Side-brush module for cleaning apparatus, and cleaning apparatus

Abstract

A side brush module for a cleaning device includes a fixed arm mounted within a mobile platform of the cleaning device, a swing arm with one end rotatably connected to the fixed arm and another end mounted with a rotatable cleaning member, a positioning assembly disposed between the fixed arm and the swing arm, and a power assembly connected to the fixed arm, where the power assembly is configured to be capable of driving the swing arm to swing under a positioning of the positioning assembly, thereby driving the cleaning member to move between a retracted position and an extended position.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present disclosure is a Continuation Application of International Application No. PCT / CN2025 / 077413, filed on Feb. 14, 2025, which claims priority to Chinese Patent Application No. 202410024192.3, filed on Jan. 5, 2024, both of which are incorporated herein by reference in their entireties as a part of the present disclosure.TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of cleaning robots, and in particular, to a side brush module for a cleaning device and a cleaning device.BACKGROUND

[0003] Cleaning robots currently include sweeping robots, mopping robots, sweeping and mopping integrated robots, floor-cleaning machines, and the like. The sweeping and mopping integrated robots, which can both sweep and wash the floor, are becoming increasingly common in household life.SUMMARY

[0004] The present disclosure provides a side brush module for a cleaning device and a cleaning device.

[0005] A first aspect of the present disclosure provides a side brush module for a cleaning device. The side brush module includes:

[0006] a fixed arm, mounted within a mobile platform of a cleaning device;

[0007] a swing arm, where one end of the swing arm is rotatably connected to the fixed arm, and another end of the swing arm is mounted with a rotatable cleaning member;

[0008] a positioning assembly, disposed between the fixed arm and the swing arm; and

[0009] a power assembly, connected to the fixed arm, where the power assembly is configured to be capable of driving the swing arm to swing under a positioning of the positioning assembly, thereby driving the cleaning member to move between a retracted position and an extended position.

[0010] A second aspect of the present disclosure provides a cleaning device. The cleaning device includes:

[0011] a mobile platform, configured to automatically move on an operating surface; and

[0012] a cleaning module, disposed at a bottom of the mobile platform and configured to clean at least a portion of the operating surface, and the cleaning module includes the above side brush module for the cleaning device.

[0013] It should be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not construed as limiting the present disclosure.BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings, which are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and are used in conjunction with the specification to explain the principles of the present disclosure. Apparently, the drawings in the following description show merely some embodiments of the present disclosure, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts. In the drawings:

[0015] FIG. 1 is a schematic diagram of a three-dimensional structure of a cleaning device according to some embodiments of the present disclosure.

[0016] FIG. 2 is a schematic diagram of a bottom structure of a cleaning device according to some embodiments of the present disclosure.

[0017] FIG. 3 is a schematic diagram of a three-dimensional structure of a side brush module for a cleaning device according to some embodiments of the present disclosure.

[0018] FIG. 4 is a schematic diagram of a three-dimensional structure of a side brush module for a cleaning device according to some embodiments of the present disclosure, with a swing arm and a portion of a fixed arm hidden.

[0019] FIG. 5 is a schematic diagram of a three-dimensional structure of a swing arm and a fixed arm according to some embodiments of the present disclosure.

[0020] FIG. 6 is a schematic diagram of a three-dimensional structure of a transmission assembly according to some embodiments of the present disclosure.

[0021] FIG. 7 is a schematic diagram of a three-dimensional structure of a portion of a transmission assembly according to some embodiments of the present disclosure.

[0022] FIG. 8 is a schematic diagram of a three-dimensional structure of an internal structure of a swing arm according to some embodiments of the present disclosure.

[0023] FIG. 9 is a schematic diagram of a three-dimensional structure of a portion of a transmission assembly according to some embodiments of the present disclosure.

[0024] FIG. 10 is a schematic diagram of a three-dimensional structure of a portion of a fixed arm according to some embodiments of the present disclosure.

[0025] FIG. 11 is a schematic structural diagram of a positioning assembly according to some embodiments of the present disclosure.

[0026] Description of reference numerals:

[0027] Mobile platform 100, rearward portion 110, forward portion 111, sensing system 120, position determining apparatus 121, buffer 122, driving system 140, driving wheel assembly 141, steering 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, brush 4, drive member 31, transmission assembly 32, first gear 321, second gear 322, linkage shaft 323, first linkage shaft transmission gear 3241, second linkage shaft transmission gear 3242, third linkage shaft transmission gear 3243, fourth linkage shaft 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 member 344, second elastic member 345, first limiting member 347, positioning assembly 5, positioning post 51, positioning ball 52, sliding groove 6, first positioning groove 61, second positioning groove 62.DETAILED DESCRIPTION

[0028] For clearer descriptions of the objectives, technical solutions, and advantages of the present disclosure, the present disclosure is further described in detail hereinafter with reference to the drawings. Apparently, the described embodiments are merely some embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present disclosure.

[0029] The terms used in the embodiments of the present disclosure are for the purpose of describing particular embodiments only and are not intended to be limiting to the present disclosure. As used in the embodiments and the appended claims of the present disclosure, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise, and “a plurality of” generally includes at least two.

[0030] It should be understood that the term “and / or” as used herein is merely a description of an association relationship between associated objects, indicating that three possible relationships may exist. For example, “A and / or B” can represent: the presence of A alone, the simultaneous presence of A and B, and the presence of B alone. In addition, the character “ / ” herein generally indicates an “or” relationship between the associated objects before and after.

[0031] It should be understood that although the terms “first”, “second”, “third”, etc. may be used in the embodiments of the present disclosure to describe various information, such information should not be limited by these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the embodiments of the present disclosure, “first information” may also be referred to as “second information”, and similarly, “second information” may also be referred to as “first information”.

[0032] It should be further noted that the terms “comprise”, “include”, or any other variants thereof are intended to encompass a non-exclusive inclusion, such that a commodity or an apparatus including a list of elements includes not only those elements, but also other elements not explicitly listed or inherent to such commodity or apparatus. Without further limitation, an element defined by the phrase “comprising a / an…” or “including a / an…” does not exclude the presence of other identical elements in the commodity or apparatus including the element.

[0033] As the sweeping and mopping integrated robots have evolved, their functions have become increasingly diverse. However, the current sweeping and mopping integrated robots generally cannot sweep indoor corner regions, resulting in incomplete sweeping and compromising the user experience.

[0034] An objective of the present disclosure is to provide a side brush module for a cleaning device and a cleaning device that can solve the technical problem of being unable to sweep the indoor corner regions.

[0035] Optional embodiments of the present disclosure will be described in detail hereinafter with reference to the drawings.

[0036] FIGS. 1 and 2 are schematic structural diagrams of a cleaning device according to one exemplary embodiment. As shown in FIGS. 1 and 2, the automatic cleaning device may be a robot vacuum cleaner, a mopping / scrubbing robot, a window cleaning robot, or the like. The automatic cleaning device may include a mobile platform 100, a sensing system 120, a control system, a driving system 140, a cleaning module, a power system, and a human-machine interaction system 170. In the drawings:

[0037] The mobile platform 100 may be configured to automatically move in a target direction on an operating surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, the automatic cleaning device operates on the ground, and the ground serves as the operating surface. The automatic cleaning device may also be a window cleaning robot, the automatic cleaning device operates on the exterior glass surface of a building, and the glass serves as the operating surface. The automatic cleaning device may further be a pipeline cleaning robot, the automatic cleaning device operates on the inner surface of a pipeline, and the inner surface of the pipeline serves as the operating surface. For the purpose of illustration only, the following description in the present disclosure is illustrated by taking a mopping robot as an example.

[0038] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make an operational decision based on an unexpected environmental input; the non-autonomous mobile platform itself cannot adaptively make an operational decision based on an unexpected environmental input, but can execute a given procedure 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 the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set systematically or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

[0039] The sensing system 120 includes sensing apparatuses such as a position determining apparatus 121 located above the mobile platform 100, a buffer 122 located in a forward portion 111 of the mobile platform 100, a cliff sensor and an ultrasonic sensor located at the bottom of the mobile platform, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, and an odometer, to provide various position information and motion status information of the machine to the control system.

[0040] In order to describe the behavior of the automatic cleaning device more clearly, directions are defined as follows: The automatic cleaning device may travel on the ground through various combinations of movements relative to the three mutually perpendicular axes defined by the mobile platform 100, i.e., a transverse axis y, a front-rear axis x, and a central perpendicular axis z. A forward driving direction along the front-rear axis x is marked as “forward”, and a rearward driving direction along the front-rear axis x is marked as “rearward”. The transverse axis y essentially extends between the right wheel and the left wheel of the automatic cleaning device along an axis defined by the center point of a driving wheel assembly. The automatic cleaning device may rotate around the y axis. When the forward portion of the automatic cleaning device is tilted upward and the rearward portion of the automatic cleaning device is tilted downward, it is referred to as “pitch up”; when the forward portion of the automatic cleaning device is tilted downward and the rearward portion of the automatic cleaning device is tilted upward, it is referred to as “pitch down”. In addition, the automatic cleaning device may rotate around the z axis. In the forward direction of the automatic cleaning device, it is referred to as “turn right” when the automatic cleaning device is tilted to the right side of the x axis, and it is referred to as “turn left” when the automatic cleaning device is tilted to the left side of the x axis.

[0041] As shown in FIG. 2, cliff sensors are disposed at the bottom of the mobile platform 100 and in front of and behind the driving wheel assembly, and the cliff sensors are configured to prevent the automatic cleaning device from falling off when reversing, thereby preventing damage to the automatic cleaning device. The aforementioned “front” refers to a side that is in the same direction as the traveling direction of the automatic cleaning device, and the aforementioned “rear” refers to a side that is in the direction opposite to the traveling direction of the automatic cleaning device.

[0042] The position determining apparatus 121 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0043] The components in the sensing system 120 may operate independently, or may operate together to more accurately perform the target function. By identifying the surface to be cleaned via the cliff sensors and the ultrasonic sensor, the physical properties of the surface to be cleaned, including surface material, degree of cleanliness, and the like, can be determined, and the properties can be determined more accurately in combination with the camera, the laser distance sensor, and the like.

[0044] The forward portion 111 of the mobile platform 100 is provided with the buffer 122. During the cleaning process, when the driving wheel assembly propels the automatic cleaning device to travel on the ground, the buffer 122 detects one or more events (or objects) in the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor. The automatic cleaning device can control, based on the events (or objects) detected by the buffer 122, such as an obstacle or a wall, the driving wheel assembly to enable the automatic cleaning device to respond to the events (or objects), such as moving away from the obstacle.

[0045] The control system is disposed on a main circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit or an application processor, that communicates with a non-transitory memory, such as a hard disk, a flash memory, or a random access memory. The application processor is configured to receive environmental information sensed by a plurality of sensors and transmitted from the sensing system 120, draw a real-time map of an environment in which the automatic cleaning device is located by using a positioning algorithm, such as SLAM based on obstacle information fed back by the laser distance sensor, autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 140 to perform operations such as traveling forward, traveling rearward, and / or steering according to the autonomously determined travel path. Further, the control system may also determine whether to activate the cleaning module to perform a cleaning operation based on the environmental information and the environmental map.

[0046] Specifically, with reference to distance information and speed information that are fed back by sensing apparatuses such as the buffer, the cliff sensor, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, and the odometer, the control system can comprehensively determine the current operating state of the sweeper, such as crossing a door threshold, getting onto a carpet, being located at a cliff, being stuck from above or below, having a full dust box, or being picked up. In addition, a specific next-step action strategy is given for different cases, such that the automatic cleaning device operates more in line with the requirements of the owner and achieves better user experience. Further, the control system can plan the most efficient and reasonable sweeping path and sweeping mode based on the information in the real-time map drawn by using SLAM, thereby greatly improving the sweeping efficiency of the automatic cleaning device.

[0047] The driving system 140 may execute a driving command based on specific distance and angle information, for example, x, y, and θ components, to steer the automatic cleaning device to run across the ground. The driving system 140 includes a driving wheel assembly 141. The driving system 140 can simultaneously control a left wheel and a right wheel. To more precisely control the movement of the machine, the driving system 140 preferably includes a left driving wheel assembly and a right driving wheel assembly. The left and right driving wheel assemblies are symmetrically arranged along a transverse axis defined by the mobile platform 100. To enable the automatic cleaning device to move more stably on the ground or to exhibit stronger mobility, the automatic cleaning device may include one or more steering assemblies 142. Each steering assembly 142 may be either a driven wheel or a driving wheel, and may adopt structural forms including but not limited to a universal wheel. The steering assembly 142 may be located in front of the driving wheel assembly 141.

[0048] The power system includes a rechargeable battery, for example, a nickel-metal hydride battery and a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected to a single-chip microcomputer control circuit. The main unit is charged by connection to a charging dock via charging electrodes disposed on a side or at the bottom of the machine body. If dust is attached to the exposed charging electrode, the plastic body around the electrode will melt and deform due to the accumulation effect of charge during charging, and even the electrode itself may deform, such that normal charging cannot be continued.

[0049] The human-machine interaction system 170 includes a button on a main unit panel for a user to select a function, and may also include a display screen and / or an indicator light and / or a speaker, where the display screen, the indicator light, and the speaker show a current state of the machine or function options to the user, and may also include a mobile phone client program. For a path navigation type cleaning device, a mobile phone client may show a map of an environment in which the device is located and a location of the machine to the user, providing the user with richer and more user-friendly function options.

[0050] The cleaning module may include a dry cleaning module 300 and / or a wet cleaning module 200. As shown in FIG. 2, the wet cleaning module 200 is configured to clean at least a portion of the operating surface in a wet cleaning manner. The wet cleaning module 200 includes a cleaning head 210. The cleaning head 210 is configured to clean at least a portion of the operating surface, and the drive unit is configured to drive the cleaning head 210 to perform a substantially reciprocating motion along a target surface, the target surface being a portion of the operating surface. The cleaning head 210 performs reciprocating motion along the surface to be cleaned. The surface of the cleaning head 210 in contact with the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through a reciprocating motion, thereby removing stains on the surface to be cleaned.

[0051] The dry cleaning module 300 is configured to clean at least a portion of the operating surface in a dry cleaning manner. The dry cleaning module 300 includes a roller brush 310 and the like. The roller brush 310, with certain interference with the ground, sweeps up garbage on the ground and rolls up the garbage to the front of a dust suction inlet between the roller brush 310 and the dust box, and then the garbage is sucked into the dust box by air having a suction force, which is generated by the fan and passes through the dust box. The dry cleaning module 300 may further include a side brush module 320, which is configured to sweep debris into the roller brush region of the cleaning module.

[0052] According to one of the specific embodiments of the present disclosure, as shown in FIG. 3, the side brush module 320 for a cleaning device according to the present disclosure includes a fixed arm 1, a swing arm 2, and a power assembly 3. The fixed arm 1 is configured to be mounted at the bottom of the mobile 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 of the swing arm is mounted with a rotatable cleaning member, for example, a brush 4. The power assembly 3 is connected to the fixed arm 1, and the power assembly 3 is configured to be capable of driving the swing arm 2 to swing, so as to drive the brush 4 to move between a retracted position and an extended position. The side brush module 320 is provided with a normal cleaning mode and a special cleaning mode. In the normal cleaning mode, the brush 4 is in the retracted position, and in the special cleaning mode, the brush 4 is in the extended position.

[0053] The side brush module 320 for a cleaning device according to the embodiments of the present disclosure can drive, via the power assembly 3, the swing arm 2 to swing, thereby driving the brush 4 to move between the retracted position and the extended position. When sweeping a wide and flat position, the side brush module 320 switches to the normal cleaning mode. In this case, the brush 4 is in the retracted position and can sweep the operating surface below the mobile platform 100. When sweeping a position close to a wall corner, the side brush module 320 switches to the special cleaning mode. In this case, the brush 4 is in the extended position, and can sweep a larger area and extend into the wall corner region for sweeping, thereby thoroughly sweeping the wall corner region. Therefore, the side brush module 320 for a cleaning device according to the embodiments of the present disclosure can sweep indoor wall corner regions, expanding the overall sweeping coverage, thereby improving the user experience.

[0054] In one embodiment of the present disclosure, as shown in FIGS. 3 to 5, the power assembly 3 includes a drive member 31 and a transmission assembly 32. The drive member 31 can drive, via the transmission assembly 32, the swing arm 2 to swing and the brush 4 to rotate.

[0055] The use of one drive member 31 can not only drive the swing arm 2 to swing, but also drive the brush 4 to rotate, thereby reducing the investment in power sources and saving costs.

[0056] Illustratively, the drive member 31 is a motor.

[0057] In one embodiment of the present disclosure, the drive member 31 includes a rotating output shaft. In the normal cleaning mode, the rotating output shaft rotates in a first hour hand direction M, and in the special cleaning mode, the rotating output shaft rotates in a second hour hand direction N. In the case where the rotation direction of the rotating output shaft changes from the first hour hand direction M to the second hour hand direction N, the side brush module 320 is switched from the normal cleaning mode to the special cleaning mode; and in the case where the rotation direction of the rotating output shaft changes from the second hour hand direction to the first hour hand direction, the side brush module 320 is switched from the special cleaning mode to the normal cleaning mode.

[0058] The drive member 31 changes, by changing the rotation direction of the rotating output shaft thereof, the swinging direction of the swing arm 2, thereby achieving the switching of the cleaning mode. Upon the completion of the cleaning mode switching, the drive member 31 rotates in the changed hour hand direction to continuously drive the brush 4. The operation of switching the cleaning mode is convenient and fast.

[0059] In one embodiment of the present disclosure, one of the fixed arm 1 and the swing arm 2 is provided with a limiting protrusion, and the other is provided with a retracted limiting block and an extended limiting block that are spaced apart around the swing center of the swing arm 2. The limiting protrusion is located between the retracted limiting block and the extended limiting block. When the swing arm 2 rotates around the first hour hand direction M until the limiting protrusion abuts against the extended limiting block, the brush 4 is limited to the extended position. When the swing arm 2 rotates around the second hour hand direction N until the limiting protrusion abuts against the retracted limiting block, the brush 4 is limited to the retracted position.

[0060] In this way, the swing angle of the swing arm 2 is limited, the movement range of the brush 4 is more accurately limited, and the operation accuracy of the side brush module 320 is improved.

[0061] In one embodiment of the present disclosure, one of the first hour hand direction M and the second hour hand direction N is a clockwise direction, and the other is a counterclockwise direction.

[0062] In one embodiment of the present disclosure, the brush 4 rotates around the same hour hand direction in the special cleaning mode and the normal cleaning mode.

[0063] The rotation direction of the brush 4 remains unchanged, which can improve the cleanliness of the sweeping process and prevent the rotation direction of the brush 4 from being affected by the change in the output rotation direction of the drive member 31, thereby ensuring the cleanliness of the sweeping process.

[0064] In one embodiment of the present disclosure, the transmission assembly 32 includes a linkage shaft 323, a first transmission assembly, and a second transmission assembly. The linkage shaft 323 is rotatably connected, around its own central axis, to the fixed arm 1 and the swing arm 2, and the drive member 31 is in driving connection with the linkage shaft 323 and can drive the linkage shaft 323 to rotate. An input end of the first transmission assembly is connected to the linkage shaft 323, an output end of the first transmission assembly is connected to the swing arm 2, and the swing arm 2 can be driven, via the first transmission assembly, to swing when the linkage shaft 323 rotates. An input end of the second transmission assembly is connected to the first transmission assembly, an output end of the second transmission assembly is connected to the brush 4, and the brush 4 can be driven, via the first transmission assembly and the second transmission assembly, to rotate when the linkage shaft 323 rotates.

[0065] The rotation of the rotating output shaft of the drive member 31 is transmitted to the swing arm 2 sequentially via the linkage shaft 323 and the first transmission assembly, thereby driving the swing arm 2 to swing so as to switch the cleaning mode. The rotation of the rotating output shaft of the drive member 31 is transmitted to the brush 4 sequentially via the linkage shaft 323, the first transmission assembly, and the second transmission assembly, thereby driving the brush 4 to rotate so as to sweep the operating surface. In this way, one single drive member 31 can drive both the rotation of the brush 4 and the swinging of the swing arm 2.

[0066] In one embodiment of the present disclosure, as shown in FIGS. 4 and 6, the rotating output shaft of the drive member 31 is coaxially connected to a first linkage shaft transmission gear 3241. The first linkage shaft transmission gear 3241 and the second linkage shaft transmission gear 3242, the third linkage shaft transmission gear 3243, and the fourth linkage shaft transmission gear 3244 are sequentially meshed. The fourth linkage shaft transmission gear 3244 is sleeved on the linkage shaft 323, and the linkage shaft 323 can rotate synchronously with the fourth linkage shaft transmission gear 3244.

[0067] The rotating output shaft of the drive member 31 drives the first linkage shaft transmission gear 3241 to rotate, and the rotation of the first linkage shaft transmission gear 3241 is sequentially transmitted, via the second linkage shaft transmission gear 3242 and the third linkage shaft transmission gear 3243, to the fourth linkage shaft transmission gear 3244, so as to drive the fourth linkage shaft transmission gear 3244 to rotate, thereby driving the linkage shaft 323 to rotate. In this way, the drive member 31 drives the linkage shaft 323.

[0068] In one embodiment of the present disclosure, as shown in FIGS. 4, 5, and7, the first transmission assembly includes a first gear 321 and a second gear 322. The first gear 321 is sleeved on the linkage shaft 323 and can rotate with the linkage shaft 323, and the second gear 322 is rotatably connected to the swing arm 2. The first gear 321 and the second gear 322 mesh with each other. When the rotation direction of the first gear 321 is changed, the swing arm 2 can be driven, via the second gear 322, to change the swing direction, so as to enable the side brush module 320 to switch between the normal cleaning mode and the special cleaning mode.

[0069] When the drive member 31 drives the linkage shaft 323 to change the rotation direction, the first gear 321 changes the rotation direction accordingly, such that the swing arm 2 is driven, via the second gear 322, to change the swing direction. Therefore, by changing the rotation direction of the rotating output shaft of the drive member 31, the swing direction of the swing arm 2 can be changed, thereby achieving the switching of the cleaning mode. The switching operation is simple and fast, saving both time and effort.

[0070] Illustratively, as shown in FIGS. 3 and 7, the second gear 322 is rotatably mounted on the swing arm 2 via a second mounting shaft 325. In the normal cleaning mode, the brush4 is in the retracted position, the limiting protrusion abuts against the retracted limiting block, the first gear 321 rotates around the second hour hand direction N to drive the second gear 322 to rotate around the first hour hand direction M, and the rotation of the second gear 322 is transmitted, via the second transmission assembly, to the brush 4, driving the brush 4 to rotate. When switching to the special cleaning mode is required, the drive member 31 drives the rotation direction of the first gear 321 to change from the second hour hand direction N to the first hour hand direction M. As the first gear 321 rotates around the first hour hand direction M, the gear teeth of the second gear 322 are subjected to an acting force at an included angle with the axial direction of the second mounting shaft 325. A portion of the acting force drives the second gear 322 to rotate around the second hour hand direction N, and the other portion of the acting force is transmitted to the second mounting shaft 325 and forms a rotational torque relative to the linkage shaft 323. The rotational torque in turn drives the second mounting shaft 325 to rotate around the linkage shaft 323 in the first hour hand direction M. The second mounting shaft 325 drives the swing arm 2 to rotate around the linkage shaft 323 in the first hour hand direction M, such that the limiting protrusion moves away from the retracted limiting block until the limiting protrusion moves to abut against the extended limiting block. In this case, due to the limitation of the extended limiting block, the swing arm 2 cannot continue to rotate. At this point, the brush 4 is in the extended position, and the switching from the normal cleaning mode to the special cleaning mode is completed. In the special cleaning mode, the brush 4 is in the extended position, the limiting protrusion abuts against the extended limiting block, and the first gear 321 rotates around the first hour hand direction M. When switching to the normal cleaning mode is required, the rotation direction of the drive member 31 is changed again. By repeating this cycle, quick switching between the two cleaning modes can be achieved.

[0071] In one embodiment of the present disclosure, the second transmission assembly includes a first rotary transmission assembly and a second rotary transmission assembly. The first gear 321 enables, by changing the rotation direction, the second gear 322 to be selectively connected to an input end of the first rotary transmission assembly or an input end of the second rotary transmission assembly, and an output end of the first rotary transmission assembly and an output end of the second rotary transmission assembly are each connected to the brush 4. In the normal cleaning mode, the second gear 322 is connected to the input end of the first rotary transmission assembly, and when the second gear 322 rotates in one hour hand direction, the brush 4 can be driven, via the first rotary transmission assembly, to rotate in a set hour hand direction. In the special cleaning mode, the second gear 322 is connected to the input end of the second rotary transmission assembly, and when the second gear 322 rotates around another hour hand direction, the brush 4 can be driven, via the second rotary transmission assembly, to rotate in the set hour hand direction.

[0072] The set hour hand direction may be a first hour hand direction M or a second hour hand direction N, which is not specifically limited herein.

[0073] When the drive member 31 drives the linkage shaft 323 to change the rotation direction, the first gear 321 changes the rotation direction accordingly, such that the second gear 322 is selectively connected to the input end of the first rotary transmission assembly or the input end of the second rotary transmission assembly. Therefore, when the rotating output shaft of the drive member 31 changes the rotation direction, the second gear 322 switches the rotary transmission assembly accordingly. As a result, when the side brush module 320 switches the cleaning mode by changing the output rotation direction of the drive member 31, the rotation direction of the brush 4 is not affected by the change in the output rotation direction of the drive member 31. That is, when the drive member 31 drives, by changing the rotation direction, the swing arm 2 to extend or retract, the rotation direction of the brush 4 is not affected, such that the rotation direction of the brush 4 rotates around one single hour hand direction regardless of the retracted position or the extended position, thereby improving the cleanliness of the sweeping process.

[0074] In one embodiment of the present disclosure, the first rotary transmission assembly includes a third gear 3261, a first intermediate transmission assembly, and an output gear 3263. The third gear 3261 and the output gear 3263 are connected to an input end and an output end of the first intermediate transmission assembly, respectively. The second rotary transmission assembly includes a fourth gear 3262, a second intermediate transmission assembly, and the output gear 3263. The fourth gear 3262 and the output gear 3263 are connected to an input end and an output end of the second intermediate transmission assembly, respectively, the output gear 3263 is rotatably connected to the swing arm 2, the brush 4 is coaxially connected to the output gear 3263, and the first gear 321 enables, by changing the rotation direction, the second gear 322 to be selectively coaxially connected to the third gear 3261 or the fourth gear 3262.

[0075] When the drive member 31 drives the linkage shaft 323 to change the rotation direction, the first gear 321 changes the rotation direction accordingly, such that the second gear 322 is selectively coaxially connected to the third gear 3261 or the fourth gear 3262, and then the motion is transmitted to the third gear 3261 or the fourth gear 3262. Therefore, when the rotating output shaft of the drive member 31 changes the rotation direction, the second gear 322 switches the coaxially connected gear, thereby changing the motion transmission path. In this way, when the side brush module 320 switches the cleaning mode by changing the output rotation direction of the drive member 31, the rotation direction of the brush 4 is not affected by the change in the rotation direction of the drive member 31. That is, when the drive member 31 drives, by changing the rotation direction, the swing arm 2 to extend or retract, the rotation direction of the brush 4 is not affected, such that the rotation direction of the brush 4 rotates around one single hour hand regardless of the retracted position or the extended position, thereby improving the cleanliness of the sweeping process.

[0076] In one embodiment of the present disclosure, the first gear 321 and the second gear 322 are both helical gears, two side surfaces of the second gear 322 are provided with ratchets, the second gear 322 is axially movable and is coaxially disposed between the third gear 3261 and the fourth gear 3262, side surfaces, facing the second gear 322, of the third gear 3261 and the fourth gear 3262 are provided with ratchets, and the first gear 321 enables, by changing the rotation direction, the ratchets of the second gear 322 to selectively mesh with the ratchets of the third gear 3261 or the ratchets of the fourth gear 3262.

[0077] It can be understood that the first gear 321 and the second gear 322 are both helical gears and mesh with each other. Therefore, the rotational directions of the two gears are opposite. Referring to FIG. 7, the first gear 321 rotates leftwards, and the second gear 322 rotates rightwards. When the first gear 321 changes from rotating around the second hour hand direction N to rotating around the first hour hand direction M, the gear teeth of the first gear 321 apply an obliquely upward acting force on the gear teeth of the second gear 322, the component force of the obliquely upward acting force in the vertical direction drives the second gear 322 to move vertically upward until the ratchets on the second gear mesh with the ratchets of the third gear 3261, and the component force of the obliquely upward acting force in the horizontal direction drives the second gear 322 to rotate in the second hour hand direction N. In this case, since the ratchets of the second gear 322 mesh with the ratchets of the third gear 3261, the second gear 322 drives the third gear 3261 to rotate synchronously. The rotational motion of the third gear 3261 is transmitted, via the first intermediate transmission assembly between the third gear 3261 and the output gear 3263, to the output gear 3263, thereby driving the brush 4 to rotate. When the first gear 321 changes from rotating around the first hour hand direction M to rotating around the second hour hand direction N, the gear teeth of the first gear 321 apply an obliquely downward acting force on the gear teeth of the second gear 322, the component force of the obliquely downward acting force in the vertical direction drives the second gear 322 to move vertically downward until the ratchets on the second gear mesh with the ratchets of the fourth gear 3262, and the component force of the obliquely downward acting force in the horizontal direction drives the second gear 322 to rotate in the first hour hand direction M. In this case, since the ratchets of the second gear 322 mesh with the ratchets of the fourth gear 3262, the second gear 322 drives the fourth gear 3262 to rotate synchronously. The rotational motion of the fourth gear 3262 is transmitted, via the second intermediate transmission assembly between the fourth gear 3262 and the output gear 3263, to the output gear 3263, thereby driving the brush 4 to rotate.

[0078] In this way, by selectively meshing the ratchets of the second gear 322 with the ratchets of the third gear 3261 or the ratchets of the fourth gear 3262, switching between two motion transmission paths is achieved. Thus, when the side brush module 320 switches the cleaning mode by changing the output rotation direction of the drive member 31, the rotation direction of the brush 4 is not affected by the change in the rotation direction of the drive member 31.

[0079] Illustratively, as shown in FIG. 7, the second gear 322 is rotatable around the second mounting shaft 325 and is movably sleeved on the second mounting shaft 325 in the axial direction of the second mounting shaft 325, and the third gear 3261 and the fourth gear 3262 are rotatably sleeved on the second mounting shaft 325 only around 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, so as to ensure the transmission of motion of the second gear 322 toward the output gear 3263, thereby driving the brush 4 to rotate. Moreover, the second gear 322 can move close to the third gear 3261 or the fourth gear 3262 under the action of the first gear 321, so as to switch the transmission motion path, thereby ensuring that the rotation direction of the brush 4 remains unchanged.

[0080] In one embodiment of the present disclosure, the first intermediate transmission assembly includes a plurality of first transmission gears that are sequentially meshed, and in a transmission direction, a first one of the first transmission gears meshes with the third gear 3261, and a last one of the first transmission gears meshes with the output gear 3263. The second intermediate transmission assembly includes a plurality of second transmission gears that are sequentially meshed, and in a transmission direction, a first one of the second transmission gears meshes with the fourth gear 3262, and a last one of the second transmission gears meshes with the output gear 3263. The number of the first transmission gears is one more or one less than the number of the second transmission gears.

[0081] Since the rotation directions of two meshing gears are opposite during transmission, when the input rotation directions of the two gear sets are opposite and the number of gears in the two gear sets differs by one, the output rotation directions can be made the same. Thus, the rotation directions transmitted by the two gear sets to the output gear 3263 are the same, thereby enabling the rotation direction of the brush 4 to remain unchanged.

[0082] Illustratively, K first transmission gears are provided, and K-1 second transmission gears are provided. The K first transmission gears are not shared with the K-1 second transmission gears. In this way, the number of the two types of gears differs by one, enabling the first intermediate transmission assembly and the second intermediate transmission assembly to transmit the same rotation direction to the output gear 3263.

[0083] Illustratively, K first transmission gears are provided, and K-1 second transmission gears are provided. The K-2 first transmission gears are shared with the K-2 second transmission gears. In this way, the number of gears is reduced, and the structure of the transmission assembly 32 is simplified.

[0084] Illustratively, as shown in FIGS. 6 and 8, four first transmission gears are provided, and three second transmission gears are provided.

[0085] Illustratively, two of the first transmission gears are shared with two of the second transmission gears. For example, as shown in FIG. 8, the four first transmission gears are a fifth gear 3264, a sixth gear 3265, a seventh gear 3266, and an eighth gear 3267, and the three second transmission gears are a ninth gear 3268, a seventh gear 3266, and an eighth gear 3267. That is, the seventh gear 3266 and the eighth gear 3267 serve as both the first transmission gear and the second transmission gear.

[0086] In one embodiment of the present disclosure, the fixed arm 1 and the swing arm 2 are both configured as internally hollow housings. The first linkage shaft transmission gear 3241, the second linkage shaft transmission gear 3242, the third linkage shaft transmission gear 3243, and the fourth linkage shaft transmission gear 3244 are all rotatably connected within the hollow cavity of the fixed arm 1. A portion of the linkage shaft 323 rotatably passes through the hollow cavity of the fixed arm 1, and the other portion of the linkage shaft 323 rotatably passes through the hollow cavity of the swing arm 2. The first gear 321, the second gear 322, the third gear 3261, the fourth gear 3262, the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, the eighth gear 3267, the ninth gear 3268, and the output gear 3263 are all rotatably disposed within the hollow cavity of the swing arm 2.

[0087] In this way, the stable mounting of each gear is achieved, and the fixed arm 1 and the swing arm 2 provide protection for the gears inside.

[0088] In one embodiment of the present disclosure, the first intermediate transmission assembly includes a timing pulley assembly and a plurality of first transmission gears sequentially arranged in the transmission direction. The timing pulley assembly is in transmission connection between a first one of the first transmission gears and the third gear 3261, between any two adjacent ones of the first transmission gears, or between a last one of the first transmission gears and the output gear 3263. The second intermediate transmission assembly includes a plurality of second transmission gears that are sequentially meshed, and in the transmission direction, a first one of the second transmission gears meshes with the fourth gear 3262, and a last one of the second transmission gears meshes with the output gear 3263. The number of the first transmission gears is the same as the number of the second transmission gears.

[0089] It can be understood that the timing pulley assembly includes two timing pulleys and a timing belt with two ends respectively wound around the two timing pulleys, and the two timing pulleys are coaxially connected to two transmission gears, respectively. The two timing pulleys rotate synchronously under the transmission action of the timing belt, such that the two transmission gears connected to the two timing pulleys have the same rotation direction. The two transmission gears may be a first one of the first transmission gears and the third gear 3261, or may be any two adjacent first transmission gears, or may be a last one of the first transmission gears and the output gear 3263. In this way, adding one timing pulley assembly to one transmission path enables a pair of adjacent transmission gears in that transmission path to rotate in the same direction and the remaining adjacent gears to rotate in opposite directions. In the other transmission path, any two adjacent gears rotate in opposite directions. Therefore, in the case where the input rotation directions of the two transmission paths are opposite, the output rotation direction can be made the same, thereby enabling the rotation direction of the brush 4 to remain unchanged.

[0090] In one embodiment of the present disclosure, as shown in FIG. 9, the first transmission assembly includes a swing push rod 33 and a push rod transmission assembly 34. One end of the swing push rod 33 is rotatably connected to the linkage shaft 323, and the other end of the swing push rod is connected to the push rod transmission assembly 34. The linkage shaft 323 is connected to the push rod transmission assembly 34. When the rotation direction of the linkage shaft 323 is changed, the swing push rod 33 can be driven, via the push rod transmission assembly 34, to change the swing direction around the linkage shaft 323, so as to drive the swing arm 2 to change the swing direction, thereby enabling the side brush module to switch between the normal cleaning mode and the special cleaning mode.

[0091] The drive member 31 can drive the linkage shaft 323 to change the rotation direction by changing the output direction, such that the swing arm 2 is driven, via the push rod transmission assembly 34 and the swing push rod 33, to change the swing direction. Therefore, by changing the rotation direction of the rotating output shaft of the drive member 31, the swing direction of the swing arm 2 can be changed, thereby achieving the switching of the cleaning mode.

[0092] In one embodiment of the present disclosure, the push rod transmission assembly 34 includes a first gear 321, a first mounting shaft 341, a friction transmission wheel 342, and a friction wheel 343. The first gear 321 is sleeved on the linkage shaft 323 and can rotate with the linkage shaft 323, and the first mounting shaft 341 is connected to an end, facing away from the linkage shaft 323, of the swing push rod 33. The friction transmission wheel 342 is sleeved on the first mounting shaft 341 and can rotate relative to the first mounting shaft 341, and the first gear 321 and the friction transmission wheel 342 mesh with each other. The friction wheel 343 is sleeved on the first mounting shaft 341 and can rotate relative to the first mounting shaft 341, the friction wheel 343 is connected to the friction transmission wheel 342, and the friction wheel 343 can roll along the wall surface of the fixed arm 1. When the first gear 321 changes the rotation direction, the friction wheel 343 can be driven, via the friction transmission wheel 342, to change the rolling direction, such that the swing push rod 33 changes the swing direction, thereby enabling the side brush module to switch between the normal cleaning mode and the special cleaning mode.

[0093] When the first gear 321 rotates, the friction transmission wheel 342 is driven to rotate, the friction transmission wheel 342 drives the friction wheel 343 to rotate, and the friction wheel 343 rolls along the wall surface of the fixed arm 1; that is, the friction wheel 343 moves relative to the wall surface of the fixed arm 1. In other words, one end, connected to the first mounting shaft 341, of the swing push rod 33 moves along with the friction wheel 343 and moves relative to the wall surface of the fixed arm 1, while the position of one end, connected to the linkage shaft 323, of the swing push rod 33 relative to the wall surface of the fixed arm 1 remains substantially unchanged. Therefore, the position of the swing push rod 33 changes; specifically, the swing push rod 33 swings around the linkage shaft 323, and one end, away from the linkage shaft 323, of the swing push rod 33 pushes the swing arm 2 to swing.

[0094] In this way, the transmission of the push rod transmission assembly 34 to the swing push rod 33 is achieved, such that the swing direction of the swing arm 2 can be changed by changing the rotation direction of the rotating output shaft of the drive member 31, thereby enabling convenient switching of the cleaning mode.

[0095] In one embodiment of the present disclosure, side surfaces of the friction transmission wheel 342 and the friction wheel 343 are in contact, and the push rod transmission assembly further includes a pressing assembly. The pressing assembly applies a first pressing force toward the friction wheel 343 to the friction transmission wheel 342, and / or applies a second pressing force toward the friction transmission wheel 342 to the friction wheel 343, such that the friction force between the friction transmission wheel 342 and the friction wheel 343 can drive the friction wheel 343 to rotate synchronously with the friction transmission wheel 342.

[0096] In this way, compared with a direct rigid connection between the friction transmission wheel 342 and the friction wheel 343, the damage to the friction wheel 343 and the fixed arm 1 under overload conditions can be avoided.

[0097] In one embodiment of the present disclosure, the pressing assembly includes a first limiting member 347 and a first elastic member 344, the first limiting member 347 is connected to the first mounting shaft 341 and is located on a side, facing away from the friction transmission wheel 342, of the friction wheel 343, and the first elastic member 344 is elastically compressed between the first limiting member 347 and the friction wheel 343; and / or the pressing assembly includes a second limiting member and a second elastic member 345, the second limiting member is connected to the first mounting shaft 341 and is located on a side, facing away from the friction wheel 343, of the friction transmission wheel 342, and the second elastic member 345 is elastically compressed between the second limiting member and the friction transmission wheel 342.

[0098] Illustratively, a portion of the swing push rod 33 serves as the second limiting member and presses against a side, facing away from the friction transmission wheel 342, of the second elastic member 345.

[0099] In this way, the first pressing force and the second pressing force are enabled to be elastic pressures, thereby further preventing damage to the friction wheel 343 and the fixed arm 1 under overload conditions.

[0100] Illustratively, as shown in FIGS. 6 and 10, the wheel surface of the friction wheel 343 is a corrugated surface, and the surface of the fixed arm 1 in rolling contact with the friction wheel 343 is a corrugated surface that matches the wheel surface of the friction wheel 343 to increase the rolling friction therebetween. This ensures that the friction wheel 343 rolls along the fixed arm 1 when subjected to a force, thereby ensuring that the friction wheel 343 drives the swing push rod 33 to swing during rolling.

[0101] It should be noted that the solution in which the first transmission assembly, including the first gear 321 and the second gear 322, drives the swing arm 2 to swing is the first swing transmission solution; and the solution in which the first transmission assembly, including the swing push rod 33 and the push rod transmission assembly 34, drives the swing arm 2 to swing is the second swing transmission solution. In some embodiments, the side brush module 320 may employ only the first swing transmission solution, or may employ both the first swing transmission solution and the second swing transmission solution.

[0102] The following describes the operating steps of the cleaning device according to some embodiments of the present disclosure.

[0103] In S1, in the default state, the side brush module 320 is in the normal cleaning mode, the brush 4 is in the retracted position, and the limiting protrusion abuts against the retracted limiting block. The drive member 31 drives the first gear 321 to rotate around the second hour hand direction N, thereby driving the second gear 322 to rotate around the first hour hand direction M. The ratchets of the second gear 322 mesh with the ratchets of the fourth gear 3262, and the second gear 322 drives the fourth gear 3262 to rotate synchronously. The rotation of the fourth gear 3262 is transmitted to the output gear 3263 sequentially via the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267, thereby driving the brush 4 to rotate around the first hour hand direction M.

[0104] In S2, when the mobile platform 100 moves to a corner position, the drive member 31 changes the output rotation direction, such that the rotation direction of the first gear 321 is changed from the second hour hand direction N to the first hour hand direction M, and the first gear 321 drives the rotation direction of the second gear 322 to change from the first hour hand direction M to the second hour hand direction N. In this case, the second gear 322 applies an acting force on the second mounting shaft 325 under the action of the first gear 321, and this acting force causes the second mounting shaft 325 to drive the swing arm 2 to rotate around the linkage shaft 323 in the first hour hand direction M, such that the brush 4 moves away from the mobile platform 100, and the limiting protrusion moves away from the retracted limiting block and moves toward the extended limiting block. When the swing arm 2 moves until the limiting protrusion abuts against the extended limiting block, the swing arm 2 stops swinging. In this case, the brush 4 is in the extended position, and the side brush module 320 is switched from the normal cleaning mode to the special cleaning mode.

[0105] After the rotation direction of the second gear 322 changes from the first hour hand direction M to the second hour hand direction N, the ratchets of the second gear 322 disengage from the ratchets of the fourth gear 3262 and mesh with the ratchets of the third gear 3261. The second gear 322 drives the third gear 3261 to rotate synchronously, and the rotation of the third gear 3261 is transmitted to the output gear 3263 sequentially via the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, and the eighth gear 3267, thereby driving the brush 4 to rotate around the first hour hand direction M and enabling the brush 4 to sweep the corner region.

[0106] In S3, upon the completion of the cleaning of the corner region, the drive member 31 changes the output rotation direction again, such that the rotation direction of the first gear 321 is changed from the first hour hand direction M to the second hour hand direction N, and the first gear 321 drives the rotation direction of the second gear 322 to be changed from the second hour hand direction N to the first hour hand direction M. In this case, the second gear 322 applies an acting force on the second mounting shaft 325 under the action of the first gear 321, and this acting force causes the second mounting shaft 325 to drive the swing arm 2 to rotate around the linkage shaft 323 in the second hour hand direction N, such that the brush 4 moves toward the mobile platform 100, and the limiting protrusion moves away from the extended limiting block and moves toward the retracted limiting block. When the swing arm 2 moves until the limiting protrusion abuts against the retracted limiting block, the swing arm 2 stops swinging. In this case, the brush 4 is in the retracted position, and the side brush module 320 is switched from the special cleaning mode to the normal cleaning mode.

[0107] After the rotation direction of the second gear 322 is changed from the second hour hand direction N to the first hour hand direction M, the ratchets of the second gear 322 disengage from the ratchets of the third gear 3261 and mesh with the ratchets of the fourth gear 3262, the second gear 322 drives the fourth gear 3262 to rotate synchronously, and the rotation of the fourth gear 3262 is transmitted to the output gear 3263 sequentially via the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267, thereby driving the brush 4 to rotate around the first hour hand direction M.

[0108] In this way, if the corner region is encountered again in the cleaning process, the actions of steps S1 to S3 are repeated.

[0109] In the above steps S1 to S3, the cleaning mode can be switched by changing the output rotation direction of the drive member 31, which is simple and quick to operate. In addition, in the two cleaning modes, the brush 4 rotates around the first hour hand direction M, and the rotation direction of the brush 4 is not affected by the change in the output rotation direction of the drive member 31, thereby improving the cleaning effect.

[0110] One embodiment of the present disclosure further provides a side brush module for a cleaning device. As shown in FIG. 11, the side brush module includes: a fixed arm 1 mounted at the bottom of a mobile platform 100 of a cleaning device; a swing arm 2, one end of the swing arm being rotatably connected to the fixed arm 1, and the other end of the swing arm being mounted with a rotatable brush 4; a positioning assembly 5 disposed between the fixed arm 1 and the swing arm 2; and a power assembly 3 connected to the fixed arm 1, the power assembly 3 being configured to be capable of driving the swing arm 2 to swing under the auxiliary positioning of the positioning assembly 5, so as to drive the brush 4 to move between a retracted position and an extended position. For the structures and driving methods of the fixed arm 1, the swing arm 2, and the power assembly 3, reference may be made to the structures and principles described in the above embodiments, and the details are not repeated herein. It can be understood that “positioning” in the auxiliary positioning means that the positioning assembly 5 causes the swing arm 2 to swing along a fixed path; that is, the swing arm 2 swings along the fixed path under the action of the positioning assembly 5. For example, the swing arm 2 slides along the sliding groove 6 under the action of the positioning assembly 5, thereby achieving swinging. Further, “positioning” may also mean that when the cleaning member 4 is in the retracted position or the extended position, the swing arm 2 remains fixed in position under the action of the positioning assembly 5, so as to improve the stability of the swing arm 2 in the retracted position or the extended position.

[0111] According to the side brush module for a cleaning device in this embodiment, by providing the positioning assembly between the fixed arm and the swing arm, the swing arm can stably slide along the sliding groove during the swinging process, thereby ensuring the stability of the swing arm during swinging. In addition, during the sweeping task, the stability of the brush sweeping can also be ensured due to the arrangement of the positioning assembly.

[0112] In some embodiments, as shown in FIG. 11, a sliding groove 6 is provided on a side of the fixed arm 1 facing the positioning assembly 5. One end of the positioning assembly 5 is fixed to the swing arm 2, and the other end of the positioning assembly is configured such that when the swing arm 2 swings, relative to the fixed arm 1, between the retracted position and the extended position, the other end of the positioning assembly 5 slides along the sliding groove 6, thereby preventing the swing arm 2 from shaking during the swinging process and maintaining the stability of the side brush module.

[0113] In some embodiments, a sliding groove 6 is provided on a side of the swing arm 2 facing the positioning assembly 5. The sliding groove 6 may be formed on one side of the fixed arm 1, or may be formed on one side of the swing arm 2. The sliding groove 6 is of an arc-shaped structure, and the arc-shaped structure surrounds the rotation center of the swing arm 2 relative to the fixed arm 1, such that the positioning assembly 5 rotates synchronously around the rotation center. One end of the positioning assembly 5 is fixed to one side of the fixed arm 1, and the other end of the positioning assembly is configured such that when the swing arm 2 swings, relative to the fixed arm 1, between the retracted position and the extended position, the other end of the positioning assembly 5 slides along the sliding groove 6, thereby preventing the swing arm 2 from shaking during the swinging process and maintaining the stability of the side brush module.

[0114] In some embodiments, as shown in FIG. 11, a first positioning groove 61 and a second positioning groove 62 are disposed at two ends of the sliding groove 6, respectively. The first positioning groove 61 is configured to position the swing arm 2 at the retracted position, and the second positioning groove 62 is configured to position the swing arm 2 at the extended position. Optionally, the first positioning groove 61 and the second positioning groove 62 are of spherical groove structures. When the positioning assembly 5 is in the retracted position, the end portion of the positioning assembly 5 is located in the first positioning groove 61. In this case, the stability of the swing arm 2 can be ensured, such that when the side brush performs sweeping at this position, the shaking of the side brush or the swing arm is reduced, thereby ensuring the stability of the side brush during cleaning. In addition, when the positioning assembly 5 is in the extended position, the end portion of the positioning assembly 5 is located in the second positioning groove 62. In this case, the stability of the swing arm 2 can be ensured, such that when the side brush performs sweeping at the extended position, the shaking of the side brush or the swing arm is reduced, thereby ensuring the stability of the side brush during cleaning.

[0115] In some embodiments, as shown in FIG. 11, the positioning assembly 5 includes: a positioning post 51, one end of the positioning post being fixed to the fixed arm 1 or the swing arm 2, and the other end of the positioning post sliding along the sliding groove 6. In this case, the positioning post 51 is of a columnar structure extending substantially vertically between the fixed arm 1 and the swing arm 2, which ensures the spacing between the fixed arm 1 and the swing arm 2 and ensures the stability of the swing arm 2. Optionally, the other end of the positioning post 51 is of a spherical structure and is configured to slide in a matching manner with the sliding groove 6. By providing the spherical structure, the other end of the positioning post 51 can be ensured to slide smoothly in the sliding groove 6. Optionally, one, two, or a plurality of positioning posts 51 are provided. FIG. 11 shows the case of one positioning post, and the case of a plurality of positioning posts is similar. By providing a plurality of positioning posts 51, the stability of the swing arm 2 during the swinging process can be further ensured.

[0116] In some embodiments, the positioning post 51 is an elastic positioning post. Optionally, the elastic positioning post is a coil spring, an elastic sheet, or a rubber post. The positioning post 51 is elastic, which can reduce the requirement for the consistency of the distance between the fixed arm 1 and the swing arm 2, such that even if the distance between the fixed arm 1 and the swing arm 2 is inconsistent, elastic support can be provided in an adjustable manner via the elastic positioning post, thereby ensuring the stability of the swing arm during the swinging process.

[0117] In some embodiments, as shown in FIG. 11, the positioning assembly 5 further includes a positioning ball 52 disposed at the other end of the positioning post 51 and configured to slide along the sliding groove 6. For example, the positioning post 51 is a coil spring, and the positioning ball 52 is disposed at the other end of the coil spring, such that the coil spring can elastically extend and retract while the positioning ball 52 slides along the sliding groove 6, thereby making the connection between the fixed arm 1 and the swing arm 2 more elastic and reducing the design difficulty.

[0118] In some embodiments, the positioning ball 52 is an elastic positioning ball or a rigid positioning ball. When the positioning ball 52 is an elastic positioning ball, for example, a rubber ball, the elastic connection between the fixed arm 1 and the swing arm 2 can be further ensured. When the positioning ball 52 is a rigid positioning ball, since the positioning post 51 is an elastic member, the elastic connection between the fixed arm 1 and the swing arm 2 can also be ensured. Moreover, due to the smaller friction force of the rigid positioning ball, the rigid positioning ball can slide more easily in the sliding groove.

[0119] The cleaning device according to the embodiments of the present disclosure includes the above side brush module for a cleaning device. The cleaning device according to the embodiments of the present disclosure can ensure the stability of the side brush module during the swinging process and the sweeping process, thereby improving the user experience.

[0120] Finally, it should be noted that the embodiments in the specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and reference may be made to each other for the same or similar parts. Since the system or apparatus disclosed in the embodiments corresponds to the method disclosed in the embodiments, the description is relatively simple, and reference may be made to the description of the method part.

[0121] The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present disclosure.

Claims

1. A side brush module for a cleaning device, comprising:a fixed arm, mounted within a mobile platform of the cleaning device;a swing arm, wherein one end of the swing arm is rotatably connected to the fixed arm, and another end of the swing arm is mounted with a rotatable cleaning member;a positioning assembly, disposed between the fixed arm and the swing arm; anda power assembly, connected to the fixed arm, wherein the power assembly is configured to be capable of driving the swing arm to swing under a positioning of the positioning assembly, thereby driving the cleaning member to move between a retracted position and an extended position.

2. The side brush module according to claim 1, wherein a sliding groove is provided on a side of the swing arm facing the positioning assembly, and the positioning assembly is configured to slide along the sliding groove.

3. The side brush module according to claim 1, wherein a sliding groove is provided on a side of the fixed arm facing the positioning assembly, and the positioning assembly is configured to slide along the sliding groove.

4. The side brush module according to claim 3, wherein a first positioning groove and a second positioning groove are disposed at two ends of the sliding groove, the first positioning groove is configured to position the swing arm at the retracted position, and the second positioning groove is configured to position the swing arm at the extended position.

5. The side brush module according to claim 4, wherein the first positioning groove and the second positioning groove are of spherical groove structures.

6. The side brush module according to claim 3, wherein the positioning assembly comprises:a positioning post, wherein a first end of the positioning post is fixed to the fixed arm or the swing arm, and a second end of the positioning post slides along the sliding groove.

7. The side brush module according to claim 6, wherein the second end of the positioning post is of a spherical structure and is configured to slide in a matching manner with the sliding groove.

8. The side brush module according to claim 6, wherein the positioning post is an elastic positioning post.

9. The side brush module according to claim 8, wherein the elastic positioning post is a coil spring, an elastic sheet, or a rubber post.

10. The side brush module according to claim 6, wherein the positioning assembly further comprises:a positioning ball, disposed at the second end of the positioning post and configured to slide along the sliding groove.

11. The side brush module according to claim 10, wherein the positioning ball is an elastic positioning ball or a rigid positioning ball.

12. The side brush module according to claim 6, wherein one or a plurality of positioning posts are provided.

13. The side brush module according to claim 3, wherein the sliding groove is an arc-shaped sliding groove.

14. A cleaning device, comprising:a mobile platform, configured to automatically move on an operating surface; anda cleaning module, disposed at a bottom of the mobile platform and configured to clean at least a portion of the operating surface, wherein the cleaning module comprises a side brush module for the cleaning device, and the side brush module comprises:a fixed arm, mounted within a mobile platform of the cleaning device;a swing arm, wherein one end of the swing arm is rotatably connected to the fixed arm, and another end of the swing arm is mounted with a rotatable cleaning member;a positioning assembly, disposed between the fixed arm and the swing arm; anda power assembly, connected to the fixed arm, wherein the power assembly is configured to be capable of driving the swing arm to swing under a positioning of the positioning assembly, thereby driving the cleaning member to move between a retracted position and an extended position.

15. The cleaning device according to claim 14, wherein a sliding groove is provided on a side of the swing arm facing the positioning assembly, and the positioning assembly is configured to slide along the sliding groove.

16. The cleaning device according to claim 14, wherein a sliding groove is provided on a side of the fixed arm facing the positioning assembly, and the positioning assembly is configured to slide along the sliding groove.

17. The cleaning device according to claim 16, wherein a first positioning groove and a second positioning groove are disposed at two ends of the sliding groove, the first positioning groove is configured to position the swing arm at the retracted position, and the second positioning groove is configured to position the swing arm at the extended position.

18. The cleaning device according to claim 17, wherein the first positioning groove and the second positioning groove are of spherical groove structures.

19. The cleaning device according to claim 16, wherein the positioning assembly comprises:a positioning post, wherein a first end of the positioning post is fixed to the fixed arm or the swing arm, and a second end of the positioning post slides along the sliding groove.

20. The cleaning device according to claim 19, wherein the second end of the positioning post is of a spherical structure and is configured to slide in a matching manner with the sliding groove.

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