Side brush module for cleaning device and cleaning device

Abstract

The invention relates to a side brush module (320) for a cleaning device and a cleaning device, wherein the side brush module (320) for a cleaning device comprises a fixed arm (1), a swing arm (2), and a power assembly (3), and the fixed arm (1) is installed at the bottom of a moving platform (100) of the cleaning device; one end of the swing arm (2) is rotatably connected to the fixed arm (1), and the other end is equipped with a rotatable cleaning means, and the power assembly (3) is connected to the fixed arm (1), and the power assembly (3) drives the swing arm (2) to swing so that the cleaning means moves between a storage position and an extraction position, and the side brush module (320) has a first cleaning mode and a second cleaning mode, wherein in the first cleaning mode the cleaning means is located in the storage position, and in the second cleaning mode the cleaning means is located in the extraction position. The cleaning device includes a moving platform (100) and a cleaning module (1000, 300), the moving platform (100) is configured to move automatically on the operating surface, the cleaning module (1000, 300) is installed on the bottom of the moving platform (100) and is configured to clean at least a portion of the operating surface, and the cleaning module (1000, 300) includes a side brush module (320) for the cleaning device.

Description

Technology Field

[0001] The present invention relates to the field of cleaning robot technology, and more specifically, to a side brush module for a cleaning device and a cleaning device.

[0002] [Cross-citation of related applications]

[0003] The present invention claims priority to Chinese patent application No. 202410024787.9 filed on January 5, 2024, and the entire contents of said Chinese patent application are incorporated into the text by means of citation. Background Technology

[0004] Cleaning robots currently include floor sweeping robots, floor mopping robots, combined floor sweeping and mopping robots, and floor washing machines. Combined floor sweeping and mopping robots are becoming increasingly common in households as they can not only clean floors but also wash them.

[0005] With the advancement of all-in-one floor sweepers, their capabilities are becoming increasingly diverse. However, current all-in-one floor sweepers generally cannot clean indoor wall corners, resulting in incomplete cleaning and affecting the user experience. The problem to be solved

[0006] The objective of the present invention is to provide a side brush module for a cleaning device and a cleaning device, and to solve the technical problem of not cleaning indoor wall corner areas. means of solving the problem

[0007] According to a specific embodiment of the present invention, the present invention provides a side brush module for a cleaning device, comprising a fixed arm, a swing arm, and a power assembly.

[0008] The fixed arm is installed at the bottom of the moving platform of the cleaning device, and

[0009] One end of the swing arm is rotatably connected to the fixed arm, and the other end is equipped with a rotatable cleaning means, and

[0010] The power assembly is connected to the fixed arm, and the power assembly drives the swing arm to swing, thereby moving the cleaning means between a storage position and a withdrawal position.

[0011] The above side brush module is equipped with a first cleaning mode and a second cleaning mode, and in the first cleaning mode, the cleaning means is located at the storage position, and in the second cleaning mode, the cleaning means is located at the withdrawal position.

[0012] Optionally, the power assembly includes an electric assembly, and the electric assembly leads to the swing of the swing arm and the rotation of at least one of the cleaning means under the drive of the driving means.

[0013] Selectably, the driving means includes a rotary output shaft, and in the first cleaning mode, the rotary output shaft rotates along a first clockwise direction, and in the second cleaning mode, the rotary output shaft rotates along a second clockwise direction.

[0014] When the rotational direction of the above-mentioned rotary output shaft changes from the first clockwise direction to the second clockwise direction, the side brush module switches from the first cleaning mode to the second cleaning mode;

[0015] When the rotation direction of the above-mentioned rotary output shaft changes from the second clockwise direction to the first clockwise direction, the side brush module switches from the second cleaning mode to the first cleaning mode.

[0016] Selectably, the cleaning means rotates in the same clockwise direction in the second cleaning mode and the first cleaning mode.

[0017] Optionally, the electric assembly comprises a linkage shaft, a first electric assembly, and a second electric assembly, and

[0018] The linkage shaft is rotatably connected to the fixed arm and the swing arm around its own central axis, and the driving means is drivenly connected to the linkage shaft so as to drive the linkage shaft to rotate.

[0019] The input end of the first electric assembly is connected to the linkage shaft, and the output end of the first electric assembly is connected to the swing arm, and when the linkage shaft rotates, the swing arm is swung through the first electric assembly.

[0020] The input end of the second electric assembly is connected to the first electric assembly, and the output end of the second electric assembly is connected to the cleaning means, and when the interlocking shaft rotates, the cleaning means can be rotated through the first electric assembly and the second electric assembly.

[0021] Optionally, the first electric assembly includes a first gear and a second gear, the first gear is extrapolated to the linkage shaft and can rotate along the linkage shaft, the second gear is rotatably connected to the swing arm, the first gear and the second gear mesh with each other, and when the first gear changes its rotational direction, the swing direction of the swing arm is changed through the second gear, thereby causing the side brush module to switch between the first cleaning mode and the second cleaning mode.

[0022] Selectably, the second electric assembly includes a first rotary electric assembly and a second rotary electric assembly, and the first gear allows the second gear to be selectively connected to the input end of the first rotary electric assembly or the input end of the second rotary electric assembly by changing the rotational direction, and the output end of the first rotary electric assembly and the output end of the second rotary electric assembly are each connected to the cleaning means.

[0023] In the first cleaning mode, the second gear is connected to the input end of the first rotary transmission assembly, and when the second gear rotates in a certain clockwise direction, the cleaning means is rotated in a set clockwise direction through the first rotary transmission assembly.

[0024] In the second cleaning mode, the second gear is connected to the input end of the second rotary drive assembly, and when the second gear rotates in a different clockwise direction, the cleaning means is rotated in the set clockwise direction through the second rotary drive assembly.

[0025] Optionally, the first rotary transmission assembly includes a third gear, a first intermediate transmission assembly, and an output gear, and the third gear and the output gear are respectively connected to the input and output terminals of the first intermediate transmission assembly.

[0026] The second rotary transmission assembly includes a fourth gear, a second intermediate transmission assembly, and an output gear, and the fourth gear and the output gear are respectively connected to the input and output terminals of the second intermediate transmission assembly.

[0027] The output gear is rotatably connected to the swing arm, the cleaning means is coaxially connected to the output gear, and the first gear allows the second gear to be selectively coaxially connected to the third gear or the fourth gear by changing the direction of rotation.

[0028] Optionally, the first intermediate transmission assembly comprises a plurality of first transmission gears that engage sequentially, and along the transmission direction of the first intermediate transmission assembly, the first first transmission gear engages with the third gear, and the last first transmission gear engages with the output gear;

[0029] The second intermediate transmission assembly comprises a plurality of second transmission gears that engage sequentially, and along the transmission direction of the second intermediate transmission assembly, the first second transmission gear engages with the fourth gear, and the last second transmission gear engages with the output gear;

[0030] The number of the first electric gears is one more or one less than the number of the second electric gears.

[0031] Selectably, the first gear and the second gear are both helical gears, and ratchet teeth are installed on both sides of the second gear, and the second gear is installed coaxially between the third gear and the fourth gear so as to be movable along its axial direction, and ratchet teeth are installed on both sides of the third gear and the fourth gear facing the second gear, and the first gear is configured to selectively engage the ratchet teeth of the second gear with the ratchet teeth of the third gear or the ratchet teeth of the fourth gear by changing the direction of rotation.

[0032] Optionally, the first intermediate drive assembly comprises a synchronous pulley assembly and first drive gears sequentially installed along the drive direction of a plurality of the first intermediate drive assemblies, and the synchronous pulley assembly is drive-connected between the first first drive gear and the third gear, between any two adjacent first drive gears, or between the last first drive gear and the output gear;

[0033] The second intermediate transmission assembly comprises a plurality of second transmission gears that engage sequentially, and along the transmission direction of the second intermediate transmission assembly, the first second transmission gear engages with the fourth gear, and the last second transmission gear engages with the output gear;

[0034] The quantity of the first electric gear and the quantity of the second electric gear are the same.

[0035] Optionally, the first electric assembly includes a swing push rod and a push rod electric assembly, one end of the swing push rod is rotatably connected to the linkage shaft, the other end of the swing push rod is connected to the push rod electric assembly, and the linkage shaft is connected to the push rod electric assembly, and when the linkage shaft changes its rotational direction, the direction in which the swing push rod swings around the linkage shaft is changed through the push rod electric assembly, thereby changing the swing direction of the swing arm, so that the side brush module is switched between the first cleaning mode and the second cleaning mode.

[0036] Optionally, the push rod drive assembly comprises a first gear, a first mounting shaft, a friction drive wheel, and a friction wheel, and

[0037] The first gear is extrapolated to the above-mentioned linkage shaft and can rotate along the above-mentioned linkage shaft;

[0038] The first mounting shaft is connected to one end of the swing push rod moving away from the linkage shaft;

[0039] The friction drive wheel is extrapolated to the first mounting shaft and can rotate about the first mounting shaft, and the first gear and the friction drive wheel mesh with each other;

[0040] The friction wheel is extrapolated to the first mounting shaft and can rotate about the first mounting shaft, the friction wheel is connected to the friction drive wheel, and the friction wheel can roll along the wall surface of the fixed arm;

[0041] Here, when the first gear changes its rotational direction, the swing push rod changes its swing direction by changing the rolling direction of the friction wheel through the friction drive wheel.

[0042] Optionally, the friction drive wheel and the side of the friction wheel are in contact with each other, and

[0043] The above push rod electric assembly further includes a boosting assembly, and the boosting assembly applies at least one of a first pressure directed toward the friction wheel and a second pressure directed toward the friction wheel to the friction electric wheel, so that the frictional force between the friction electric wheel and the friction wheel causes the friction wheel to rotate synchronously along the friction electric wheel.

[0044] Optionally, the boost assembly comprises a first position limiting means and a first elastic means, wherein the first position limiting means is connected to the first mounting shaft and is located on one side of the friction wheel away from the friction drive wheel, and the first elastic means is elastically compressed between the first position limiting means and the friction wheel; and / or,

[0045] The above-described boosting assembly includes a second position limiting means and a second elastic means, wherein the second position limiting means is connected to the first mounting shaft and is located on one side of the friction drive wheel away from the friction wheel, and the second elastic means is elastically compressed between the second position limiting means and the friction drive wheel.

[0046] The present invention further provides a cleaning device comprising a mobile platform and a cleaning module, and

[0047] The mobile platform is configured to move automatically in terms of operation, and

[0048] A cleaning module is installed at the bottom of the mobile platform and is configured to clean at least a portion of the operating surface, and the cleaning module includes a side brush module for the cleaning device. Effects of the invention

[0049] The side brush module for a cleaning device provided in the embodiment of the present invention drives a swing arm to swing via a power assembly, thereby causing the cleaning means to move between a storage position and an extension position. When cleaning a wide and flat area, the side brush module switches to a first cleaning mode, at which time the cleaning means is located in the storage position and can clean the operating surface below the moving platform. When cleaning up to a position close to a wall corner, the side brush module switches to a second cleaning mode, at which time the cleaning means is located in the extension position and can clean a larger area around the moving platform. By retracting into the wall corner area to perform cleaning, the wall corner area can be cleaned thoroughly. Therefore, the side brush module for a cleaning device provided in the embodiment of the present invention can clean the wall corner area indoors, thereby improving the comprehensiveness of the cleaning range and enhancing the user experience.

[0050] The cleaning device provided in the embodiment of the present invention includes a side brush module for the cleaning device, and since the cleaning device incorporates all the advantageous effects of the side brush module for the cleaning device, the cleaning device provided in the embodiment of the present invention can clean the wall corner areas indoors, thereby improving the comprehensiveness of the cleaning range and enhancing the user experience. Brief explanation of the drawing

[0051] The drawings herein are incorporated into the specification and constitute a part of this specification. They represent embodiments conforming to the present invention and are used together with the specification for interpreting the principles of the present invention. Obvious to the fact, the drawings in the description below are merely partial embodiments of the present invention, and a person skilled in the art may obtain other drawings based on these drawings without requiring inventive labor. In the drawings, FIG. 1 is a schematic diagram of the three-dimensional structure of a cleaning device of some embodiment of the present invention. FIG. 2 is a schematic diagram of the bottom structure of a cleaning device of some embodiment of the present invention. FIG. 3 is a schematic diagram of the three-dimensional structure of a side brush module for a cleaning device of some embodiment of the present invention. FIG. 4 is a schematic diagram of the three-dimensional structure after removing the swing arm and the partial fixed arm from the side brush module for a cleaning device of some embodiment of the present invention. FIG. 5 is a schematic diagram of the three-dimensional structure of a swing arm and a fixed arm of some embodiment of the present invention. FIG. 6 is a schematic diagram of the three-dimensional structure of an electric assembly of some embodiment of the present invention. FIG. 7 is a schematic diagram of the three-dimensional structure of a partial electric assembly of some embodiment of the present invention. FIG. 8 is a schematic diagram of the three-dimensional structure of the internal structure of a swing arm of some embodiment of the present invention. FIG. 9 is a schematic diagram of the three-dimensional structure of a partial electric assembly of some embodiment of the present invention. FIG. 10 is a schematic diagram of the three-dimensional structure of a partial fixed arm of some embodiment of the present invention. Specific details for implementing the invention

[0052] To further clarify the purpose, technical solution, and advantages of the present invention, a more detailed description of the present invention is provided below in conjunction with the drawings. It is obvious that the embodiments described herein are only partial embodiments of the present invention, not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention, without requiring inventive labor, shall fall within the scope of protection of the present invention.

[0053] The terms used in the embodiments of the present invention are intended solely for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms of "one," "above," and "corresponding" used in the embodiments of the present invention and the appended claims also include plural forms, and unless otherwise explicitly indicated in the preceding or following sentences, "various" generally includes at least two.

[0054] It must be understood that the term "and / or" used in the text merely describes the relationship between related objects and indicates that three types of relationships may exist; for example, "A and / or B" can represent three cases: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the symbol " / " in the text generally indicates that the related objects before and after it share a single "or" relationship.

[0055] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present invention, such descriptions are not limited to these terms. These terms are used merely for distinction. For example, without departing from the scope of the embodiments of the present invention, the first may be referred to as the second, and similarly, the second may also be referred to as the first.

[0056] It is necessary to further clarify that the terms “comprising,” “including,” or any other modification are intended to cover a non-exclusive inclusion, and thus including a product or device of a series of elements includes not only these elements but also other elements not explicitly enumerated, or elements inherent to such product or device. Unless further limitations are given, the element defined by the phrase “including one…” does not exclude the existence of other identical elements among the product or device including said element.

[0057] Selectable embodiments of the present invention will be described in detail by combining the drawings attached below.

[0058] FIGS. 1 and 2 are schematic diagrams of the structure of a cleaning device illustrated according to an exemplary embodiment, and as illustrated in FIGS. 1 and 2, the automatic cleaning device may be a vacuum robot cleaner, a floor mopping / floor brushing robot, a window cleaning robot, etc., and the automatic cleaning device may include a mobile platform (100), a sensing system (120), a control system, a driving system (140), a cleaning module, an energy system, and a human-machine interaction system (170). Herein:

[0059] The moving platform (100) may be configured to move automatically along a target direction on the operating surface. The operating surface may be a surface that the automatic cleaning device needs to be cleaned. In some embodiments, the automatic cleaning device may be a floor cleaning robot, wherein the automatic cleaning device works on a floor, and the floor is the operating surface; the automatic cleaning device may be a window cleaning robot, wherein the automatic cleaning device works on the outer surface of glass in a building, and the glass is the operating surface; the automatic cleaning device may be a pipe cleaning robot, wherein the automatic cleaning device works on the inner surface of a pipe, and the inner surface of the pipe is the operating surface. Simply for the sake of display purposes, the description below of the present invention will proceed with an example of a floor cleaning robot.

[0060] In some embodiments, the mobile platform (100) may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform refers to the mobile platform (100) itself being able to make operational decisions automatically and adaptively based on unexpected environmental inputs; the non-autonomous mobile platform itself may not make operational decisions adaptively based on unexpected environmental inputs, but may execute a set program or operate according to a certain logic. Correspondingly, when the mobile platform (100) is an autonomous mobile platform, the target direction may be autonomously determined by an automatic cleaning device; when the mobile platform (100) is a non-autonomous mobile platform, the target direction may be set by a system or artificially. When the mobile platform (100) is an autonomous mobile platform, the mobile platform (100) includes a forward portion (111) and a backward portion (110).

[0061] The sensing system (120) includes a positioning device (121) located above the moving platform (100), a buffer (122) located in the forward portion (111) of the moving platform (100), and sensing devices such as a cliff sensor, an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, and a mile meter located at the bottom of the moving platform, and provides various position information and motion state information of the machine to the control system.

[0062] To describe the behavior of the automatic cleaning device more clearly, the direction is defined as follows. That is, the automatic cleaning device can advance on the floor through various combinations of movement along the following three mutually perpendicular axes defined by the moving platform (100), and the three axes are the transverse axis x, the fore-and-aft axis y, and the central vertical axis z. The forward driving direction along the fore-and-aft axis y is indicated as "forward," and the rear driving direction along the fore-and-aft axis y is indicated as "rear." The transverse axis x extends between the right wheel and the left wheel of the automatic cleaning device along the axis center defined substantially by the center point of the driving wheel assembly. Here, the automatic cleaning device can rotate around the x-axis. When the forward part of the automatic cleaning device is tilted upward and the backward part is tilted downward, it is "tilted upward," and when the forward part of the automatic cleaning device is tilted downward and the backward part is tilted upward, it is "tilted downward." Additionally, the automatic cleaning device can rotate around the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right of the Y-axis, it is a "right turn," and when the automatic cleaning device is tilted to the left of the Y-axis, it is a "left turn."

[0063] As illustrated in FIG. 2, cliff sensors are installed at the bottom of the moving platform (100) and at the front and rear of the drive wheel assembly. These cliff sensors are used to prevent falling when the automatic cleaning device moves backward, thereby preventing damage to the automatic cleaning device. The aforementioned "front" refers to the same side with respect to the direction of travel of the automatic cleaning device, and the aforementioned "rear" refers to the opposite side with respect to the direction of travel of the automatic cleaning device.

[0064] The positioning device (121) includes, but is not limited to, a camera and a laser distance measuring device (LDS).

[0065] Each assembly in the detection system (120) may operate independently or work together to more accurately realize the intended function. By identifying surfaces that need to be cleaned through cliff sensors and ultrasonic sensors, physical characteristics including the surface material and degree of cleanliness of the surfaces that need to be cleaned are determined, and a more accurate determination can be made by combining with a camera, a laser distance measuring device, etc.

[0066] A buffer (122) is installed in the forward portion (111) of the moving platform (100), and when the drive wheel assembly propels the automatic cleaning device and drives it on the floor during the cleaning process, the buffer (122) detects one or more events (or targets) in the driving path of the automatic cleaning device through a sensor system, for example, an infrared sensor, and the automatic cleaning device controls the drive wheel assembly through the event (or target), for example, an obstacle or a wall, detected by the buffer (122) so that the automatic cleaning device responds to the event (or target), for example, by moving the obstacle away.

[0067] The control system is installed on a circuit mainboard within the mobile platform (100) and includes a computing processor that communicates with non-transient memory, such as a hard disk, flash memory, or RAM, for example; the computing processor is, for example, a central processing unit or an application processor; the application processor receives environmental information detected by the plurality of sensors transmitted from the detection system (120), and creates an immediate map of the environment in which the automatic cleaning device is situated using a positioning algorithm, such as SLAM, based on obstacle information fed back from a laser distance measuring device, etc., and then independently determines a driving path based on the environmental information and the environmental map, and controls the driving system (140) based on the independently determined driving path to perform operations such as moving forward, backward, and / or changing direction. Furthermore, the control system may also determine whether to start the cleaning module and perform cleaning operations based on the environmental information and the environmental map.

[0068] Specifically, the control system comprehensively determines the current working state of the floor sweeping robot by combining distance and speed information fed back from sensing devices such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and mileometers. The working state includes, for example, crossing a threshold, climbing onto a carpet, being located on a cliff, getting stuck at the top or bottom, the dustbin being full, or being picked up. By presenting specific next action strategies for different situations, the operation of the automatic cleaning device can better meet the owner's needs and provide a better user experience. Furthermore, the control system plans the most efficient and rational cleaning path and cleaning method based on map information generated by SLAM, thereby significantly improving the cleaning efficiency of the automatic cleaning device.

[0069] The driving system (140) provides specific distance and angle information, e.g., x, y andi Based on the components, a drive command can be executed to control the automatic cleaning device so that it travels across the floor. The drive system (140) includes a drive wheel assembly (141), and the drive system (140) can control the left wheel and the right wheel simultaneously. To control the movement of the machine more accurately, preferably, the drive system (140) includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left drive wheel assembly and the right drive wheel assembly are installed symmetrically along a horizontal axis defined by the moving platform (100). For the automatic cleaning device to move more stably or have stronger movement capabilities on the floor, the automatic cleaning device may include one or more direction change assemblies (142), the direction change assembly (142) may be a driven wheel or a drive wheel, and its structural form may include but is not limited to a universal wheel, and the direction change assembly (142) may be located in front of the drive wheel assembly (141).

[0070] The energy system includes rechargeable batteries, such as nickel-hydrogen and lithium batteries. A charge control circuit, a battery pack charge temperature detection circuit, and a battery low-voltage monitoring circuit may be connected to the rechargeable battery, and these circuits are continuously connected to a microcontroller control circuit. The host performs charging by connecting to a charging file via a charging electrode installed on the side or bottom of the host body. If dust adheres to the exposed charging electrode, the accumulation of electric charge during the charging process causes the plastic gas surrounding the electrode to melt and deform, and may even cause deformation of the electrode itself, making it impossible to continue normal charging.

[0071] The human-machine interaction system (170) includes a button on a main panel, the button is used for selecting a function by the user; it may further include a display and / or an indicator and / or a speaker, the display, the indicator and the speaker display to the user the current state of the machine or the function selection option; and it may further include a mobile phone client program. In the case of a path navigation type cleaning device, the mobile phone client may display to the user a map of the environment the device is in and the location of the machine, and may provide the user with richer and more human-like function options.

[0072] The cleaning module may include a dry cleaning module (300) and / or a wet cleaning module (200). As illustrated in FIG. 2, the wet cleaning module (200) is configured to clean at least a portion of the operating surface using a wet cleaning method; wherein the wet cleaning module (200) includes a cleaning head (210), the cleaning head (210) is used to clean at least a portion of the operating surface, and a driving unit is used to drive the cleaning head (210) to move in a reciprocating motion along a target surface, the target surface being a portion of the operating surface. The cleaning head (210) moves in a reciprocating motion along the surface to be cleaned, and a cleaning cloth or cleaning plate is installed on the contact surface of the cleaning head (210) with the surface to be cleaned, and high-frequency friction is generated with the surface to be cleaned through the reciprocating motion to remove stains on the surface to be cleaned.

[0073] The dry cleaning module (300) is configured to clean at least a portion of the operating surface using a dry cleaning method, and the dry cleaning module (300) includes a roller brush (310), etc. The roller brush (310), which has a certain interference with the floor, sweeps up debris from the floor and winds it in front of the suction opening between the roller brush (310) and the dust bin, and then is sucked into the dust bin by a gas that has suction power generated by a fan and passes through the dust bin. The dry cleaning module (300) may further include a side brush module (320) and cleans debris into the roller brush area of ​​the cleaning module.

[0074] According to one specific embodiment of the present invention, as illustrated in FIG. 3, the side brush module (320) for a cleaning device provided in the present invention comprises a fixed arm (1), a swing arm (2), and a power assembly (3); the fixed arm (1) is installed at the bottom of the moving platform (100) of the cleaning device; one end of the swing arm (2) is rotatably connected to the fixed arm (1), and a rotatable cleaning means is installed at the other end, and the cleaning means is, for example, a bristles brush (4); the power assembly (3) is connected to the fixed arm (1), and the power assembly (3) is configured to drive the swing arm (2) to swing so that the bristles brush (4) moves between a storage position and a withdrawal position; the side brush module (320) has a first cleaning mode and a second cleaning mode, in the first cleaning mode the bristles brush (4) is located in the storage position, and in the second cleaning mode the bristles brush (4) is located in the withdrawal position.

[0075] In the embodiment of the present invention, the side brush module (320) for the cleaning device is driven to swing the swing arm (2) via the power assembly (3), causing the bristles (4) to move between the storage position and the withdrawal position. When cleaning a wide and flat area, the side brush module (320) is switched to a first cleaning mode, at which time the bristles (4) are positioned in the storage position and can clean the operating surface under the moving platform (100). When cleaning up to a position close to a wall corner, the side brush module (320) is switched to a second cleaning mode, at which time the bristles (4) are positioned in the withdrawal position and can clean a larger area. By retracting into the wall corner area to perform cleaning, the wall corner area can be cleaned thoroughly. Therefore, the side brush module (320) for the cleaning device provided in the embodiment of the present invention can clean the wall corner area indoors, thereby improving the fullness of the cleaning range and enhancing the user experience.

[0076] In one embodiment of the present invention, as illustrated in FIGS. 3 to 5, the power assembly (3) includes a driving means (31) and an electric assembly (32), and the driving means (31) can swing the swing arm (2) and rotate the bristles brush (4) through the electric assembly (32).

[0077] By using a single driving means (31), not only can the swing arm (2) be driven to swing, but the hair brush (4) can also be driven to rotate, thereby reducing the input of power sources and reducing costs.

[0078] For example, the driving means (31) is a motor.

[0079] In one embodiment of the present invention, the driving means (31) includes a rotary output shaft, and in a first cleaning mode, the rotary output shaft rotates along a first clockwise direction (M), and in a second cleaning mode, the rotary output shaft rotates along a second clockwise direction (N). When the rotational direction of the rotary output shaft changes from the first clockwise direction (M) to the second clockwise direction (N), the side brush module (320) switches from the first cleaning mode to the second cleaning mode; and when the rotational direction of the rotary output shaft changes from the second clockwise direction to the first clockwise direction, the side brush module (320) switches from the second cleaning mode to the first cleaning mode.

[0080] The driving means (31) realizes a change in the swing direction of the swing arm (2) by changing the rotational output axis of its driving means (31), thereby realizing a change in the cleaning mode, and after the cleaning mode change is completed, the driving means (31) rotates clockwise after the change and continuously drives the bristles brush (4), making the operation of the cleaning mode change simple and quick.

[0081] In one embodiment of the present invention, among the fixed arm (1) and the swing arm (2), one is provided with a position limiting projection, and the other is provided with a storage position limiting block and an extraction position limiting block distributed at intervals surrounding the swing center of the swing arm (2). The position limiting projection is located between the storage position limiting block and the extraction position limiting block. When the swing arm (2) rotates in a first clockwise direction (M) until the position limiting projection touches the extraction position limiting block, the hair brush (4) is limited to the extraction position, and when the swing arm (2) rotates in a second clockwise direction (N) until the position limiting projection touches the storage position limiting block, the hair brush (4) is limited to the storage position.

[0082] In this way, the swing angle of the swing arm (2) is limited, the range of movement of the bristles brush (4) is more accurately limited, and the precision of the side brush module (320) operation is improved.

[0083] In one embodiment of the present invention, among the first clockwise direction (M) and the second clockwise direction (N), one is an instantaneous clockwise direction and the other is a counterclockwise direction.

[0084] In one embodiment of the present invention, the bristles (4) rotate in the same clockwise direction in the second cleaning mode and the first cleaning mode.

[0085] If the rotation direction of the bristles brush (4) does not change, the cleanliness of the cleaning can be improved, and by preventing the rotation direction of the bristles brush (4) from being affected by a change in the output rotation direction of the driving means (31), the cleanliness of the cleaning is ensured.

[0086] In one embodiment of the present invention, the electric assembly (32) includes a linkage shaft (323), a first electric assembly, and a second electric assembly, wherein the linkage shaft (323) is rotatably connected to a fixed arm (1) and a swing arm (2) around its own central axis, and a driving means (31) is driven to the linkage shaft (323) and can drive the linkage shaft (323) to rotate; the input end of the first electric assembly is connected to the linkage shaft (323) and the output end is connected to the swing arm (2), and the swing arm (2) can be swung through the first electric assembly when the linkage shaft (323) rotates; the input end of the second electric assembly is connected to the first electric assembly and the output end is connected to a hair brush (4), and the hair brush (4) can be rotated through the first electric assembly and the second electric assembly when the linkage shaft (323) rotates.

[0087] The rotation of the rotation output shaft of the driving means (31) is transmitted to the swing arm (2) sequentially through the linkage shaft (323) and the first electric assembly, and swings the swing arm (2) to switch cleaning modes; the rotation of the rotation output shaft of the driving means (31) is transmitted to the hair brush (4) sequentially through the linkage shaft (323), the first electric assembly and the second electric assembly, and rotates the hair brush (4) to realize cleaning of the operating surface. In this way, a single driving means (31) can drive two movements: the rotation of the hair brush (4) and the swinging of the swing arm (2).

[0088] In one embodiment of the present invention, as illustrated in FIGS. 4 and 6, a first interlocking shaft electric gear (3241) is coaxially connected to the rotational output shaft of the driving means (31), and the first interlocking shaft electric gear (3241), the second interlocking shaft electric gear (3242), the third interlocking shaft electric gear (3243), and the fourth interlocking shaft electric gear (3244) are sequentially engaged, and the fourth interlocking shaft electric gear (3244) is extrapolated to the interlocking shaft (323), and the interlocking shaft (323) can rotate synchronously along the fourth interlocking shaft electric gear (3244).

[0089] The rotary output shaft of the driving means (31) rotates the first linkage shaft electric gear (3241), and the rotation of the first linkage shaft electric gear (3241) is transmitted sequentially through the second linkage shaft electric gear (3242) and the third linkage shaft electric gear (3243) to the fourth linkage shaft electric gear (3244), thereby rotating the fourth linkage shaft electric gear (3244) and rotating the linkage shaft (323), and in this way, the driving means (31) realizes driving for the linkage shaft (323).

[0090] In one embodiment of the present invention, as illustrated in FIGS. 4, 5 and 7, the first electric assembly includes a first gear (321) and a second gear (322), the first gear (321) is extrapolated to a linkage shaft (323) and can rotate along the linkage shaft (323), the second gear (322) is rotatably connected to a swing arm (2), the first gear (321) and the second gear (322) mesh with each other, and when the first gear (321) changes its rotational direction, the swing arm (2) changes its swing direction through the second gear (322), thereby causing the side brush module (320) to switch between a first cleaning mode and a second cleaning mode.

[0091] When the driving means (31) drives the linkage shaft (323) to change the direction of rotation, the first gear (321) also changes the direction of rotation and changes the swing direction of the swing arm (2) through the second gear (322). Therefore, by changing the direction of rotation of the rotation output shaft through the driving means (31), the change in the swing direction of the swing arm (2) is realized, thereby enabling the switching of the cleaning mode. The switching operation is simple and quick, saving time and energy.

[0092] For example, as illustrated in FIGS. 3 and 7, the second gear (322) is rotatably mounted on the swing arm (2) via the second mounting shaft (325), and in the first cleaning mode, the bristles brush (4) is positioned in the storage position, and the position limiting projection contacts the storage position limiting block, the first gear (321) rotates in the second clockwise direction (N), and rotates the second gear (322) in the first clockwise direction (M), and the rotation of the second gear (322) is transmitted to the bristles brush (4) via the second electric assembly, thereby rotating the bristles brush (4);When switching to the second cleaning mode is required, the driving means (31) drives the first gear (321) to change from the second clockwise direction (N) to the first clockwise direction (M), and when the first gear (321) rotates in the first clockwise direction (M), an acting force is applied to the teeth of the second gear (322) at an angle to the axial direction of the second mounting shaft (325), a part of the acting force rotates the second gear (322) in the second clockwise direction (N), and another part of the acting force is transmitted to the second mounting shaft (325), and the part of the acting force forms a rotational torque on the linkage shaft (323), and the rotational torque causes the second mounting shaft (325) to surround the linkage shaft (323) and rotate along the first clockwise direction (M), and the second mounting shaft (325) causes the swing arm (2) to surround the linkage shaft (323) and rotate along the first clockwise direction (M). By rotating, the position limiting projection moves away from the storage position limiting block until it comes into contact with the withdrawal position limiting block; at this time, due to the restriction of the withdrawal position limiting block, the swing arm (2) cannot continue to rotate, and at this time, the bristles brush (4) is positioned in the withdrawal position, and the transition from the first cleaning mode to the second cleaning mode is completed, and in the second cleaning mode, the bristles brush (4) is positioned in the withdrawal position, the position limiting projection comes into contact with the withdrawal position limiting block, and the first gear (321) surrounds the first clockwise direction (M), and when a transition to the first cleaning mode is required, the rotation direction of the driving means (31) is changed again, and by circulating in this way, rapid switching between the two cleaning modes can be realized.

[0093] In one embodiment of the present invention, the second electric assembly includes a first rotary electric assembly and a second rotary electric assembly, and the first gear (321) allows the second gear (322) to be selectively connected to the input end of the first rotary electric assembly or the input end of the second rotary electric assembly by changing the rotational direction, and the output end of the first rotary electric assembly and the output end of the second rotary electric assembly are each connected to a hair brush (4), and in the first cleaning mode, the second gear (322) is connected to the input end of the first rotary electric assembly, and when the second gear (322) rotates one clockwise, the hair brush (4) is rotated in a set clockwise direction through the first rotary electric assembly, and in the second cleaning mode, the second gear (322) is connected to the input end of the second rotary electric assembly, and when the second gear (322) rotates one clockwise, the hair brush (4) is rotated in a set clockwise direction through the second rotary electric assembly.

[0094] The set clockwise direction may be a first clockwise direction (M) and a second clockwise direction (N), and no specific restrictions are imposed here.

[0095] When the driving means (31) drives the linkage shaft (323) to change the rotational direction, the first gear (321) also changes the rotational direction so that the second gear (322) is selectively connected to the input end of the first rotational drive assembly or the input end of the second rotational drive assembly. When the rotational output shaft of the driving means (31) changes the rotational direction, the second gear (322) also changes the rotational drive assembly. When the side brush module (320) switches the cleaning mode by changing the output rotational direction of the driving means (31), the rotational direction of the brush (4) is not affected by the change in the output rotational direction of the driving means (31). In other words, when the driving means (31) drives the protrusion or retraction of the swing arm (2) by changing the rotational direction, the rotational direction of the brush (4) is not affected, so that the rotational direction of the brush (4) rotates in a clockwise direction whether in the retraction position or the extension position, thereby improving the cleanliness of the cleaning.

[0096] In one embodiment of the present invention, the first rotary drive assembly includes a third gear (3261), a first intermediate drive assembly, and an output gear (3263), and the third gear (3261) and the output gear (3263) are respectively connected to the input and output ends of the first intermediate drive assembly, and the second rotary drive assembly includes a fourth gear (3262), a second intermediate drive assembly, and an output gear (3263), and the fourth gear (3262) and the output gear (3263) are respectively connected to the input and output ends of the second intermediate drive assembly, and the output gear (3263) is rotatably connected to the swing arm (2), and the bristles brush (4) is coaxially connected to the output gear (3263), and the first gear (321) is coaxially connected to the third gear (3261) or the fourth gear (3262) so that the second gear (322) can be selected by changing the rotation direction.

[0097] When the driving means (31) drives the linkage shaft (323) to change the rotational direction, the first gear (321) also changes the rotational direction so that the second gear (322) can be selectedly coaxially connected to the third gear (3261) or the fourth gear (3262), and accordingly, the motion is transmitted to the third gear (3261) or the fourth gear (3262). Therefore, when the rotational output shaft of the driving means (31) changes the rotational direction, the second gear (322) accordingly switches the coaxially connected gears to change the path of the transmitted motion. Furthermore, when the side brush module (320) switches the cleaning mode by changing the output rotational direction of the driving means (31), the rotational direction of the hair brush (4) is not affected by the change in the rotational direction of the driving means (31). In other words, when the swing arm (2) is driven to protrude or retract by changing the rotational direction of the driving means (31), the rotational direction of the hair brush (4) is not affected. The rotation direction of the brush (4) is rotated clockwise whether it is in the storage position or the withdrawal position, and furthermore, the cleanliness of the cleaning is improved.

[0098] In one embodiment of the present invention, the first gear (321) and the second gear (322) are both helical gears, and ratchet teeth are installed on both sides of the second gear (322). The second gear (322) is installed coaxially between the third gear (3261) and the fourth gear (3262) so as to be movable along its axial direction, and ratchet teeth are installed on both sides of the third gear (3261) and the fourth gear (3262) facing the second gear (322). The first gear (321) is configured to selectively engage the ratchet teeth of the second gear (322) with the ratchet teeth of the third gear (3261) or the ratchet teeth of the fourth gear (3262) by changing the rotational direction of the first gear (321).

[0099] It is understandable that the first gear (321) and the second gear (322) are both helical gears, and since they mesh with each other, their rotation directions are opposite. Referring to FIG. 7, the rotation direction of the first gear (321) is to the left, and the rotation direction of the second gear (322) is to the right. When the first gear (321) changes from the second clockwise direction (N) to the first clockwise direction (M), the teeth of the first gear (321) apply an upwardly inclined force to the teeth of the second gear (322), and the vertical component of the upwardly inclined force causes the second gear (322) to rise vertically until the ratchet teeth above it mesh with the ratchet teeth of the third gear (3261), and the horizontal component of the upwardly inclined force causes the second gear (322) to rotate along the second clockwise direction (N). At this time, since the ratchet teeth of the second gear (322) mesh with the ratchet teeth of the third gear (3261), the second gear (322) synchronously rotates the third gear (3261), and the rotational motion of the third gear (3261) is output through the first intermediate transmission assembly between the third gear (3261) and the output gear (3263). It is transmitted to the gear (3263) and causes the rotation of the bristles brush (4).When the first gear (321) changes from the first clockwise direction (M) to the second clockwise direction (N), the teeth of the first gear (321) apply an inclined downward force to the teeth of the second gear (322), and the vertical component of the inclined downward force causes the second gear (322) to descend vertically until the ratchet teeth above it mesh with the ratchet teeth of the fourth gear (3262), and the horizontal component of the inclined downward force causes the second gear (322) to rotate along the second clockwise direction (N). At this time, since the ratchet teeth of the second gear (322) mesh with the ratchet teeth of the fourth gear (3262), the second gear (322) synchronously rotates the fourth gear (3262), and the rotational motion of the fourth gear (3262) is output through the second intermediate transmission assembly between the fourth gear (3262) and the output gear (3263). It is transmitted to the gear (3263) and causes the rotation of the bristles brush (4).

[0100] In this way, by selectively engaging the ratchet teeth of the second gear (322) with the ratchet teeth of the third gear (3261) or the ratchet teeth of the fourth gear (3262), the switching of the two transmission motion paths is realized, and furthermore, when the side brush module (320) switches the cleaning mode by changing the output rotation direction of the driving means (31), the change in the rotation direction of the driving means (31) does not affect the rotation direction of the bristles brush (4).

[0101] For example, as illustrated in FIG. 7, the second gear (322) is rotatably and movably extrapolated to the second mounting shaft (325) and surrounds the second mounting shaft (325), and the third gear (3261) and the fourth gear (3262) are only rotatably extrapolated to the second mounting shaft (325) and surround the second mounting shaft (325). In this way, the second gear (322) can rotate around the second mounting shaft (325) under the action of the first gear (321), and the second gear (322) secures the transmission of motion to the output gear (3263) to rotate the brush (4), and the second gear (322) can approach the third gear (3261) or the fourth gear (3262) under the action of the first gear (321) to perform a change in the transmission motion path, and furthermore, ensures that the rotation direction of the brush (4) does not change.

[0102] In one embodiment of the present invention, a first intermediate transmission assembly comprises a plurality of first transmission gears that are sequentially engaged, and along the transmission direction, the first first transmission gear is engaged with a third gear (3261) and the last first transmission gear is engaged with an output gear (3263); a second intermediate transmission assembly comprises a plurality of second transmission gears that are sequentially engaged, and along the transmission direction, the first second transmission gear is engaged with a fourth gear (3262) and the last second transmission gear is engaged with an output gear (3263); and the number of first transmission gears is one more or one less than the number of second transmission gears.

[0103] Since the rotational directions of the two meshing gears are opposite when they drive, the input rotational directions of the two gear sets are opposite, and when the number of gears in the two gear sets differs by one, the output rotational directions can be made the same, so that the rotational directions transmitted by the two gear sets to the output gear (3263) are the same, and furthermore, the rotational direction of the bristles brush (4) does not change.

[0104] For example, K first electric gears are installed and K-1 second electric gears are installed, and the K first electric gears and K-1 second electric gears are not shared with each other. In this way, since the number of the two gears differs by one, the rotational direction transmitted by the first intermediate electric assembly and the second intermediate electric assembly to the output gear (3263) can be made the same.

[0105] For example, K first electric gears are installed and K-1 second electric gears are installed, where K-2 first electric gears and K-2 second electric gears are shared with each other. In this way, the number of gears is reduced and the structure of the electric assembly (32) is simplified.

[0106] For example, as illustrated in FIGS. 6 and FIGS. 8, four first electric gears are installed and three second electric gears are installed.

[0107] For example, two of the first transmission gears and two of the second transmission gears are shared with each other. For example, as shown in FIG. 8, the four first transmission gears are each the fifth gear (3264), the sixth gear (3265), the seventh gear (3266), and the eighth gear (3267), and the three second transmission gears are each the ninth gear (3268), the seventh gear (3266), and the eighth gear (3267). That is, the seventh gear (3266) and the eighth gear (3267) are both first transmission gears and second transmission gears.

[0108] In one embodiment of the present invention, the fixed arm (1) and the swing arm (2) are both hollow cases, and the first linkage shaft electric gear (3241), the second linkage shaft electric gear (3242), the third linkage shaft electric gear (3243), and the fourth linkage shaft electric gear (3244) are all rotatably connected within the hollow chamber of the fixed arm (1), and a part of the linkage shaft (323) is installed to rotatably penetrate within the hollow chamber of the fixed arm (1); Another part of the connecting shaft (323) is rotatably installed through the hollow chamber of the swing arm (2), and the first gear (321), second gear (322), third gear (3261), fourth gear (3262), fifth gear (3264), sixth gear (3265), seventh gear (3266), eighth gear (3267), ninth gear (3268) and output gear (3263) are all rotatably installed within the hollow chamber of the swing arm (2).

[0109] In this way, stable mounting of each gear is realized, and the fixed arm (1) and swing arm (2) provide protection for each internal gear.

[0110] In one embodiment of the present invention, a first intermediate drive assembly comprises a synchronous pulley assembly and a first drive gear installed sequentially along the drive direction of a plurality of first intermediate drive assemblies, and the synchronous pulley assembly is drive-connected between the first first drive gear and the third gear (3261), between any two adjacent first drive gears, or between the last first drive gear and the output gear (3263); a second intermediate drive assembly comprises a plurality of second drive gears that are sequentially engaged, and along the drive direction of the second intermediate drive assembly, the first second drive gear is engaged with the fourth gear (3262), and the last second drive gear is engaged with the output gear (3263); and the number of first drive gears and the number of second drive gears are the same.

[0111] It is understandable that the synchronous pulley assembly includes two synchronous wheels and a synchronous belt with both ends wound around each of the two synchronous wheels, and the two synchronous wheels are each coaxially connected to two transmission gears. The two synchronous wheels rotate synchronously under the driving action of the synchronous belt, so that the rotational direction of the two transmission gears connected to the two synchronous wheels is the same. The two transmission gears may each be a first transmission gear and a third gear (3261), any two adjacent first transmission gears, or a last first transmission gear and an output gear (3263). In this way, by adding a synchronous pulley assembly to one transmission path, the rotational direction of a pair of adjacent transmission gears in one transmission path is made the same, while the rotational direction between the remaining adjacent gears is opposite, and the rotational direction of any two adjacent gears in another transmission path is opposite; thus, when the input rotational directions of the two transmission paths are opposite, the rotational direction of the output can be made the same, thereby preventing the rotational direction of the hair brush (4) from changing.

[0112] In one embodiment of the present invention, as illustrated in FIG. 9, the first electric assembly includes a swing push rod (33) and a push rod electric assembly (34). One end of the swing push rod (33) is rotatably connected to a linkage shaft (323), and the other end is connected to the push rod electric assembly (34). The linkage shaft (323) is connected to the push rod electric assembly (34). When the linkage shaft (323) changes its rotational direction, the swing push rod (33) changes its swinging direction around the linkage shaft (323) through the push rod electric assembly (34), thereby changing the swinging direction of the swing arm (2), so that the side brush module switches between a first cleaning mode and a second cleaning mode.

[0113] The driving means (31) can change the rotational direction by driving the linkage shaft (323) by changing the output direction, thereby changing the swing direction of the swing arm (2) through the push rod electric assembly (34) and the swing push rod (33). Therefore, by changing the rotational direction of the rotational output shaft through the driving means (31), the change in the swing direction of the swing arm (2) can be realized, thereby realizing the switching of the cleaning mode.

[0114] In one embodiment of the present invention, the push rod drive assembly (34) comprises a first gear (321), a first mounting shaft (341), a friction drive wheel (342), and a friction wheel (343), wherein the first gear (321) is extrapolated to a connecting shaft (323) and can rotate along the connecting shaft (323), and the first mounting shaft (341) is connected to one end of a swing push rod (33) that is away from the connecting shaft (323); the friction drive wheel (342) is extrapolated to the first mounting shaft (341) and can rotate about the first mounting shaft (341), and the first gear (321) and the friction drive wheel (342) are engaged with each other; The friction wheel (343) is extrapolated to the first mounting shaft (341) and can rotate about the first mounting shaft (341), the friction wheel (343) is connected to the friction drive wheel (342), and the friction wheel (343) can roll along the wall surface of the fixed arm (1); wherein, when the first gear (321) changes the rotational direction, the friction wheel (343) can change the rolling direction through the friction drive wheel (342), thereby causing the swing push rod (33) to change the swing direction, so that the side brush module switches between the first cleaning mode and the second cleaning mode.

[0115] When the first gear (321) rotates, it rotates the friction drive wheel (342), and the friction drive wheel (342) rotates the friction wheel (343), and the friction wheel (343) rolls along the wall surface of the fixed arm (1), that is, the friction wheel (343) undergoes relative movement relative to the wall surface of the fixed arm (1), that is, one end connected to the first mounting shaft (341) of the swing push rod (33) undergoes movement along the friction wheel (343), and relative movement occurs relative to the wall surface of the fixed arm (1), and since the one end connected to the linkage shaft (323) of the swing push rod (33) hardly changes position relative to the wall surface of the fixed arm (1), a change in the position of the swing push rod (33) occurs, specifically, the swing push rod (33) swings around the linkage shaft (323), and the one end of the swing push rod (33) that moves away from the linkage shaft (323) pushes the swing arm (2) Swing it.

[0116] In this way, the push rod electric assembly (34) realizes the transmission of movement to the swing push rod (33), and by changing the rotational direction of the rotational output shaft through the driving means (31), the swing direction of the swing arm (2) can be changed, thereby realizing a simple switching of the cleaning mode.

[0117] In one embodiment of the present invention, the sides of the friction drive wheel (342) and the friction wheel (343) are in contact with each other, and the push rod drive assembly further includes a boosting assembly, the boosting assembly applies a first pressure toward the friction wheel (343) to the friction drive wheel (342), and / or applies a second pressure toward the friction drive wheel (342) to the friction wheel (343), so that the frictional force between the friction drive wheel (342) and the friction wheel (343) causes the friction wheel (343) to rotate synchronously along the friction drive wheel (342).

[0118] In this way, compared to the case where the friction drive wheel (342) and the friction wheel (343) are directly rigidly connected, damage to the friction wheel (343) and the fixed arm (1) can be prevented in the event of overload.

[0119] In one embodiment of the present invention, the boosting assembly comprises a first position limiting means (347) and a first elastic means (344), wherein the first position limiting means (347) is connected to a first mounting shaft (341) and is located on one side away from the friction drive wheel (342) of the friction wheel (343), and the first elastic means (344) is elastically compressed between the first position limiting means (347) and the friction wheel (343); and / or, the boosting assembly comprises a second position limiting means and a second elastic means (345), wherein the second position limiting means is connected to the first mounting shaft (341) and is located on one side away from the friction wheel (343) of the friction drive wheel (342), and the second elastic means (345) is elastically compressed between the second position limiting means and the friction drive wheel (342).

[0120] For example, a portion of the swing push rod (33) is supported on one side away from the friction drive wheel (342) of the second elastic means (345) by means of a second position limiting means.

[0121] In this way, the first pressure and the second pressure are made elastic pressures, so that damage to the friction wheel (343) and the fixed arm (1) can be further prevented in the event of overload.

[0122] For example, as illustrated in FIGS. 6 and FIGS. 10, the wheel surface of the friction wheel (343) is a rippled surface, and the surface where the fixed arm (1) and the friction wheel (343) come into rolling contact is a rippled surface suitable for the wheel surface of the friction wheel (343), and is used to increase the rolling friction of both, ensuring that the friction wheel (343) rolls along the fixed arm (1) when subjected to force, and further ensuring that the swing push rod (33) swings when the friction wheel (343) rolls.

[0123] What needs to be explained is that the first swing drive method is a method in which the first drive assembly swings the swing arm (2) including the first gear (321) and the second gear (322); the second swing drive method is a method in which the first drive assembly swings the swing arm (2) including the swing push rod (33) and the push rod drive assembly (34); and in some embodiments, the side brush module (320) may use only the first swing drive method, or may use the first swing drive method and the second swing drive method simultaneously.

[0124] The following describes the working steps of the cleaning device provided in some embodiments of the present invention:

[0125] S1, in a tacit state, the side brush module (320) is in a first cleaning mode, the bristles brush (4) is in a storage position, the position limiting projection is in contact with the storage position limiting block, the driving means (31) drives the first gear (321) to rotate in a second clockwise direction (N), the second gear (322) to rotate in a first clockwise direction (M), the ratchet teeth of the second gear (322) mesh with the ratchet teeth of the fourth gear (3262), the second gear (322) rotates the fourth gear (3262) synchronously, the rotation of the fourth gear (3262) is transmitted to the output gear (3263) through the ninth gear (3268), the seventh gear (3266), and the eighth gear (3267) in sequence, and the bristles brush (4) is rotated in a first clockwise direction (M).

[0126] S2, when the moving platform (100) moves to the wall corner position, the driving means (31) changes the output rotation direction and causes the rotation direction of the first gear (321) to change from the second clockwise direction (N) to the first clockwise direction (M), and the first gear (321) causes the rotation direction of the second gear (322) to change from the first clockwise direction (M) to the second clockwise direction (N) and rotates, at this time, the second gear (322) applies an action force to the second mounting shaft (325) under the action of the first gear (321), and the action force causes the second mounting shaft (325) to surround the swing arm (2) and the linkage shaft (323) and rotate along the first clockwise direction (M), the bristles brush (4) move away from the moving platform (100), the position limiting projection moves away from the storage position limiting block and toward the withdrawal position limiting block, and the swing arm (2) the position limiting projection The swing stops when it moves until it comes into contact with the withdrawal position limit block, at which time the bristles brush (4) is in the withdrawal position and the side brush module (320) switches from the first cleaning mode to the second cleaning mode;

[0127] After the rotation direction of the second gear (322) is changed from the first clockwise direction (M) to the second clockwise direction (N) and rotated, the ratchet teeth of the second gear (322) disengage from the ratchet teeth of the fourth gear (3262) and come into contact with the ratchet teeth of the third gear (3261), and the second gear (322) synchronously rotates the third gear (3261), and the rotation of the third gear (3261) is transmitted to the output gear (3263) through the fifth gear (3264), sixth gear (3265), seventh gear (3266), and eighth gear (3267) in sequence, causing the bristles brush (4) to rotate in the first clockwise direction (M), and the bristles brush (4) performs cleaning on the wall corner area.

[0128] S3, after cleaning of the wall corner area is completed, the driving means (31) changes the output rotation direction again, and the rotation direction of the first gear (321) changes from the first clockwise direction (M) to the second clockwise direction (N), and the first gear (321) changes the rotation direction of the second gear (322) from the second clockwise direction (N) to the first clockwise direction (M), at this time, the second gear (322) applies an action force to the second mounting shaft (325) under the action of the first gear (321), and the action force causes the second mounting shaft (325) to surround the swing arm (2) and the linkage shaft (323) and rotate along the second clockwise direction (N), and the bristles brush (4) approach the moving platform (100), and the position limiting projection moves away from the withdrawal position limiting block and toward the storage position limiting block, and the swing arm (2) until the position limiting projection touches the storage position limiting block When moved, the swing arm (2) stops swinging, at which time the bristles brush (4) is in a storage position, and the side brush module (320) switches from the second cleaning mode to the first cleaning mode;

[0129] After the rotation direction of the second gear (322) is changed from the second clockwise direction (N) to the first clockwise direction (M), the ratchet teeth of the second gear (322) disengage from the ratchet teeth of the third gear (3261) and engage with the ratchet teeth of the fourth gear (3262), and the second gear (322) synchronously rotates the fourth gear (3262), and the rotation of the fourth gear (3262) is transmitted to the output gear (3263) through the ninth gear (3268), seventh gear (3266), and eighth gear (3267) in sequence, causing the hair brush (4) to rotate in the first clockwise direction (M).

[0130] In this way, during the cleaning process, if a wall corner area is encountered again, the operations of steps S1 through S3 are performed redundantly.

[0131] In steps S1 to S3 above, the cleaning mode can be switched immediately by changing the output rotation direction of the driving means (31), and the operation is simple and quick. In both cleaning modes, the bristles (4) rotate in the first clockwise direction (M), and the rotation direction of the bristles (4) is not affected by the change in the output rotation direction of the driving means (31), and the cleaning efficiency can be improved.

[0132] Finally, it should be noted that each embodiment of this specification is described in a progressive manner, and the features described in each embodiment differ from those described in other embodiments, and identical or similar parts between the embodiments may be referred to one another. In the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and relevant parts may be referred to in the description of the method section.

[0133] The above embodiments merely illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the above embodiments, it is understandable to those skilled in the art that the technical solutions described in each of the above embodiments may still be modified or equivalent substitutions may be made for partial technical features thereof; such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention. Explanation of the symbols

[0134] Mobile platform 100, rearward section 110, forward section 111, sensing system 120, positioning device 121, buffer 122, drive system 140, drive wheel assembly 141, direction change assembly 142, human-machine interaction system 170, cleaning module 1000, dry cleaning module 300, roller brush 310, side brush module 320, wet cleaning module 200, fixed arm 1, swing arm 2, power assembly 3, bristle brush 4, driving means 31, electric transmission assembly 32, first gear 321, second gear 322, interlocking shaft 323, first interlocking shaft electric transmission gear 3241, second interlocking shaft electric transmission gear 3242, third interlocking shaft electric transmission gear 3243, fourth interlocking shaft electric transmission gear 3244, second mounting shaft 325, third gear 3261, fourth gear 3262, output gear 3263, fifth gear 3264, sixth gear 3265, seventh gear 3266, eighth gear 3267, ninth gear 3268, swing push rod 33, push rod transmission assembly 34, first mounting shaft 341, friction transmission wheel 342, friction wheel 343, first elastic means 344, second elastic means 345 and first position limiting means 347.

Claims

Claim 1 A side brush module for a cleaning device comprises a fixed arm, a swing arm, and a power assembly, wherein the fixed arm is mounted on the underside of a moving platform of the cleaning device, one end of the swing arm is rotatably connected to the fixed arm, and the other end of the swing arm is rotatably mounted with a cleaning means, wherein the power assembly is connected to the fixed arm and the power assembly drives the swing arm to swing, thereby moving the cleaning means between a storage position and an extraction position, and wherein the side brush module has a first cleaning mode and a second cleaning mode, wherein in the first cleaning mode the cleaning means is located in the storage position, and in the second cleaning mode the cleaning means is located in the extraction position. Claim 2 A side brush module for a cleaning device according to claim 1, wherein the power assembly includes an electric assembly, and the electric assembly is configured to rotate at least one of the swing arm and the cleaning means under the drive of a driving means. Claim 3 A side brush module for a cleaning device according to claim 2, wherein the driving means includes a rotary output shaft, and in the first cleaning mode, the rotary output shaft rotates along a first clockwise direction, and in the second cleaning mode, the rotary output shaft rotates along a second clockwise direction; and when the rotational direction of the rotary output shaft changes from the first clockwise direction to the second clockwise direction, the side brush module switches from the first cleaning mode to the second cleaning mode; and when the rotational direction of the rotary output shaft changes from the second clockwise direction to the first clockwise direction, the side brush module switches from the second cleaning mode to the first cleaning mode. Claim 4 A side brush module for a cleaning device according to paragraph 3, wherein the cleaning means rotates in the same clockwise direction in the second cleaning mode and the first cleaning mode. Claim 5 A side brush module for a cleaning device according to any one of claims 2 to 4, wherein the electric assembly comprises a linkage shaft, a first electric assembly, and a second electric assembly, the linkage shaft is rotatably connected to the fixed arm and the swing arm around its own central axis, and the driving means is drivenly connected to the linkage shaft to drive the linkage shaft to rotate, the input end of the first electric assembly is connected to the linkage shaft, and the output end of the first electric assembly is connected to the swing arm, and the swing arm is swung through the first electric assembly when the linkage shaft rotates, the input end of the second electric assembly is connected to the first electric assembly, and the output end of the second electric assembly is connected to the cleaning means, and the cleaning means is rotated through the first electric assembly and the second electric assembly when the linkage shaft rotates. Claim 6 A side brush module for a cleaning device according to claim 5, wherein the first electric assembly comprises a first gear and a second gear, the first gear is extrapolated to the linkage shaft and is rotatable along the linkage shaft, the second gear is rotatably connected to the swing arm, the first gear and the second gear mesh with each other, and when the first gear changes its rotational direction, the swing direction of the swing arm is changed through the second gear, thereby enabling the side brush module to switch between the first cleaning mode and the second cleaning mode. Claim 7 A side brush module for a cleaning device according to claim 6, wherein the second electric assembly comprises a first rotary electric assembly and a second rotary electric assembly, and the first gear is configured to selectively connect the second gear to the input end of the first rotary electric assembly or the input end of the second rotary electric assembly by changing the rotational direction, and the output end of the first rotary electric assembly and the output end of the second rotary electric assembly are each connected to the cleaning means, wherein in the first cleaning mode, the second gear is connected to the input end of the first rotary electric assembly and rotates the cleaning means in a set clockwise direction through the first rotary electric assembly when the second gear rotates in one clockwise direction, and in the second cleaning mode, the second gear is connected to the input end of the second rotary electric assembly and rotates the cleaning means in the set clockwise direction through the second rotary electric assembly when the second gear rotates in another clockwise direction. Claim 8 A side brush module for a cleaning device according to claim 7, wherein the first rotary drive assembly includes a third gear, a first intermediate drive assembly, and an output gear, and the third gear and the output gear are respectively connected to the input and output ends of the first intermediate drive assembly; the second rotary drive assembly includes a fourth gear, a second intermediate drive assembly, and the output gear, and the fourth gear and the output gear are respectively connected to the input and output ends of the second intermediate drive assembly; the output gear is rotatably connected to the swing arm; the cleaning means is coaxially connected to the output gear; and the first gear allows the second gear to be selectively coaxially connected to the third gear or the fourth gear by changing the rotational direction. Claim 9 A side brush module for a cleaning device according to claim 8, wherein the first intermediate drive assembly comprises a plurality of first drive gears that mesh sequentially, and along the drive direction of the first intermediate drive assembly, the first first drive gear meshes with the third gear and the last first drive gear meshes with the output gear; the second intermediate drive assembly comprises a plurality of second drive gears that mesh sequentially, and along the drive direction of the second intermediate drive assembly, the first second drive gear meshes with the fourth gear and the last second drive gear meshes with the output gear; and the number of the first drive gears is one more or one less than the number of the second drive gears. Claim 10 A side brush module for a cleaning device according to claim 8, wherein the first gear and the second gear are both helical gears, and ratchet teeth are installed on both sides of the second gear, and the second gear is installed coaxially between the third gear and the fourth gear so as to be movable along its axial direction, and ratchet teeth are installed on both sides of the third gear and the fourth gear facing the second gear, and the first gear is configured to selectively engage the ratchet teeth of the second gear with the ratchet teeth of the third gear or the ratchet teeth of the fourth gear by changing the direction of rotation. Claim 11 A side brush module for a cleaning device according to claim 8, wherein the first intermediate drive assembly comprises a synchronous pulley assembly and a plurality of first drive gears installed sequentially along the drive direction, and the synchronous pulley assembly is drive-connected between the first first drive gear and the third gear, between any two adjacent first drive gears, or between the last first drive gear and the output gear; the second intermediate drive assembly comprises a plurality of second drive gears that mesh sequentially, and along the drive direction, the first second drive gear meshes with the fourth gear, and the last second drive gear meshes with the output gear; and the quantity of the first drive gears and the quantity of the second drive gears are the same. Claim 12 A side brush module for a cleaning device according to claim 5, wherein the first electric assembly comprises a swing push rod and a push rod electric assembly, one end of the swing push rod is rotatably connected to the linkage shaft and the other end is connected to the push rod electric assembly, the linkage shaft is connected to the push rod electric assembly, and when the linkage shaft changes its rotational direction, the direction in which the swing push rod swings around the linkage shaft is changed through the push rod electric assembly, thereby changing the swing direction of the swing arm, so as to switch the side brush module between the first cleaning mode and the second cleaning mode. Claim 13 A side brush module for a cleaning device according to claim 12, wherein the push rod drive assembly comprises a first gear, a first mounting shaft, a friction drive wheel, and a friction wheel, wherein the first gear is extrapolated to the linkage shaft and is rotatable along the linkage shaft; the first mounting shaft is connected to one end of the swing push rod that is away from the linkage shaft; the friction drive wheel is extrapolated to the first mounting shaft and is rotatable about the first mounting shaft, and the first gear and the friction drive wheel mesh with each other; the friction wheel is extrapolated to the first mounting shaft and is rotatable about the first mounting shaft, and the friction wheel is connected to the friction drive wheel, and the friction wheel rolls along the wall surface of the fixed arm; and wherein the swing push rod changes its swing direction by changing the rolling direction of the friction wheel through the friction drive wheel when the first gear changes its rotation direction. Claim 14 A side brush module for a cleaning device according to claim 13, wherein the friction drive wheel and the side of the friction wheel are in contact with each other, and the push rod drive assembly further includes a boosting assembly, wherein the boosting assembly applies at least one of a first pressure directed toward the friction wheel and a second pressure directed toward the friction drive wheel to the friction drive wheel, so that the frictional force between the friction drive wheel and the friction wheel causes the friction wheel to rotate synchronously along the friction drive wheel. Claim 15 A side brush module for a cleaning device, characterized in that, in claim 14, the boosting assembly comprises a first position limiting means and a first elastic means, wherein the first position limiting means is connected to the first mounting shaft and is located on one side of the friction wheel away from the friction drive wheel, and the first elastic means is elastically compressed between the first position limiting means and the friction wheel; and the boosting assembly comprises a second position limiting means and a second elastic means, wherein the second position limiting means is connected to the first mounting shaft and is located on one side of the friction drive wheel away from the friction wheel, and the second elastic means is elastically compressed between the second position limiting means and the friction drive wheel. Claim 16 A cleaning device comprising a moving platform and a cleaning module, wherein the moving platform is configured to move automatically on an operating surface, the cleaning module is installed on the bottom of the moving platform and configured to clean at least a portion of the operating surface, and the cleaning module comprises a side brush module for a cleaning device according to any one of claims 1 to 15.

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