effects of this design are as follows: By setting the first and second gears, on the one hand, the gear transmission has a definite transmission ratio and meshing characteristics, which can convert the elastic deformation force of the second elastic element into a continuous and stable torque output. Compared with the scheme of directly driving through the second elastic element, gear meshing can effectively improve the jumping or deviation phenomena that may occur during the release of elastic force, making the rotation process of the second swing arm more stable and controllable, and improving the consistency and reliability of the second elastic element's action in the drive-reset cycle. On the other hand, by rationally designing the gear ratio of the first and second gears, the rotational torque output to the second swing arm can be effectively increased without increasing the stiffness and volume of the second elastic element itself, thereby enhancing the driving capability of the second elastic element on the second swing arm and improving the energy utilization efficiency of the second elastic element. In addition, since the gear mechanism can not only efficiently transmit the driving force of the second elastic element to the second swing arm, when the second swing arm is subjected to a reverse impact, the impact torque can also be smoothly transmitted back to the second elastic element through gear meshing, thus ensuring the immediacy and smoothness of the buffering process.

[0016] In one embodiment of the present invention, the second elastic element is a torsion spring, the two ends of which are respectively connected to the two opposite end faces of the second swing arm and the second gear, and the rotation axis of the torsion spring coincides with the rotation axis of the second gear.

[0017] The beneficial effects of this design are as follows: In this embodiment, the second elastic element is a torsion spring. This design, on the one hand, allows for a compact arrangement around the rotation axis of the second gear, saving radial and axial installation space and facilitating a more compact structural design for the swing arm assembly. On the other hand, the torsion spring acts directly on the rotation axis, resulting in a short torque transmission path and effectively reducing gaps and delays during motion transitions. This characteristic enables the second elastic element to respond quickly and provide precise cushioning when the swing arm assembly or cleaning component is subjected to impact, thereby further improving the stability of the cleaning component during operation.

[0018] In one embodiment of this utility model, the connecting mechanism includes:

[0019] The first rotating component is fixedly connected to the first swing arm, and the rotation axis of the first rotating component coincides with the first axis. The first rotating component is provided with a first snap-fit ​​part.

[0020] The second rotating component is rotatably connected to the second swing arm, and the second rotating component is provided with a second locking part; the first rotating component and the second rotating component are connected by the engagement of the first locking part and the second locking part;

[0021] The first mounting part is connected to the second swing arm, the second mounting part is connected to the second rotating member, and the elastic deformation force generated by the second elastic member can drive the second rotating member to rotate.

[0022] The beneficial effects of this design are as follows: By setting up a first rotating component and a second rotating component, and through the engagement of the first and second engaging parts, a transmission connection can be achieved between the first and second rotating components. This design offers several advantages. Firstly, it provides greater flexibility in the arrangement of the second elastic component, effectively alleviating structural limitations on its installation position and facilitating the optimization of the overall layout of the swing arm assembly. Secondly, by rationally designing the mating dimensions between the first and second rotating components, the rotational torque transmitted to the second swing arm can be effectively increased without altering the stiffness and volume of the second elastic component, thereby enhancing the driving capability of the second swing arm and improving the energy utilization efficiency of the second elastic component. Furthermore, when the second swing arm is subjected to a reverse impact, the impact torque can be smoothly transmitted in the reverse direction to the second elastic component through the transmission engagement between the first and second rotating components, ensuring the immediacy and smoothness of the buffering process.

[0023] In one embodiment of the present invention, the second elastic element is a tension spring, the tension direction of the tension spring is perpendicular to the second axis, and the two ends of the tension spring are respectively connected to the second swing arm and the second rotating element.

[0024] The advantages of this design are as follows: the second elastic element is a tension spring, arranged perpendicular to the second axis. This design fully utilizes the unused horizontal space within the mounting cavity of the second swing arm, thereby reducing the mounting space required in the vertical direction of the second swing arm. Furthermore, as a standardized elastic element, the tension spring offers advantages such as low cost, a wide range of specifications, and easy replacement, which not only helps control overall manufacturing costs but also facilitates later replacement and maintenance.

[0025] In one embodiment of the present invention, one of the first swing arm and the second swing arm is provided with a first stop portion, and the other is provided with two second stop portions. Along the rotation direction of the second swing arm relative to the first swing arm, the first stop portion is disposed between the two second stop portions. When the cleaning component is in the outward swing position, the first stop portion and one of the second stop portions stop each other. When the second elastic component undergoes elastic deformation, the first stop portion is restricted to rotate between the two second stop portions.

[0026] The beneficial effects of this design are as follows: By incorporating both the first and second stop portions, bidirectional limiting of the rotation range of the second swing arm relative to the first swing arm can be achieved, resulting in a simple structure and reliable limiting. This bidirectional limiting structure prevents the second swing arm from over-rotating when it is deployed relative to the first swing arm or subjected to a reverse impact, improving the stability and safety of the swing arm assembly. Simultaneously, by limiting the rotation range of the second swing arm, damage to the second elastic element due to excessive deformation can be avoided, helping to maintain the consistency and stability of its elastic properties and extending its service life.

[0027] In one embodiment of the present invention, the first driving component includes:

[0028] The first drive component is installed on the machine body;

[0029] The first transmission assembly and the first driving component drive the first swing arm to rotate relative to the machine body through the first transmission assembly;

[0030] The first elastic element includes a third mounting portion and a fourth mounting portion for installation. The third mounting portion is connected to the first swing arm, and the fourth mounting portion is connected to the output end of the first transmission assembly. When the cleaning component moves from the inward position to the outward position, the output end of the first transmission assembly drives the first swing arm to rotate synchronously under the pre-pressure of the first elastic element. When the cleaning component is in the outward position, the first elastic element can be compressed or stretched to produce elastic deformation.

[0031] The beneficial effects of this design are as follows: By incorporating the first elastic element, when the cleaning component is in the outward swing position and subjected to external impact, the first elastic element can absorb the impact energy through compression or stretching deformation, effectively reducing the peak torque transmitted to the first drive component and the first transmission assembly, thereby improving the overall structure's impact resistance and reliability. Simultaneously, the preload of the first elastic element provides a stable initial driving torque for the first swing arm's initial movement, ensuring a smooth start and operation during its movement from the inward swing position to the outward swing position. Furthermore, this preload structure helps eliminate transmission backlash in the first transmission assembly, not only reducing vibration and noise during movement but also further improving the accuracy of the first swing arm's position control and the consistency of its repeatability.

[0032] In one embodiment of the present invention, the first swing arm includes a first abutting portion, and the output end of the first transmission component includes a second abutting portion. The first abutting portion and the second abutting portion can abut against each other under the pre-pressure of the first elastic member, so as to drive the first swing arm to rotate synchronously when the output end of the first transmission component is running.

[0033] The advantages of this design are: It eliminates the need for complex gear meshing mechanisms or other specialized connectors, achieving reliable transmission solely through the contact between the two abutting parts and the elastic preload of the first elastic element. This simplifies the overall structure and reduces component processing and assembly costs. Furthermore, since the shape and arrangement of the first and second abutting parts can be flexibly designed according to the available space, without being limited by gear module or transmission chain layout, power transmission can be easily achieved within a compact structure, enhancing the spatial freedom of the overall design.

[0034] In one embodiment of the present invention, the first transmission assembly includes a worm gear, a worm, and a gear assembly. The worm rotates under the drive of the first driving member, the worm gear meshes with the worm, the worm gear drives the gear assembly to move, and the gear assembly drives the first swing arm to rotate relative to the machine body.

[0035] The advantages of this design are as follows: The "worm-worm-gear" transmission chain, formed by the combination of a worm gear and gear assembly, allows for a change in the direction of power transmission. This enables the first driving component to be arranged horizontally, effectively reducing the installation space it occupies in the height of the machine and facilitating a slimmer overall design for the cleaning equipment. Simultaneously, the frictional self-locking characteristic of the worm gear transmission pair provides reliable static holding force when the drive stops, effectively resisting displacement of the swing arm assembly caused by external collisions or vibrations. This ensures the stability of the cleaning component in its set posture when inward or outward, improving the overall reliability of the cleaning equipment.

[0036] In one embodiment of this utility model, along the height direction of the machine body, the installation height of the second swing arm is higher than that of the first swing arm; a receiving cavity is provided at the bottom of the machine body, and when the cleaning component is in the retracted position, the first swing arm and the second swing arm are received in the receiving cavity; a stepped surface is formed on the side wall of the receiving cavity, and the plane on which the stepped surface is located divides the receiving cavity into a first cavity and a second cavity along the height direction of the machine body, and the setting height of the second cavity is higher than that of the first cavity; the first cavity is used to receive the first swing arm and the portion of the second swing arm that does not extend beyond the first swing arm in the height direction, and the second cavity is used to receive the portion of the second swing arm that extends beyond the first swing arm in the height direction.

[0037] The beneficial effects of this design are as follows: By creating a stepped surface on the sidewall of the first receiving cavity, the cavity can be divided into a first cavity and a second cavity of different heights along the height of the machine body, with the second cavity being higher than the first cavity. This design creates an approximately stepped cavity structure in the first receiving cavity, smaller at the top and larger at the bottom. This stepped cavity structure matches the top-smaller-bottom-larger outline formed by the second swing arm being higher than the first swing arm in the retracted state. Specifically, the second cavity, positioned higher and with a smaller cross-sectional dimension, can accommodate the portion of the second swing arm that protrudes from the first swing arm, while the first cavity, positioned lower and with a larger cross-sectional dimension, accommodates the non-protruding portions of both the first and second swing arms. By setting the first receiving cavity as a stepped cavity structure that matches the shape of the swing arm assembly, the space wasted by increasing the overall height of the first receiving cavity to accommodate the local high-position structure on the swing arm assembly can be effectively reduced, while ensuring that the swing arm assembly can be smoothly accommodated in the first receiving cavity. This is beneficial for improving the space utilization efficiency of the first receiving cavity and optimizing the layout of the installation space on the machine body. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0039] In the attached diagram:

[0040] Figure 1 A schematic diagram showing the state of the cleaning component in the outward-swinging position in a cleaning device provided according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram showing the state of the cleaning component in the retracted position in a cleaning device provided in one embodiment of the present invention.

[0042] Figure 3 for Figure 2 Top view of the embodiment shown;

[0043] Figure 4 A schematic diagram of the structure in which the swing arm assembly is housed inside the first receiving cavity;

[0044] Figure 5 This is a schematic diagram showing the state of the cleaning component in the outward swing position according to another embodiment of the present invention;

[0045] Figure 6 A schematic diagram showing the state of the cleaning component in the edge position in a cleaning device provided according to an embodiment of the present utility model;

[0046] Figure 7 This is a partial cross-sectional view of the location where the first elastic element is disposed in one embodiment of the present invention;

[0047] Figure 8 This is a partial cross-sectional view of the location where the second elastic element is positioned in one embodiment of the present invention;

[0048] Figure 9 This is a top view of the cleaning component in the cleaning device provided in an embodiment of the present invention when it is in the outward swing position;

[0049] Figure 10 for Figure 9 A magnified view of a portion of region A in the middle;

[0050] Figure 11 for Figure 10 A schematic diagram of a partial structure without the second gear in the illustrated embodiment;

[0051] Figure 12 for Figure 11 A magnified view of a portion of region B in the middle;

[0052] Figure 13 This is an exploded view of the parts between the swing arm base and the swing arm cover of the second swing arm in one embodiment of the present invention.

[0053] Figure 14 This is a top view of the swing arm assembly in one embodiment of the present invention;

[0054] Figure 15 for Figure 14 A cross-sectional view along the HH direction;

[0055] Figure 16 This is an exploded view of the parts between the first gear and the second swing arm, and between the first swing arm, in one embodiment of the present invention;

[0056] Figure 17 for Figure 16 A magnified view of a portion of region C in the middle;

[0057] Figure 18 for Figure 14 Cross-sectional view along the GG direction;

[0058] Figure 19 This is a schematic diagram showing a connection structure provided between the first swing arm and the second swing arm in another embodiment of the present invention;

[0059] Figure 20 for Figure 19 A magnified view of a portion of region E in the middle;

[0060] Figure 21 This is a partially enlarged view of the connecting structure installed between the second swing arm and the first swing arm in one embodiment of the present invention;

[0061] Figure 22 This is an exploded view of the parts between the first rotating component and the second swing arm, and between the first swing arm, in one embodiment of the present invention.

[0062] Figure 23 This is a magnified view of a portion of the structure at the installation position of the first drive component in one embodiment of the present invention;

[0063] Figure 24 This is a schematic diagram of the first drive component being installed on the machine body in one embodiment of the present invention;

[0064] Figure 25 for Figure 24 A magnified view of a portion of region D in the middle;

[0065] Figure 26 This is a schematic diagram showing the positions of the first abutting part and the second abutting part in one embodiment of the present invention;

[0066] Figure 27 This is a schematic diagram showing the positions of the second and third abutting parts at the output end of the first transmission assembly in one embodiment of the present invention.

[0067] Figure 28 This is a schematic diagram of the structure of the first and second receiving cavities after removing the swing arm assembly and the cleaning component in one embodiment of the present invention;

[0068] Figure 29 This is a schematic diagram of a structure in one embodiment of the present invention, showing that the first receiving cavity has a stepped surface.

[0069] The attached figures are labeled as follows:

[0070] 100. Body; 101. First receiving cavity; 10121. Stepped surface; 1015. First cavity; 1016. Second cavity; 103. Second receiving cavity; 104. First axis; 120. Swing arm assembly; 1202. Second axis; 121. First swing arm; 1211. First abutment part; 1212. First stop part; 1213. Snap-fit ​​groove; 1214. Mounting protrusion; 122. Second swing arm; 1221. Second stop part; 1224. Mounting cavity; 1225. Swing arm base; 12251. First protrusion; 12252. Second protrusion; 1226. Swing arm top cover; 130. First drive assembly; 131. First drive component; 13 2. First transmission assembly; 1321. Worm; 1322. Worm wheel; 1323. Gear assembly; 1324. Second abutment part; 1325. Third abutment part; 140. Cleaning component; 160. Connecting mechanism; 161. First gear; 162. Second gear; 163. Second elastic component; 1631. First mounting part; 1632. Second mounting part; 164. First rotating component; 1641. First locking part; 165. Second rotating component; 1651. Second locking part; 166. Connecting component; 1661. Locking block; 167. First connecting shaft; 168. Second connecting shaft; 170. First elastic component; 171. Third mounting part; 172. Fourth mounting part. Detailed Implementation

[0071] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0072] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0073] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present invention.

[0074] Please see Figures 1 to 29 This invention provides a cleaning device. The device incorporates a first elastic element 170 between a first swing arm 121 and a first drive assembly 130. This first elastic element 170 at least buffers the rotation of the machine body 100 and the first swing arm 121 around a second axis 1202. Simultaneously, a second elastic element 163 is provided in the swing arm assembly 120, at least buffering the rotation of the first swing arm 121 and the second swing arm 122 around a first axis 104. This configuration ensures that when the cleaning component 140 or the swing arm assembly 120 is subjected to an external impact, the resulting impact torque can be effectively absorbed at least partially through the elastic deformation of the first elastic element 170 or the second elastic element 163, thereby reducing the transmission of impact torque into the machine body 100. This reduces the probability of decreased cleaning efficiency or reduced motion accuracy in the drive or control system within the machine body 100 due to external impacts, thus helping to ensure the operational stability of the cleaning device in complex environments and ensuring the uniformity and consistency of the cleaning effect.

[0075] The cleaning equipment provided in the embodiments of this utility model can be a self-moving cleaning robot or a handheld floor scrubber. The self-moving cleaning robot can be a mopping robot or a sweeping and mopping robot, etc. In the following embodiments, a self-moving cleaning robot is used as an example to describe some of its components.

[0076] Please see Figure 1 and Figure 2 The cleaning device provided in this embodiment includes: a body 100, a swing arm assembly 120, a cleaning component 140, a first drive assembly 130, and a first elastic component 170.

[0077] The internal structure of the body 100 has a storage space to accommodate various components of the cleaning equipment. The body 100 can be of any shape, such as circular, elliptical, or D-shaped. The cleaning equipment also includes a drive system conventionally found in existing cleaning equipment. This drive system is located below the body 100 to enable the cleaning equipment to move independently. The specific structure of the drive system and its connection to the body 100 can be found in descriptions of relevant structures in existing cleaning equipment and will not be repeated here.

[0078] In addition, the cleaning equipment may also include a sensing system and a control system. The sensing system and control system are electrically connected. The sensing system includes an LDS (Laser Distance Sensor) located on top of the body 100, a buffer and vision sensor located at the front of the body 100, and an edge sensor located on the front side wall of the body 100. Among them, the LDS, buffer, and edge sensor can all measure or sense distance to obtain the distance between the edge of the body 100 and obstacles. The control system controls the cleaning equipment to perform corresponding actions based on this distance. For example, controlling the cleaning equipment to perform obstacle avoidance, edge cleaning, and return to the base station.

[0079] Please see Figure 1 The swing arm assembly 120 includes a first swing arm 121 and a second swing arm 122 rotatably connected, and the second swing arm 122 is rotatable relative to the first swing arm 121 about a first axis 104. One end of the first swing arm 121 facing away from the second swing arm 122 is mounted on the body 100 and is rotatable relative to the body 100 about a second axis 1202. The first axis 104 and the second axis 1202 are parallel. It should be noted that in this embodiment, both the first axis 104 and the second axis 1202 extend along the height direction of the body 100. This arrangement facilitates the movement of the swing arm assembly 120 and its positioning and installation with the body 100. Of course, in other embodiments, the first axis 104 and the second axis 1202 may also be configured to form a certain angle with the height direction of the body 100.

[0080] The rotational connection between the first swing arm 121 and the body 100, and between the first swing arm 121 and the second swing arm 122, can be achieved by various structural methods, including but not limited to shaft connection or slewing bearing connection.

[0081] Please see Figure 1 and Figure 2 The cleaning component 140 is mounted on the second swing arm 122 and can be in an inward position relative to the body 100 under the drive of the swing arm assembly 120 (e.g., ...). Figure 2 (as shown) and the outer swing position (as shown) Figure 1 The cleaning component 140 moves between the second swing arm 122 and the second swing arm 122. The connection between the cleaning component 140 and the second swing arm 122 can be a rotating connection, a fixed connection, etc. The connection structure between the cleaning component 140 and the second swing arm 122 is not limited; for example, it can use a snap-fit ​​structure for quick engagement, a magnetic structure for magnetic connection, or a screw for detachable fastening. In actual product design, the specific installation method of the cleaning component 140 on the second swing arm 122 needs to comprehensively consider factors such as its replacement frequency and the stress conditions during operation to select the optimal connection method.

[0082] Please see Figure 1The first drive assembly 130 is mounted on the body 100 and is used to drive the first swing arm 121 to rotate relative to the body 100. The first drive assembly 130 can be any mechanism capable of driving the first swing arm 121 to rotate relative to the body 100, such as a motor and gear structure or a motor and worm gear structure. Specifically, the first drive assembly 130 drives the first swing arm 121 to rotate, the first swing arm 121 drives the second swing arm 122 to rotate, and in turn drives the cleaning component 140 mounted on the second swing arm 122 to move between an inward position and an outward swing position.

[0083] In the retracted position, both the cleaning component 140 and the swing arm assembly 120 are recessed below the bottom of the body 100. This makes the overall structure of the cleaning equipment compact, improving its maneuverability and making it suitable for routine cleaning of large, flat areas such as living rooms. In the outward-extending position, at least a portion of the cleaning component 140 and the swing arm assembly 120 extends outward to the outside of the body 100, allowing the cleaning component 140 to reach horizontally into low spaces under furniture such as sofas and cabinets for cleaning.

[0084] Optionally, please refer to Figure 5 In one embodiment, when the cleaning component 140 is in the outward-extending position, the minimum distance from the edge of the cleaning component 140 to the edge of the body 100 is greater than or equal to zero. That is, in the outward-extending position, the cleaning component 140 can extend completely outside the outline of the body 100. This configuration, since the entire cleaning component 140 can extend completely outside the body 100, expands the cleaning coverage area of ​​the cleaning component 140 outside the body 100. Therefore, it further enhances the ability of the cleaning component 140 to penetrate into low-ceilinged spaces, thereby improving the cleaning effect of the cleaning component 140 in low-ceilinged spaces.

[0085] Please see Figure 3 and Figure 4 In the retracted position, a small bending angle α is formed between the second swing arm 122 and the first swing arm 121. At this time, the second swing arm 122 is in a relatively folded state relative to the first swing arm 121. Please refer to... Figure 5 When in the outward swing position, a large bending angle β is formed between the second swing arm 122 and the first swing arm 121. At this time, the second swing arm 122 is in a relatively extended state relative to the first swing arm 121. It should be noted that in this embodiment, the specific sizes of the bending angles α and β are not limited. Optionally, in this embodiment, the bending angle α is an acute angle and the bending angle β is an obtuse angle. This setting is beneficial for reducing the storage space occupied by the swing arm assembly 120 when in the retracted position, and also for obtaining sufficient extension distance when the cleaning component 140 is outwardly swinging, thereby improving the cleaning coverage area outside the body 100.

[0086] It should be noted that, in this embodiment, by controlling the operation of the first drive assembly 130, the rotation angle of the swing arm assembly 120 can be precisely adjusted, thereby allowing the cleaning component 140 to remain at any position between the retracted position and the outward swing position. For example, as Figure 6 As shown, an edge-side position can also be set between the inward-retracted position and the outward-swinging position. In this position, the cleaning component 140 extends beyond the outline of the body 100, but its extension distance is less than the maximum extension distance in the outward-swinging position. By positioning the cleaning component 140 in the edge-side position, it can be used specifically for targeted cleaning operations along corners, furniture edges, or bends.

[0087] The cleaning component 140 can be a disc-type cloth, a conveyor belt-type cloth, a roller-type cloth, etc., as long as it can meet the cleaning requirements of the surface to be cleaned. The cleaning component 140 can be configured for wet cleaning or dry cleaning, and this embodiment does not limit this.

[0088] Optionally, in one embodiment, the cleaning device may further include a side brush and a roller brush, both located at the bottom of the body 100. Along the traveling direction of the body 100, both the side brush and the roller brush are positioned in front of the cleaning component 140. The side brush may be located at the edge of the body 100 and can rotate via a rotating mechanism, such as a motor, a combination of a motor and a reducer. When the side brush rotates, it can gather debris from the edge of the body 100 towards the inside of the body 100, thereby increasing the cleaning range of the cleaning device. The side brush can be a rubber strip or a bristle brush, as long as it can clean the ground; there is no limitation here. The roller brush is rotatably disposed within a roller brush cavity at the bottom of the body 100. During its rotation, the roller brush can sweep away debris on the ground. The number of roller brushes can be set according to specific requirements; this embodiment does not limit the number.

[0089] Please see Figure 7 The first elastic element 170 is disposed between the first swing arm 121 and the first drive assembly 130, and is used at least to buffer the rotation of the body 100 and the first swing arm 121 around the second axis 1202. Specifically, the two ends of the first elastic element 170 are respectively linked to the first swing arm 121 and the first drive assembly 130. When the first swing arm 121 rotates relative to the body 100 around the second axis 1202, the first elastic element 170 will undergo elastic deformation, thereby playing a buffering role when the first swing arm 121 rotates relative to the body 100 around the second axis 1202.

[0090] Please see Figure 8 and Figure 9The swing arm assembly 120 further includes a second elastic element 163, which is at least used to buffer the rotation of the first swing arm 121 and the second swing arm 122 about the first axis 104. Specifically, the two ends of the second elastic element 163 are respectively linked to the first swing arm 121 and the second swing arm 122. When the second swing arm 122 rotates relative to the first swing arm 121 about the first axis 104, the second elastic element 163 will undergo elastic deformation, thereby playing a buffering role when the second swing arm 122 rotates relative to the first swing arm 121 about the first axis 104.

[0091] The first elastic element 170 and the second elastic element 163 can be torsion springs, tension springs, or other elastic elements made of elastic materials. The specific selection needs to be determined based on the actual structural requirements and the required cushioning. It should be noted that there is no limit to the number of the first elastic element 170 and the second elastic element 163; one or more can be used, as long as the elastic cushioning requirements are met.

[0092] It should be noted that the rotation direction of the first swing arm 121 about the second axis 1202 relative to the body 100 and the rotation direction of the second swing arm 122 about the first axis 104 relative to the first swing arm 121 can be the same or opposite. This embodiment does not make a specific limitation on this.

[0093] In this embodiment, a first elastic element 170 is provided between the first swing arm 121 and the first drive assembly 130. This first elastic element 170 can at least buffer the rotation of the machine body 100 and the first swing arm 121 around the second axis 1202. Simultaneously, a second elastic element 163 is provided on the swing arm assembly 120. This second elastic element 163 is at least used to buffer the rotation of the first swing arm 121 and the second swing arm 122 around the first axis 104. Based on the above structure, when the cleaning component 140 or the swing arm assembly 120 is subjected to an external collision, the resulting collision torque can be effectively absorbed at least partially through the elastic deformation of the first elastic element 170 or the second elastic element 163, thereby reducing the transmission of the collision torque into the machine body 100. This reduces the impact of external collisions on the internal drive or control system of the machine body 100, reducing its adverse effects on cleaning efficiency and motion accuracy, and thus helps maintain the stable operation of the cleaning equipment in complex environments, ensuring the uniformity and consistency of the cleaning effect.

[0094] In one embodiment of this utility model, the first elastic member 170 is used to buffer the rotational torque between the body 100 and the first swing arm 121 about the second axis 1202 along the first rotation direction. The second elastic member 163 is used to buffer the rotational torque between the second swing arm 122 and the first swing arm 121 about the first axis 104 along the second rotation direction, and the first rotation direction is opposite to the second rotation direction.

[0095] Specifically, in this embodiment, the first rotation direction can be set to the swing direction of the first swing arm 121 when the cleaning component 140 moves from the outward swing position to the inward retraction position, that is... Figure 5 The N1 direction shown is the second rotation direction at this time. Figure 5 The N2 direction is shown in the diagram.

[0096] Of course, in other embodiments, the first rotation direction can also be set as the swing direction of the first swing arm 121 when the cleaning member 140 moves from the retracted position to the outward swing position, that is, the direction of rotation of the first swing arm 121. Figure 5 The direction of N1 shown is opposite, and the second turning direction is then... Figure 5 The N2 shown is in the opposite direction.

[0097] In practical applications, cleaning equipment often operates in complex environments and may be subjected to collisions and impacts from different directions. To address this, the present invention provides a first elastic element 170 between the first swing arm 121 and the body 100 to buffer rotation generated around the second axis 1202 in the first rotation direction. When the cleaning component 140 or the swing arm assembly 120 is subjected to a collision torque in this direction, the first elastic element 170 undergoes elastic deformation, absorbing part or all of the impact energy, thereby reducing the collision torque transmitted to the body 100. Simultaneously, a second elastic element 163 is provided between the first swing arm 121 and the second swing arm 122 to buffer rotation generated by the second swing arm 122 around the first axis 104 in the second rotation direction. When the cleaning component 140 or the swing arm assembly 120 is subjected to a collision torque in the second rotation direction, the second elastic element 163 correspondingly undergoes elastic deformation, absorbing part or all of the collision energy in this direction, thereby reducing torque transmission to the body 100. Since the first rotation direction is opposite to the second rotation direction, this structure can cope with collisions from different horizontal directions. Regardless of which side the impact comes from, there are corresponding elastic elements to buffer the impact, thereby providing multi-directional collision protection for the swing arm assembly 120 and the cleaning component 140, further improving the operational stability of the cleaning equipment in complex environments.

[0098] Please see Figure 5 In one embodiment of the present invention, when the cleaning component 140 is in the outward swing position, at least a portion of the second swing arm 122 extends to the outside of the machine body 100. When the cleaning component 140 is subjected to a traveling direction toward the machine body 100 (e.g., ...), Figure 5 The collision force (as shown in the X-axis direction) Figure 5 When the second elastic element 163 is subjected to an impact force (such as F1 and F2) opposite to the direction of travel of the body 100, at least the second elastic element 163 undergoes elastic deformation to absorb part of the impact and act as a buffer. Figure 5 When F3 and F4 occur, at least the first elastic element 170 undergoes elastic deformation to absorb part of the impact and act as a buffer.

[0099] It should be noted that in actual operation, the buffering effects of the first elastic element 170 and the second elastic element 163 are not completely independent. For example, when the cleaning element 140 is subjected to a collision from a certain tilting direction, the first elastic element 170 and the second elastic element 163 may undergo elastic deformation simultaneously and cooperate in the buffering process to cope with complex force conditions.

[0100] Additionally, it should be noted that in this embodiment, when the cleaning component 140 is in the outward swing position, the cleaning component 140 may extend partially to the outside of the body 100, or the entire cleaning component 140 may extend to the outside of the body 100.

[0101] In this embodiment, when the cleaning component 140 is subjected to an impact force in the same direction as the traveling direction of the machine body 100, at least the second elastic element 163 will undergo elastic deformation; when subjected to an impact force in the opposite direction to the traveling direction of the machine body 100, at least the first elastic element 170 will undergo elastic deformation. This design means that by setting the first elastic element 170 and the second elastic element 163 to respond to impact forces in different directions respectively, the cleaning equipment has corresponding elastic elements to provide buffer protection regardless of whether the cleaning component 140 or the swing arm assembly 120 is subjected to an impact force in the same or opposite direction to the traveling direction during its movement. This structure can improve the buffering capacity of the cleaning equipment under impacts in different directions, thereby improving the stability and reliability of the entire machine in complex working environments.

[0102] Of course, in other embodiments, when the cleaning member 140 is subjected to a collision force in the direction of travel of the body 100, at least the first elastic member 170 may undergo elastic deformation; when the cleaning member 140 is subjected to a collision force opposite to the direction of travel of the body 100, at least the second elastic member 163 may undergo elastic deformation.

[0103] In one embodiment of this utility model, the first elastic member 170 is used to buffer the rotational torque between the machine body 100 and the first swing arm 121 about the second axis 1202 along the first rotation direction. That is, the preset buffering direction of the first elastic member 170 is the first rotation direction. The cleaning member 140 is a mop tray assembly, and the rotation direction of the mop tray assembly during cleaning is consistent with the first rotation direction. That is, the rotation direction of the cleaning member 140 is consistent with the preset buffering direction of the first elastic member 170. The rotation direction of the cleaning member 140 is as follows: Figure 5 As shown in the N3 direction.

[0104] Since the rotation direction of the cleaning component 140 is consistent with the preset buffer direction of the first elastic component 170, when the cleaning component 140 is subjected to external obstruction or impact during operation, the inertial force generated during its rotation and the buffer response of the first elastic component 170 can work together to enable the first elastic component 170 to deform more quickly and fully, thereby absorbing collision energy more rapidly and reducing the peak torque transmitted to the body 100.

[0105] Please see Figure 8 , Figure 10 and Figure 12 In one embodiment of this utility model, the swing arm assembly 120 further includes a connecting mechanism 160, through which the second swing arm 122 rotates relative to the first swing arm 121. The second elastic member 163 includes a first mounting portion 1631 and a second mounting portion 1632 for mounting. The first mounting portion 1631 is connected to the second swing arm 122, and the second mounting portion 1632 is connected to the connecting mechanism 160. During the swinging process of the second swing arm 122 relative to the first swing arm 121, a relative displacement occurs between the first mounting portion 1631 and the second mounting portion 1632, thereby achieving elastic deformation of the second elastic member 163. The elastic deformation force generated by the second elastic member 163 can drive the connecting mechanism 160 to operate, thereby causing the second swing arm 122 to rotate relative to the first swing arm 121.

[0106] Specifically, please refer to Figure 1 and Figure 4 The bottom of the body 100 is provided with a first receiving cavity 101. When the cleaning component 140 is in the retracted position, the swing arm assembly 120 is housed within the first receiving cavity 101. At this time, the second swing arm 122 is structurally restricted by the first receiving cavity 101 and is held in a folded state relative to the first swing arm 121, while the second elastic element 163 is in an energy-storing state. When the cleaning component 140 moves from the retracted position to the outward swing position, the first drive assembly 130 operates, driving the first swing arm 121 to swing outward from the first receiving cavity 101 and simultaneously causing the second swing arm 122 to rotate outward. As the second swing arm 122 gradually slides out of the opening of the first receiving cavity 101, the structural restriction of the first receiving cavity 101 on the second swing arm 122 is gradually released. During this process, the second elastic element 163 releases its stored elastic potential energy, and through the relative displacement between the first mounting part 1631 and the second mounting part 1632, generates an elastic deformation force acting on the connecting mechanism 160, thereby driving the second swing arm 122 to rotate relative to the first swing arm 121 around the first axis 104, causing the bending angle between them to gradually increase. When the bending angle reaches the preset bending angle β, the second swing arm 122 stops rotating relative to the first swing arm 121.

[0107] It should be noted that there are several ways to achieve the goal of stopping the second swing arm 122 relative to the first swing arm 121 when the bending angle reaches the preset bending angle β. In one embodiment, this can be achieved by providing a stop on the first swing arm 121 and another stop on the second swing arm 122. When the two swing arms rotate to the preset bending angle β, the two stops come into contact with each other and form a mechanical limit. At this time, the abutting force on the second swing arm 122 and the elastic restoring force acting on it by the second elastic member 163 are balanced, thereby keeping the second swing arm 122 at the preset bending angle position relative to the first swing arm 121 and stopping its rotation.

[0108] In another embodiment, when the bending angle reaches a preset angle β, the stopping of the second swing arm 122 relative to the first swing arm 121 can also be achieved by a damper. This damper works in conjunction with the connecting mechanism 160. When the bending angle approaches β, the damper's resistance torque increases significantly, gradually consuming the rotational kinetic energy of the second swing arm 122, thereby keeping the second swing arm 122 at the preset bending angle position relative to the first swing arm 121 and stopping its rotation.

[0109] In this embodiment, it should also be noted that the second elastic element 163 drives the connecting mechanism 160 through its elastic restoring force, thereby causing the second swing arm 122 to rotate relative to the first swing arm 121 around the first axis 104, with its rotation direction opposite to the second rotation direction. Based on this transmission relationship, when the second swing arm 122 is subjected to an impact torque along the second rotation direction, the impact torque will overcome the preload of the second elastic element 163, causing it to undergo compressive deformation, thereby converting the impact kinetic energy into elastic potential energy and achieving a buffering effect on the rotational torque in the second rotation direction.

[0110] In this embodiment, the second elastic element 163 can achieve a dual function of driving and buffering. On the one hand, the elastic deformation force of the second elastic element 163 can be converted into an effective torque to drive the connecting mechanism 160, enabling the second swing arm 122 to rotate relative to the first swing arm 121, thus providing a driving force for the rotation of the second swing arm 122 relative to the first swing arm 121. On the other hand, when the second swing arm 122 or the cleaning component 140 is subjected to external impact, the impact torque can be transmitted to the second elastic element 163 through the connecting mechanism 160, forcing it to undergo elastic deformation, thereby absorbing at least part of the impact energy and playing a buffering role in a specific direction, reducing the risk of damage to the cleaning equipment and improving its operational reliability in complex environments.

[0111] The specific implementation of the connecting mechanism 160 is not limited to a single form. For example, it can employ a gear assembly, a crank mechanism, or a connecting rod mechanism, as long as it can convert the elastic deformation of the second elastic element 163 into rotation of the second swing arm 122 relative to the first swing arm 121. Optionally, please refer to... Figures 10 to 12 In one embodiment of this utility model, the connecting mechanism 160 includes a first gear 161 and a second gear 162. The first gear 161 is fixedly connected to the first swing arm 121, and its rotation axis coincides with the first axis 104. The second gear 162 is rotatably connected to the second swing arm 122, and the second gear 162 is externally meshed with the first gear 161 for transmission. The first mounting part 1631 is connected to the second swing arm 122, and the second mounting part 1632 is connected to the second gear 162. The elastic deformation force generated by the second elastic member 163 can drive the second gear 162 to rotate.

[0112] It should be noted that the first gear 161 and the second gear 162 can adopt a full-tooth gear or a sector gear structure, as long as the relative rotation angle requirement between the first swing arm 121 and the second swing arm 122 is met. In this embodiment, the first gear 161 is a full-tooth gear structure, and the second gear 162 is an approximate sector gear structure. This configuration, since the sector gear only contains the number of teeth required for the working stroke, significantly reduces the overall radial dimension and overall weight compared to a full-tooth gear, contributing to the miniaturization and weight reduction of the transmission mechanism. This facilitates the installation and arrangement of components in other positions on the second swing arm 122. Simultaneously, the sector gear can reduce the amount of metal or engineering plastic used in unnecessary parts, reducing material costs and processing time while meeting functional requirements, thereby reducing the processing cost of the second gear 162.

[0113] Specifically, please refer to Figure 13 The second swing arm 122 includes a swing arm base 1225 and a swing arm top cover 1226. Along the height direction of the machine body 100, the top of the swing arm base 1225 has an opening facing away from the surface to be cleaned. The swing arm top cover 1226 closes onto the opening, forming a mounting cavity 1224 together with the swing arm base 1225. A connecting mechanism 160 is disposed within the mounting cavity 1224. (See also...) Figure 17 and Figure 18 The connecting mechanism 160 also includes a connector 166 and a first connecting shaft 167. A first gear 161 is fixedly connected to the connector 166, and the connector 166 is fixedly connected to the first swing arm 121. One end of the first connecting shaft 167 is fixedly connected to the first swing arm 121, and the other end passes through the connector 166 and the first gear 161, and is rotatably connected to the second swing arm 122. The axis of rotation of the first connecting shaft 167 coincides with the first axis 104.

[0114] Please see Figure 12The swing arm base 1225 has a first protrusion 12251 on the side facing the swing arm cover 1226. The connecting mechanism 160 also includes a second connecting shaft 168, one end of which is rotatably connected to the first protrusion 12251, and the other end is rotatably connected to the swing arm cover 1226. A second gear 162 is fixedly connected to the second connecting shaft 168. When the second gear 162 rotates relative to the second swing arm 122, it will drive the second connecting shaft 168 to rotate synchronously relative to the second swing arm 122. A second elastic element 163 is disposed between the second gear 162 and the swing arm base 1225. A first mounting part 1631 is connected to the second swing arm 122, that is, connected to the swing arm base 1225. The second mounting part 1632 is connected to the second gear 162. The elastic deformation force generated by the second elastic element 163 can drive the second gear 162 to rotate.

[0115] During the movement of the cleaning component 140 from the outward swing position to the inward retraction position, when the second swing arm 122 enters the first receiving cavity 101, it is constrained by the structure of the first receiving cavity 101. The second swing arm 122 rotates relative to the first swing arm 121 and gradually folds and retracts relative to the first swing arm 121. At this time, the first gear 161 rotates relative to the second swing arm 122 and, through meshing with the second gear 162, drives the second gear 162 to rotate. This rotation causes the second mounting portion 1632 of the second elastic member 163 to displace relative to the first mounting portion 1631, resulting in elastic deformation of the second elastic member 163 and the storage of elastic potential energy.

[0116] As the cleaning component 140 moves from its retracted position to its outward swing position, the second swing arm 122 gradually slides out of the first receiving cavity 101, and the second elastic element 163 begins to release its stored elastic potential energy. This release process drives the second gear 162 to rotate, and the second gear 162 drives the first gear 161 to rotate through meshing with the first gear 161. Since the first gear 161 is fixed to the first swing arm 121, this rotation is ultimately converted into the unfolding motion of the second swing arm 122 relative to the first swing arm 121, so that the two are in an unfolded state.

[0117] By setting the first gear 161 and the second gear 162, on the one hand, the gear transmission has a definite transmission ratio and meshing characteristics, which can convert the elastic deformation force of the second elastic element 163 into a continuous and stable torque output. Compared with the scheme of direct driving by the second elastic element 163, gear meshing can effectively improve the jumping or deviation phenomena that may occur during the release of elastic force, making the rotation process of the second swing arm 122 more stable and controllable, and improving the consistency and reliability of the action of the second elastic element 163 in the drive-reset cycle. On the other hand, by reasonably designing the gear ratio of the first gear 161 and the second gear 162, the rotational torque output to the second swing arm 122 can be effectively increased without increasing the stiffness and volume of the second elastic element 163 itself, thereby enhancing the driving capability of the second elastic element 163 on the second swing arm 122 and improving the energy utilization efficiency of the second elastic element 163. In addition, since the gear mechanism can not only efficiently transmit the driving force of the second elastic element 163 to the second swing arm 122, when the second swing arm 122 is subjected to a reverse impact, the impact torque can also be smoothly transmitted to the second elastic element 163 through gear meshing, thereby ensuring the immediacy and smoothness of the buffering process.

[0118] The specific structure of the second elastic element 163 is not limited, provided that the buffering performance requirements of the second elastic element 163 are met. Optionally, please refer to... Figure 12 and Figure 15 In one embodiment of this utility model, the second elastic element 163 is a torsion spring. The two ends of the torsion spring are respectively connected to the opposite end faces of the second swing arm 122 and the second gear 162, and the rotation axis of the torsion spring coincides with the rotation axis of the second gear 162. Specifically, the second elastic element 163 is sleeved on the outer periphery of the first protrusion 12251. The two ends of the second elastic element 163 form a first mounting portion 1631 and a second mounting portion 1632, respectively. The first mounting portion 1631 is fixedly engaged with the swing arm base 1225 to achieve a fixed connection with the second swing arm 122. The second mounting portion 1632 is fixedly engaged with the second gear 162.

[0119] It should be noted that the torsion spring mounted on the second swing arm 122 is typically subjected to a certain preload. When the second swing arm 122 is in the extended state relative to the first swing arm 121, this preload ensures that the torsion spring always maintains its initial restoring torque. Based on this design, when the second swing arm 122 is subjected to an external impact, the torsion spring can respond immediately and quickly drive it to its reset position. This preload mechanism effectively enhances the instantaneous response capability and operational stability of the second elastic element 163 during the buffering process.

[0120] In this embodiment, the second elastic element 163 is a torsion spring. This design has two advantages: firstly, the torsion spring can be compactly arranged around the rotation axis of the second gear 162, thus saving radial and axial installation space and facilitating the compact design of the swing arm assembly 120. Secondly, the torsion spring acts directly on the rotation axis, resulting in a short torque transmission path and effectively reducing gaps and delays during motion transitions. This characteristic allows the second elastic element 163 to respond quickly and provide precise cushioning when the swing arm assembly 120 or the cleaning component 140 is subjected to impact, thereby further improving the stability of the cleaning component 140 during operation.

[0121] Please see Figure 16 and Figure 17 In one embodiment of this utility model, the first swing arm 121 is provided with a first stop portion 1212, and the second swing arm 122 is provided with two second stop portions 1221. Along the rotation direction of the second swing arm 122 relative to the first swing arm 121, the first stop portion 1212 is disposed between the two second stop portions 1221. The first stop portion 1212 can be directly installed on the first swing arm 121, or it can be disposed on other components fixedly connected to the first swing arm 121. Exemplarily, in this embodiment, the first stop portion 1212 is formed on the connector 166. Specifically, the first swing arm 121 is provided with a snap-fit ​​groove 1213, and the connector 166 is correspondingly provided with a snap-fit ​​block 1661. Through the cooperation of the snap-fit ​​block 1661 and the snap-fit ​​groove 1213, a fixed connection is achieved between the connector 166 and the first swing arm 121, thereby indirectly fixing the first stop portion 1212 to the first swing arm 121.

[0122] Along the rotation direction of the second swing arm 122 relative to the first swing arm 121, two second stop portions 1221 are respectively disposed on both sides of the first stop portion 1212 in the circumferential direction. Specifically, an arc-shaped groove is provided on the swing arm base 1225 of the second swing arm 122, and two second stop portions 1221 are respectively formed on the two side walls of the arc-shaped groove in the circumferential direction. When the cleaning component 140 is in the outward swing position, the first stop portion 1212 and one of the second stop portions 1221 stop each other, thereby restricting the second swing arm 122 from continuing to rotate relative to the first swing arm 121, and fixing the maximum bending angle between the two swing arms. When the second elastic member 163 undergoes elastic deformation, the elastic force drives the second swing arm 122 to rotate relative to the first swing arm 121, and the first stop portion 1212 is restricted to rotating between the two second stop portions 1221.

[0123] It should be noted that during the unfolding of the second swing arm 122 relative to the first swing arm 121, the first stop 1212 moves in the unfolding direction with rotation until it is limited by the corresponding second stop 1221. When the second swing arm 122 is subjected to a reverse impact, the first stop 1212 will rotate towards the second stop 1221 in the opposite direction; if the impact is large, the two will abut against each other, thereby effectively preventing the swing arm from excessively swinging back. This structure can provide reliable limiting protection in both the forward and reverse rotation directions.

[0124] In this embodiment, by setting a first stop 1212 and a second stop 1221, bidirectional limiting of the rotation range of the second swing arm 122 relative to the first swing arm 121 can be achieved, and the structure is simple and the limiting is reliable. This bidirectional limiting structure can prevent the second swing arm 122 from over-rotating when it is deployed relative to the first swing arm 121 or subjected to a reverse impact, thereby improving the stability and safety of the swing arm assembly 120. At the same time, by limiting the rotation range of the second swing arm 122, damage to the second elastic element 163 due to excessive deformation can also be avoided, which helps to maintain the consistency and stability of its elastic properties and extend its service life.

[0125] Of course, in other embodiments, the first swing arm 121 may be provided with two second stop portions 1221 spaced apart along the circumferential direction, and the second swing arm 122 may be provided with one corresponding first stop portion 1212, with the two second stop portions 1221 respectively located on both sides of the first stop portion 1212. When the cleaning member 140 is in the outward swing position, the first stop portion 1212 and one of the second stop portions 1221 stop each other; when the second elastic member 163 undergoes elastic deformation, the first stop portion 1212 is restricted to rotate between the two second stop portions 1221. This arrangement can also achieve the beneficial effects of the above embodiments.

[0126] Please see Figures 19 to 21 In one embodiment of this utility model, the connecting mechanism 160 includes a first rotating member 164 and a second rotating member 165. The first rotating member 164 is fixedly connected to the first swing arm 121, and the rotation axis of the first rotating member 164 coincides with the first axis 104. The first rotating member 164 is provided with a first locking portion 1641. The first rotating member 164 can be directly fixedly connected to the first swing arm 121, or it can be connected to other components fixedly connected to the first swing arm 121. For details, please refer to [link to relevant documentation]. Figure 22A second protrusion 12252 is provided on the side of the swing arm base 1225 facing the upper cover 1226 of the swing arm. The first rotating member 164 is rotatably connected to the second protrusion 12252. The first swing arm 121 is provided with a locking groove 1213, and the first rotating member 164 is provided with a corresponding locking block 1661. The locking block 1661 is locked into the locking groove 1213, thereby realizing the fixed connection between the first rotating member 164 and the first swing arm 121.

[0127] Please see Figure 20 and Figure 21 The second rotating member 165 is rotatably connected to the second swing arm 122, and the rotatable connection method includes, but is not limited to, a shaft connection. The second rotating member 165 is provided with a second engaging portion 1651. The first rotating member 164 and the second rotating member 165 are connected by engaging the first engaging portion 1641 and the second engaging portion 1651. The second elastic member 163 includes a first mounting portion 1631 and a second mounting portion 1632, and the first mounting portion 1631 is connected to the second swing arm 122. Specifically, a protrusion or a connecting shaft may be provided on the swing arm cover 1226 or the swing arm base 1225, and the first mounting portion 1631 is connected to the protrusion or the connecting shaft. The second mounting portion 1632 is connected to the second rotating member 165, and the elastic deformation force generated by the second elastic member 163 can drive the second rotating member 165 to rotate.

[0128] The specific structures of the first engaging portion 1641 and the second engaging portion 1651 are not limited. For example, the first engaging portion 1641 can be a slot structure, and the second engaging portion 1651 can be a block structure adapted to the slot structure. By engaging the block with the slot, the transmission linkage between the first rotating member 164 and the second rotating member 165 is realized, so that the rotation of the first rotating member 164 can drive the second rotating member 165 to rotate synchronously.

[0129] During the movement of the cleaning component 140 from the outward swing position to the inward retraction position, when the second swing arm 122 enters the first receiving cavity 101, due to the constraint of the structure of the first receiving cavity 101, the second swing arm 122 is pushed and rotates relative to the first swing arm 121, gradually folding and retracting relative to the first swing arm 121. At this time, the first rotating component 164 rotates relative to the second swing arm 122, and drives the second rotating component 165 to rotate synchronously through the engaging connection of the first locking part 1641 and the second locking part 1651. This rotation can cause the second mounting part 1632 of the second elastic component 163 to be displaced relative to the first mounting part 1631, causing the second elastic component 163 to undergo elastic deformation and store elastic potential energy.

[0130] As the cleaning component 140 moves from the retracted position to the outward swing position, the second swing arm 122 gradually slides out of the first receiving cavity 101, and the second elastic component 163 begins to release its stored elastic potential energy. This release process drives the second rotating component 165 to rotate, and the second rotating component 165 drives the first rotating component 164 to rotate synchronously through the engaging connection of the first locking part 1641 and the second locking part 1651. Since the first rotating component 164 is fixed to the first swing arm 121, this rotation is ultimately converted into the unfolding movement of the second swing arm 122 relative to the first swing arm 121, so that the two are in an unfolded state.

[0131] In this embodiment, by setting a first rotating member 164 and a second rotating member 165, and by engaging the first engaging portion 1641 and the second engaging portion 1651, a transmission connection between the first rotating member 164 and the second rotating member 165 can be achieved. This arrangement provides greater flexibility in the arrangement of the second elastic member 163, effectively alleviating structural limitations on its installation position and facilitating the optimization of the overall layout of the swing arm assembly 120. Furthermore, by rationally designing the mating dimensions between the first rotating member 164 and the second rotating member 165, the rotational torque transmitted to the second swing arm 122 can be effectively increased without changing the stiffness and volume of the second elastic member 163, thereby enhancing the driving capability of the second swing arm 122 and improving the energy utilization efficiency of the second elastic member 163. In addition, when the second swing arm 122 is subjected to a reverse impact, the impact torque can be smoothly transmitted in the reverse direction to the second elastic member 163 through the transmission engagement between the first rotating member 164 and the second rotating member 165, thus ensuring the immediacy and smoothness of the buffering process.

[0132] Further, please refer to Figure 20 and Figure 21 Based on the above embodiments, in one embodiment of the present invention, the second elastic element 163 is a tension spring, the tension direction of the tension spring is perpendicular to the second axis 1202, and the two ends of the tension spring are respectively connected to the second swing arm 122 and the second rotating element 165.

[0133] There are various ways to install the tension spring. For example, the two ends of the tension spring can be configured with circular ring joints or U-shaped ring joints to accommodate the spatial position changes that the second swing arm 122 may undergo during rotation, ensuring that the tension spring is always in an effective stress state.

[0134] Furthermore, it should be noted that the tension spring in this embodiment is typically installed in a pre-stretched state. When the second swing arm 122 is in the extended state relative to the first swing arm 121, this pre-stretch ensures that the tension spring always maintains a certain initial restoring torque. Based on this pre-tension design, when the second swing arm 122 is subjected to an external impact, the tension spring can immediately generate resistance deformation and quickly drive the swing arm assembly 120 to reset after the impact disappears. Therefore, this structural arrangement can improve the response speed and operational stability of the second elastic element 163 during the buffering process.

[0135] In this embodiment, the second elastic element 163 is a tension spring, which is arranged perpendicular to the second axis 1202. This design can make full use of the unused space in the horizontal direction within the mounting cavity 1224 of the second swing arm 122, thereby reducing the installation space occupied in the height direction of the second swing arm 122. In addition, as a standardized elastic element, the tension spring has advantages such as low cost, complete specifications, and convenient replacement, which not only helps to control the overall manufacturing cost, but also facilitates later replacement and maintenance.

[0136] Please see Figure 23 and Figure 24 In one embodiment of this utility model, the first drive assembly 130 includes a first drive member 131 and a first transmission assembly 132. The first drive member 131 is mounted on the machine body 100, and the first drive member 131 drives the first swing arm 121 to rotate relative to the machine body 100 through the first transmission assembly 132. The first drive member 131 may be a motor, a combination of a motor and a reducer, etc. The first transmission assembly 132 may be a gear assembly, a worm gear assembly, etc. Please refer to [link to relevant documentation]. Figure 24 The first elastic element 170 includes a third mounting portion 171 and a fourth mounting portion 172 for mounting. The third mounting portion 171 is connected to the first swing arm 121, and the fourth mounting portion 172 is connected to the output end of the first transmission assembly 132. The first elastic element 170 may be a torsion spring, a tension spring, or other elastic structural member. Exemplarily, in this embodiment, the first elastic element 170 is a torsion spring.

[0137] Specifically, please refer to Figure 24 and Figure 25The body 100 also includes a second receiving cavity 103, which is recessed along the height direction of the body 100 towards the surface to be cleaned. The first driving member 131 and the first transmission assembly 132 are both disposed within the second receiving cavity 103. The first swing arm 121 includes a mounting protrusion 1214 extending into the second receiving cavity 103, and a first elastic member 170 is sleeved on the outer periphery of the mounting protrusion 1214. The output end of the first transmission assembly 132 is mounted on the mounting protrusion 1214 and is located on the side of the first elastic member 170 opposite to the surface to be cleaned. By providing the second receiving cavity 103, the installation space occupied by the first driving member 131 and the first transmission assembly 132 in the height direction of the body 100 is reduced, thus providing favorable conditions for the overall slim and lightweight design of the cleaning equipment.

[0138] It should be noted that the second receiving cavity 103 is mainly provided for optimizing the spatial layout and the overall thickness of the machine. If the actual application does not require a focus on a thin and light design, the second receiving cavity 103 may not be provided in other embodiments, and the first driving member 131 and the first transmission assembly 132 may be directly arranged in the space above the body 100.

[0139] When the cleaning component 140 moves from the inward position to the outward position, the output end of the first transmission component 132 drives the first swing arm 121 to rotate synchronously under the pre-pressure of the first elastic element 170. When the cleaning component 140 is in the outward position, the first elastic element 170 can be compressed or stretched to produce elastic deformation.

[0140] It should be noted that in this embodiment, when the cleaning component 140 is in the outward swing position, the first elastic component 170 can be compressed or stretched to produce elastic deformation. Specifically, when the cleaning component 140 is in the outward swing position, when the second swing arm 122 or the cleaning component 140 is subjected to such... Figure 5 When the collision torque is in the first rotation direction N1, the first elastic element 170 can be compressed or stretched to produce elastic deformation, thereby buffering the rotational torque between the body 100 and the first swing arm 121 about the second axis 1202 along the first rotation direction N1.

[0141] In this embodiment, by providing a first elastic element 170, when the cleaning component 140 is in the outward swing position and is subjected to external impact, the first elastic element 170 can absorb the impact energy through compression or stretching deformation, effectively reducing the peak torque transmitted to the first driving component 131 and the first transmission assembly 132, thereby improving the overall structure's impact resistance and reliability. Simultaneously, the preload of the first elastic element 170 provides a stable initial driving torque for the starting movement of the first swing arm 121, ensuring smooth start-up and operation during its movement from the inward position to the outward swing position. Furthermore, this preload structure also helps eliminate transmission backlash in the first transmission assembly 132, which not only reduces vibration and noise during movement but also further improves the accuracy of the first swing arm 121's position control and the consistency of its repeatability.

[0142] Please see Figures 25 to 27 In one embodiment of this utility model, the first swing arm 121 includes a first abutting portion 1211, and the output end of the first transmission assembly 132 includes a second abutting portion 1324. The first abutting portion 1211 and the second abutting portion 1324 can abut against each other under the pre-pressure of the first elastic member 170, so as to drive the first swing arm 121 to rotate synchronously when the output end of the first transmission assembly 132 is running. With this configuration, there is no need to rely on complex gear meshing mechanisms or other special connecting parts. Reliable transmission can be achieved simply through the abutting contact of the two abutting portions and the elastic pre-pressure of the first elastic member 170. Therefore, the overall structure can be simplified and the processing and assembly costs of parts can be reduced. At the same time, since the shape and arrangement of the first abutting portion 1211 and the second abutting portion 1324 can be flexibly designed according to the actual space and are not limited by the gear module or transmission chain layout, it is easy to realize power transmission in a compact structure, which is beneficial to improving the spatial freedom of the overall design.

[0143] Further, please refer to Figure 26 In one embodiment of this utility model, the output end of the first transmission assembly 132 is further provided with a third abutment portion 1325. Along the rotation direction of the first swing arm 121 relative to the machine body 100, the third abutment portion 1325 is located on the side of the first abutment portion 1211 opposite to the second abutment portion 1324, and the third abutment portion 1325 is used to mechanically limit the rotation of the first abutment portion 1211. When the first elastic member 170 undergoes elastic deformation, the rotation of the first abutment portion 1211 is restricted within the range between the second abutment portion 1324 and the third abutment portion 1325.

[0144] Specifically, when the cleaning component 140 is in the outward swing position, the first abutment portion 1211 and the second abutment portion 1324 remain in contact with each other. When the cleaning component 140 or the second swing arm 122 is subjected to an external impact, causing the first elastic element 170 to undergo elastic deformation, the first swing arm 121 will rotate relative to the body 100. At this time, the first abutment portion 1211 will disengage from the second abutment portion 1324 and rotate towards the third abutment portion 1325. When the first abutment portion 1211 contacts the third abutment portion 1325, its rotation is restricted, thereby preventing the first swing arm 121 from excessively deflecting due to impact and providing structural protection.

[0145] Please see Figure 23 and Figure 24 In one embodiment of this utility model, the first transmission assembly 132 includes a worm gear 1322, a worm 1321, and a gear assembly 1323. The worm 1321 rotates under the drive of the first driving member 131. The worm gear 1322 meshes with the worm 1321 for transmission. The worm gear 1322 drives the gear assembly 1323 to move, and the gear assembly 1323 drives the first swing arm 121 to rotate relative to the machine body 100. The gear assembly 1323 can be a single-stage gear transmission assembly or a two-stage gear transmission assembly, etc., which needs to be determined according to the transmission ratio between the rotational speed of the first swing arm 121 and the first driving member 131.

[0146] This embodiment employs a transmission structure combining a worm gear and a gear assembly 1323. This "worm-worm gear-gear" transmission chain allows for a change in the direction of power transmission, enabling the first driving component 131 to be arranged horizontally. This effectively reduces the installation space it occupies in the height direction of the body 100, facilitating a slimmer overall design for the cleaning equipment. Simultaneously, the frictional self-locking characteristic of the worm gear transmission pair provides a reliable static holding force when the drive stops, effectively resisting displacement of the swing arm assembly 120 caused by external collisions or vibrations. This ensures the stability of the cleaning component 140 in its set posture when in the retracted or outward swing position, improving the overall reliability of the cleaning equipment.

[0147] Please see Figure 28 and Figure 29In one embodiment of this utility model, along the height direction of the body 100, the installation height of the second swing arm 122 is higher than the installation height of the first swing arm 121. A receiving cavity is provided at the bottom of the body 100. When the cleaning component 140 is in the retracted position, the first swing arm 121 and the second swing arm 122 are received within the receiving cavity. A stepped surface 10121 is formed on the sidewall of the receiving cavity. The plane containing the stepped surface 10121 divides the receiving cavity into a first cavity 1015 and a second cavity 1016 along the height direction of the body 100. The installation height of the second cavity 1016 is higher than that of the first cavity 1015. The specific shape of the stepped surface 10121 can be designed according to structural requirements, such as a fan shape, a rectangle, or other geometric shapes. The first cavity 1015 is used to receive the portion of the first swing arm 121 and the second swing arm 122 that does not extend beyond the first swing arm 121 in the height direction. The second cavity 1016 is used to receive the portion of the second swing arm 122 that extends beyond the first swing arm 121 in the height direction. It should be noted that the receiving cavity in this embodiment is the first receiving cavity 101 in the aforementioned embodiment.

[0148] In this embodiment, by providing a stepped surface 10121 on the sidewall of the first receiving cavity 101, the receiving cavity can be divided into a first cavity 1015 and a second cavity 1016 with different heights along the height direction of the body 100, wherein the second cavity 1016 is higher than the first cavity 1015. This design makes the first receiving cavity 101 form an approximately stepped cavity structure that is smaller at the top and larger at the bottom. This stepped cavity is adapted to the outer contour formed by the second swing arm 122 being higher than the first swing arm 121 in the retracted state. Specifically, the second cavity 1016, which is positioned higher and has a smaller cross-sectional size, can be used to accommodate the part of the second swing arm 122 that protrudes from the first swing arm 121, while the first cavity 1015, which is positioned lower and has a larger cross-sectional size, is used to accommodate the non-protruding parts of the first swing arm 121 and the second swing arm 122. By setting the first receiving cavity 101 as a stepped cavity structure that matches the shape of the swing arm assembly 120, the space wastage caused by increasing the overall height of the first receiving cavity 101 to accommodate the local high structure on the swing arm assembly 120 can be effectively reduced, while ensuring that the swing arm assembly 120 can be smoothly accommodated in the first receiving cavity 101. This is conducive to improving the space utilization efficiency of the first receiving cavity 101 and optimizing the layout of the installation space on the body 100.

[0149] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A cleaning device, characterized in that, include: Organism; The swing arm assembly includes a first swing arm and a second swing arm rotatably connected, wherein the second swing arm is rotatable about a first axis relative to the first swing arm, and the end of the first swing arm opposite to the second swing arm is mounted on the body and is rotatable about a second axis relative to the body, wherein the first axis and the second axis are parallel. The cleaning component is mounted on the second swing arm and can move relative to the body between an inward position and an outward position under the drive of the swing arm assembly. A first drive assembly is installed on the machine body and is used to drive the first swing arm to rotate relative to the machine body; A first elastic element is disposed between the first swing arm and the first drive assembly, and is used at least to buffer the rotation between the body and the first swing arm about the second axis. The swing arm assembly further includes a second elastic element, which is used at least to buffer the rotation between the first swing arm and the second swing arm about the first axis.

2. The cleaning equipment according to claim 1, characterized in that, The first elastic element is used to buffer the rotational torque between the body and the first swing arm about the second axis in the first rotation direction; the second elastic element is used to buffer the rotational torque between the second swing arm and the first swing arm about the first axis in the second rotation direction, and the first rotation direction is opposite to the second rotation direction.

3. The cleaning equipment according to claim 1, characterized in that, When the cleaning component is in the outward swing position, at least a portion of the second swing arm extends outside the body. When the cleaning component is subjected to a collision force in the direction of travel of the body, at least the second elastic element undergoes elastic deformation. When the cleaning component is subjected to a collision force opposite to the direction of travel of the body, at least the first elastic element undergoes elastic deformation.

4. The cleaning equipment according to claim 2, characterized in that, The cleaning component is a cloth tray assembly, and the rotation direction of the cloth tray assembly during cleaning is consistent with the first rotation direction.

5. The cleaning equipment according to claim 1, characterized in that, The swing arm assembly further includes a connecting mechanism, through which the second swing arm rotates with the first swing arm; the second elastic element includes a first mounting portion and a second mounting portion for mounting, the first mounting portion being connected to the second swing arm and the second mounting portion being connected to the connecting mechanism; the elastic deformation force generated by the second elastic element can drive the connecting mechanism to operate, thereby causing the second swing arm to rotate relative to the first swing arm.

6. The cleaning equipment according to claim 5, characterized in that, The connecting mechanism includes a first gear and a second gear. The first gear is fixedly connected to the first swing arm, and its rotation axis coincides with the first axis. The second gear is rotatably connected to the second swing arm, and the second gear is externally meshed with the first gear for transmission. The first mounting part is connected to the second swing arm, and the second mounting part is connected to the second gear. The elastic deformation force generated by the second elastic element can drive the second gear to rotate.

7. The cleaning equipment according to claim 6, characterized in that, The second elastic element is a torsion spring, with its two ends connected to the two opposite end faces of the second swing arm and the second gear, respectively, and the rotation axis of the torsion spring coincides with the rotation axis of the second gear.

8. The cleaning equipment according to claim 5, characterized in that, The connecting mechanism includes: The first rotating component is fixedly connected to the first swing arm, and the rotation axis of the first rotating component coincides with the first axis. The first rotating component is provided with a first snap-fit ​​part. The second rotating component is rotatably connected to the second swing arm, and the second rotating component is provided with a second locking part; the first rotating component and the second rotating component are connected by the engagement of the first locking part and the second locking part. The first mounting part is connected to the second swing arm, the second mounting part is connected to the second rotating member, and the elastic deformation force generated by the second elastic member can drive the second rotating member to rotate.

9. The cleaning equipment according to claim 8, characterized in that, The second elastic element is a tension spring, the tension direction of which is perpendicular to the second axis, and the two ends of the tension spring are respectively connected to the second swing arm and the second rotating element.

10. The cleaning equipment according to claim 1, characterized in that, One of the first swing arm and the second swing arm is provided with a first stop and the other is provided with two second stops. Along the rotation direction of the second swing arm relative to the first swing arm, the first stop is disposed between the two second stops. When the cleaning member is in the outward swing position, the first stop and one of the second stops stop each other. When the second elastic member undergoes elastic deformation, the first stop is restricted to rotate between the two second stops.

11. The cleaning equipment according to claim 1, characterized in that, The first driving component includes: The first driving component is installed on the machine body; A first transmission assembly, wherein the first driving member drives the first swing arm to rotate relative to the machine body via the first transmission assembly; The first elastic element includes a third mounting portion and a fourth mounting portion for installation. The third mounting portion is connected to the first swing arm, and the fourth mounting portion is connected to the output end of the first transmission assembly. When the cleaning component moves from the inward position to the outward position, the output end of the first transmission assembly drives the first swing arm to rotate synchronously under the pre-pressure of the first elastic element. When the cleaning component is in the outward position, the first elastic element can be compressed or stretched to produce elastic deformation.

12. The cleaning equipment according to claim 11, characterized in that, The first swing arm includes a first abutting part, and the output end of the first transmission component includes a second abutting part. The first abutting part and the second abutting part can abut against each other under the pre-pressure of the first elastic member, so as to drive the first swing arm to rotate synchronously when the output end of the first transmission component is running.

13. The cleaning equipment according to claim 11, characterized in that, The first transmission assembly includes a worm gear, a worm, and a gear assembly. The worm rotates under the drive of the first driving member. The worm gear meshes with the worm and drives the gear assembly. The worm gear drives the gear assembly to move, and the gear assembly drives the first swing arm to rotate relative to the machine body.

14. The cleaning equipment according to claim 1, characterized in that, Along the height direction of the machine body, the installation height of the second swing arm is higher than that of the first swing arm; the bottom of the machine body is provided with a receiving cavity, and when the cleaning component is in the retracted position, the first swing arm and the second swing arm are received in the receiving cavity; The sidewall of the receiving cavity is formed with a stepped surface. The plane containing the stepped surface divides the receiving cavity into a first cavity and a second cavity along the height direction of the body. The second cavity is set at a higher height than the first cavity. The first cavity is used to accommodate the first swing arm and the portion of the second swing arm that does not extend beyond the first swing arm in the height direction. The second cavity is used to accommodate the portion of the second swing arm that extends beyond the first swing arm in the height direction.

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