Side brush module for cleaning apparatus and cleaning apparatus

Abstract

Provided in the present invention are a side brush module for a cleaning apparatus and a cleaning apparatus. The side brush module for a cleaning apparatus comprises: a fixed arm configured to be mounted on the bottom of a moving platform of a cleaning apparatus; a swing arm rotatably connected at one end to the fixed arm and having a rotatable cleaning element mounted at the other end; a power assembly comprising a drive assembly, a driving member, a driven member and a transmission assembly, wherein the driving member, the driven member and the transmission assembly are all disposed on the swing arm, the drive assembly is connected to the driving member, the driven member and the cleaning element are respectively connected to an input end and an output end of the transmission assembly, the driving member is actuated under the drive of the drive assembly, the driving member drives the swing arm to swing via the driven member during actuation to drive the cleaning element to move between a retracted position and an extended position, and the driven member is capable of driving the cleaning element to rotate via the transmission assembly during actuation. The present invention simplifies the structure of the side brush module, saves on costs, and reduces the occupied space.

Description

Side brush module for cleaning equipment and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410022350.1 filed on January 5, 2024. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as part of this disclosure. Technical Field

[0003] The present invention relates to the technical field of cleaning robots, and in particular to a side brush module for cleaning equipment and the cleaning equipment. Background Art

[0004] Cleaning robots currently include sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers, etc. Sweeping and mopping robots can both sweep and clean the floor, and are becoming more and more common in family life.

[0005] With the development of sweeping and mopping robots, the functions of sweeping and mopping robots are increasing. At present, in order to increase the cleaning range, the brush of the side brush module of some sweeping and mopping robots has at least two cleaning positions relative to the mobile platform. In order to drive the brush to move between these positions, a special driving mechanism for driving the brush to move is required. This greatly increases the cost investment, and makes the side brush module structure complex and occupies a large space. Summary of the Invention

[0006] The object of the present invention is to provide an automatic cleaning device that can solve the technical problems of high investment cost, complex structure and large space occupation in the prior art.

[0007] The present invention provides a side brush module for cleaning equipment, comprising:

[0008] A fixed arm, used for mounting on the bottom of the mobile platform of the cleaning equipment;

[0009] A swing arm, one end of which is rotatably connected to the fixed arm and the other end of which is equipped with a rotatable cleaning member;

[0010] The power assembly includes a driving assembly, an active member, a driven member and a transmission assembly. The active member, the driven member and the transmission assembly are all arranged on the swing arm. The driving assembly is connected to the active member. The driven member and the cleaning member are respectively connected to the input end and the output end of the transmission assembly.

[0011] The active member is driven by the driving assembly to move, and during the movement, the active member can drive the swing arm to swing through the driven member, so as to drive the cleaning member to move between the retracted position and the extended position, and the driven member can drive the cleaning member to rotate through the transmission assembly during the movement.

[0012] The side brush module has a first cleaning mode and a second cleaning mode. In the first cleaning mode, the cleaning member is located in the retracted position. In the second cleaning mode, the cleaning member is located in the extended position.

[0013] Optionally, the power assembly further includes a damping assembly, and the damping assembly is arranged on the driven member and / or the transmission assembly.

[0014] Optionally, the damping assembly includes a friction damping assembly, which is arranged on the driven member and / or the transmission assembly to increase the sliding friction force of the driven member and / or the transmission assembly during operation.

[0015] Optionally, the friction damping assembly includes a friction block, the friction block abutting against at least one wall of the follower on which the swing arm slides relative to each other during the movement of the follower; and / or,

[0016] The friction block abuts against at least one wall of the transmission component and slides relative to the swing arm during the operation of the transmission component.

[0017] Optionally, the friction damping assembly further includes a pressing structure, which is connected to the swing arm and presses against the side of the friction block facing the swing arm so that the friction block is pressed against the wall of the follower and / or the wall of the transmission assembly.

[0018] Optionally, the distance between the pressing end surface of the pressing structure and the wall surface abutting against the friction block is adjustable to adjust the sliding friction force between the friction block and the wall surface abutting against the friction block.

[0019] Optionally, the damping assembly includes a load assembly, and the load assembly is connected to the driven member and / or the transmission assembly. When the driven member and / or the transmission assembly is in motion, the load assembly is driven to move.

[0020] Optionally, the load component includes:

[0021] At least one scroll wheel rotatably mounted on the swing arm, the scroll wheel being transmission-connected to the follower and / or the transmission assembly, and the follower and / or the transmission assembly being capable of driving the scroll wheel to rotate during operation;

[0022] a first damping member, each of the scrolling wheels being provided with at least one first damping member, and the first damping member being capable of rotating along with the scrolling wheel;

[0023] a second damping member, at least one second damping member being provided corresponding to each of the rolling wheels, and the second damping member being provided on the swing arm;

[0024] The scroll wheel can drive the first damping member to move relative to the second damping member during rotation, so that an interaction force is generated between the first damping member and the second damping member.

[0025] Optionally, the first damping member includes a roller rotatably arranged on the side wall of the rolling wheel, and the second damping member includes an elastic member.

[0026] The rolling wheel can drive the roller to roll the elastic member during the rotation process.

[0027] Optionally, the first damping member includes a friction ring fixedly arranged on the side wall of the rolling wheel, and the second damping member includes a friction strip.

[0028] The rolling wheel can drive the friction ring to slide frictionally relative to the friction strip during rotation.

[0029] Optionally, the active member includes a first gear, and the driven member includes a second gear. The first gear and the second gear are respectively rotatably connected to the swing arm, and the first gear and the second gear are meshed with each other. The driving component can drive the first gear to rotate. When the driving component drives the first gear to change the rotation direction, it can drive the swing arm to change the swing direction through the second gear, so that the side brush module can switch between the first cleaning mode and the second cleaning mode.

[0030] Optionally, the transmission assembly includes a first rotating transmission assembly and a second rotating transmission assembly, and the first gear changes its rotation direction so that the second gear can be selectively connected to the input end of the first rotating transmission assembly or the input end of the second rotating transmission assembly, and the output end of the first rotating transmission assembly and the output end of the second rotating transmission assembly are respectively connected to the cleaning member.

[0031] In the first cleaning mode, the second gear is connected to the input end of the first rotating transmission assembly. When the second gear rotates in a clockwise direction, it can drive the cleaning element to rotate in a set clockwise direction through the first rotating transmission assembly.

[0032] In the second cleaning mode, the second gear is connected to the input end of the second rotating transmission assembly. When the second gear rotates in another clockwise direction, it can drive the cleaning member to rotate around the set clockwise direction through the second rotating transmission assembly.

[0033] Optionally, the first rotation transmission assembly includes a third gear, a first intermediate transmission assembly and an output gear, wherein the third gear and the output gear are respectively connected to the input end and the output end of the first intermediate transmission assembly.

[0034] The second rotating transmission assembly includes a fourth gear, a second intermediate transmission assembly and the output gear, wherein the fourth gear and the output gear are respectively connected to the input end and the output end of the second intermediate transmission assembly.

[0035] The output gear is rotatably connected to the swing arm, the cleaning member is coaxially connected to the output gear, and the first gear changes its rotation direction so that the second gear can be selectively coaxially connected to the third gear or the fourth gear.

[0036] Optionally, the first intermediate transmission assembly includes a plurality of first transmission gears meshed in sequence, wherein along the transmission direction, the first first transmission gear meshes with the third gear, and the last first transmission gear meshes with the output gear;

[0037] The second intermediate transmission assembly includes a plurality of second transmission gears meshed in sequence, wherein along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear;

[0038] The number of the first transmission gears is one more or one less than the number of the second transmission gears.

[0039] Optionally, the first gear and the second gear are both helical gears, ratchet teeth are provided on both side surfaces of the second gear, the second gear is movable along its axial direction and is coaxially arranged between the third gear and the fourth gear, and ratchet teeth are provided on the sides of the third gear and the fourth gear facing the second gear, and the first gear changes its rotation direction so that the ratchet teeth of the second gear can selectively engage with the ratchet teeth of the third gear or the ratchet teeth of the fourth gear.

[0040] Optionally, the first intermediate transmission assembly includes a synchronous pulley assembly and a plurality of first transmission gears sequentially arranged along the transmission direction, wherein the synchronous pulley assembly is transmission-connected between the first first transmission gear and the third gear, between any two adjacent first transmission gears, or between the last first transmission gear and the output gear;

[0041] The second intermediate transmission assembly includes a plurality of second transmission gears meshed in sequence, wherein along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear;

[0042] The number of the first transmission gears is the same as the number of the second transmission gears.

[0043] The present invention also provides a cleaning device, comprising:

[0044] a mobile platform configured to automatically move on the operating surface;

[0045] The cleaning module is disposed at the bottom of the mobile platform and is configured to clean at least a portion of the operating surface. The cleaning module includes the above-mentioned side brush module for the cleaning device.

[0046] Compared with the prior art, the embodiments of the present invention have the following technical effects:

[0047] The side brush module for cleaning equipment provided by the embodiment of the present disclosure has two cleaning modes, and the cleaning member is in different positions in the two cleaning modes. When it is necessary to switch the cleaning mode, the driving component drives the active member to move, and the active member applies a force to the driven member to drive the driven member to move. This force drives the swing arm to swing, so as to drive the cleaning member to move between the retracted position and the extended position, thereby realizing the switching of the cleaning mode. In addition, the driven member can drive the cleaning member to rotate through the transmission component during the operation process, that is, the driving component can drive the swing arm to swing and drive the cleaning member to rotate. One driving component realizes two driving functions, which simplifies the structure of the side brush module, saves costs, and reduces space occupation.

[0048] The cleaning device provided by the embodiment of the present disclosure includes the above-mentioned side brush module for cleaning device, and the cleaning device includes all the beneficial effects of the side brush module for cleaning device. Therefore, one driving component of the cleaning device provided by the embodiment of the present disclosure realizes two driving functions, simplifies the structure of the cleaning device, saves costs, and reduces space occupancy.

[0049] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0051] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning device according to some embodiments of the present invention.

[0052] FIG2 is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present invention.

[0053] FIG3 is a schematic diagram of the three-dimensional structure of a side brush module for a cleaning device according to some embodiments of the present invention.

[0054] FIG4 is a schematic diagram of the three-dimensional structure of the swing arm and the fixed arm according to some embodiments of the present invention.

[0055] FIG5 is a schematic diagram of the three-dimensional structure of the side brush module for cleaning equipment in some embodiments of the present invention, with the swing arm and part of the fixed arm hidden.

[0056] FIG6 is a cross-sectional view of a swing arm of a side brush module for a cleaning device according to some embodiments of the present invention;

[0057] FIG7 is a schematic diagram of the internal structure of a swing arm according to some embodiments of the present invention;

[0058] FIG8 is a schematic diagram of the internal structure of a swing arm according to some other embodiments of the present invention;

[0059] FIG9 is a schematic diagram of a three-dimensional structure of a portion of a power assembly according to some embodiments of the present invention.

[0060] FIG10 is a schematic diagram of a three-dimensional structure of a portion of a power assembly according to some embodiments of the present invention.

[0061] FIG11 is a schematic three-dimensional structural diagram of the internal structure of the swing arm of some embodiments of the present invention.

[0062] Description of the accompanying drawings: Mobile platform 100, rear part 110, forward part 111, sensing system 120, position determination device 121, buffer 122, driving system 140, driving wheel assembly 141, steering assembly 142, human-computer 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, brush 4, driving member 31, transmission assembly 32, first gear 321, second gear 322, linkage shaft 323, first linkage The driving shaft transmission gear 3241, the second linkage shaft transmission gear 3242, the third linkage shaft transmission gear 3243, the fourth linkage shaft transmission gear 3244, the mounting shaft 325, the third gear 3261, the fourth gear 3262, the output gear 3263, the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, the eighth gear 3267, the ninth gear 3268, the friction block 341, the pressing structure 342, the rolling wheel 343, the roller 344, the elastic member 345, the friction ring 346, and the friction strip 347. DETAILED DESCRIPTION

[0063] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0064] The terms used in the embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "a," "an," "the," and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0065] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0066] It should be understood that although the terms "first," "second," and "third" may be used to describe various types of information in embodiments of the present invention, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, without departing from the scope of embodiments of the present invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information.

[0067] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprising a" does not exclude the presence of other identical elements in the product or device comprising the element.

[0068] The optional embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0069] FIG1-2 is a schematic diagram of the structure of an automatic cleaning device according to an exemplary embodiment. As shown in FIG1-2, the automatic cleaning device can be a vacuum robot, a mopping / brushing robot, or a window climbing robot, etc. The automatic cleaning device can include a mobile platform 100, a sensing system 120, a control system, a drive system 140, a cleaning module, an energy system, and a human-computer interaction system 170. Among them:

[0070] The mobile platform 100 can be configured to automatically move along a target direction on an operating surface. The operating surface can be the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a mopping robot, in which case the automatic cleaning device operates on the ground, with the ground being the operating surface. The automatic cleaning device can also be a window cleaning robot, in which case the automatic cleaning device operates on the exterior glass surface of a building, with the glass being the operating surface. The automatic cleaning device can also be a pipe cleaning robot, in which case the automatic cleaning device operates on the interior surface of a pipe, with the interior surface of the pipe being the operating surface. For purposes of illustration only, the following description in this application uses a mopping robot as an example.

[0071] In some embodiments, the mobile platform 100 can 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 operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward part 111 and a backward part 110.

[0072] The perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located on the forward portion 111 of the mobile platform 100, a cliff sensor and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices located at the bottom of the mobile platform, which provide the control system with various position information and motion status information of the machine.

[0073] In order to more clearly describe the behavior of the automatic cleaning device, the following directions are defined: the automatic cleaning device can move on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis y, the front-to-back axis x, and the central vertical axis z. The forward drive direction along the front-to-back axis x is marked as "forward", and the rearward drive direction along the front-to-back axis x is marked as "rearward". The lateral axis y essentially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly. Among them, the automatic cleaning device can rotate around the y-axis. When the forward part of the automatic cleaning device is tilted upward and the rear part is tilted downward, it is "upward", and when the forward part of the automatic cleaning device is tilted downward and the rear part is tilted upward, it is "downward". In addition, 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 "turning right", and when the automatic cleaning device is tilted to the left of the y-axis, it is "turning left".

[0074] As shown in FIG2 , cliff sensors are provided on the bottom of the mobile platform 100, in front of and behind the drive wheel assembly. These cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, thereby preventing the automatic cleaning device from being damaged. The aforementioned "front" refers to the side in the same direction as the automatic cleaning device's travel, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.

[0075] The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

[0076] The various components of the perception system 120 can operate independently or in conjunction to more accurately achieve their intended functions. Cliff sensors and ultrasonic sensors are used to identify the surface to be cleaned to determine its physical characteristics, including surface material and cleanliness level. Cameras and laser rangefinders can also be used to provide even more accurate judgments.

[0077] The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly propels the automatic cleaning device to walk on the ground, the buffer 122 detects one or more events (or objects) in the driving path of the automatic cleaning device through a sensor system, such as an infrared sensor. The automatic cleaning device can control the driving wheel assembly through the events (or objects) detected by the buffer 122, such as obstacles and walls, so that the automatic cleaning device responds to the events (or objects), such as staying away from obstacles.

[0078] The control system is set on the circuit board within 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, flash memory, or random access memory. The application processor is configured to receive environmental information sensed by the multiple sensors transmitted by the perception system 120, and use a positioning algorithm, such as SLAM, based on obstacle information fed back by the laser rangefinder to draw a real-time map of the environment in which the automatic cleaning device is located. The control system then autonomously determines a driving path based on the environmental information and the environmental map, and then controls the drive system 140 to perform forward, backward, and / or steering operations based on the autonomously determined driving path. Furthermore, the control system can also determine whether to start the cleaning module to perform a cleaning operation based on the environmental information and the environmental map.

[0079] Specifically, the control system can combine distance and speed information fed back by sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the robot's current operating state, such as crossing a threshold, getting on a carpet, being on a cliff, being stuck above or below, having a full dust box, being picked up, etc. It also provides specific next-step action strategies for different situations, making the automatic cleaning device more in line with the owner's requirements and providing a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of the automatic cleaning device.

[0080] The drive system 140 can execute drive commands based on specific distance and angle information, such as x, y and θ components, to manipulate the automatic cleaning device to travel across the ground. The drive system 140 includes a drive wheel assembly 141. The drive system 140 can control the left and right wheels at the same time. In order to more accurately control the movement of the machine, it is preferred that the drive system 140 include a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically arranged along the horizontal axis defined by the mobile platform 100. In order to enable the automatic cleaning device to move more stably on the ground or have stronger movement capabilities, the automatic cleaning device may include one or more steering assemblies 142. The steering assembly 142 may be a driven wheel or a driving wheel. Its structural form includes but is not limited to a universal wheel. The steering assembly 142 may be located in front of the driving wheel assembly 141.

[0081] The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. The charging control circuit, battery pack charging temperature detection circuit, and battery undervoltage monitoring circuit are then connected to the microcontroller control circuit. The host is charged by connecting to a charging station via charging electrodes located on the side or bottom of the device. If dust adheres to the exposed charging electrodes, the accumulated charge during charging can cause the plastic surrounding the electrodes to melt and deform, or even deform the electrodes themselves, preventing normal charging.

[0082] The human-machine interaction system 170 includes buttons on the main unit panel for users to select functions; a display screen and / or indicator lights and / or a speaker to display the current machine status or function options to the user; and a mobile client application. For route-guided cleaning equipment, the mobile client can display a map of the equipment's environment and the machine's location, providing users with a richer and more user-friendly set of functions.

[0083] The cleaning module may include a dry cleaning module 300 and / or a wet cleaning module 200. As shown in FIG2 , 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 and a driving unit 220, the cleaning head 210 being used to clean at least a portion of the operating surface, and the driving unit 220 being used to drive the cleaning head 210 to substantially reciprocate along a target surface, wherein the target surface is a portion of the operating surface. The cleaning head 210 reciprocates along the surface to be cleaned, and a cleaning cloth or a cleaning plate is provided on the contact surface between the cleaning head 210 and the surface to be cleaned, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing stains on the surface to be cleaned.

[0084] The dry cleaning module 300 is configured to clean at least a portion of the work surface using a dry cleaning method. The dry cleaning module 300 includes, among other things, a roller brush 310. The roller brush 310, which has some contact with the floor, sweeps up debris from the floor and carries it to the front of the dust collection port between the roller brush 310 and the dust box. The dust is then drawn into the dust box by the suction force of the air generated by the fan and passing through the dust box. The dry cleaning module 300 may also include a side brush module 320 for sweeping debris into the roller brush area of ​​the cleaning module.

[0085] According to one specific embodiment of the present invention, as shown in Figures 3 to 5, the side brush module 320 for cleaning equipment provided by the present invention includes a fixed arm 1, a swing arm 2 and a power assembly 3, the fixed arm 1 is used to be installed at the bottom of the mobile platform 100 of the cleaning equipment; 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 member, such as a brush 4; the power assembly 3 includes a driving assembly, an active member, a driven member and a transmission assembly 32, the driving assembly is installed on the fixed arm 1, the active member, the driven member and the transmission assembly are all arranged on the swing arm 2, the driving assembly is connected to the active member, and the driven member and the brush 4 are respectively connected to the input end and the output end of the transmission assembly 32, wherein the driving assembly can drive the active member to move, and the active member can drive the swing arm to swing through the driven member during the movement, so as to drive the brush to move between the retracted position and the extended position, and the driven member can drive the brush to rotate through the transmission assembly during the movement. The side brush module has a normal cleaning mode and a special cleaning mode. In the normal cleaning mode, the brush 4 is located in the retracted position, and in the special cleaning mode, the brush 4 is located in the extended position. The regular cleaning mode may be the first cleaning mode, and the special cleaning mode may be the second cleaning mode.

[0086] The side brush module 320 for cleaning equipment provided in the embodiment of the present disclosure has two cleaning modes, and the brush 4 is in different positions in the two cleaning modes. When it is necessary to switch the cleaning mode, the driving component drives the active part to move, and when the active part moves, the driven part drives the swing arm to swing, thereby driving the brush to move between the retracted position and the extended position, thereby realizing the switching of the cleaning mode. In addition, during the operation, the driven part can drive the brush 4 to rotate through the transmission component 32, that is, the driving component can drive the swing arm to swing and drive the brush 4 to rotate. One driving component realizes two driving functions, which simplifies the structure of the side brush module 320, saves costs, and reduces space occupation.

[0087] In one embodiment of the present invention, the power assembly 3 further includes a damping assembly, which is disposed on the driven member and / or the transmission assembly 32. In some embodiments, the damping assembly abuts against the driven member and / or the transmission assembly 32.

[0088] It can be understood that the damping component is provided on the follower and / or transmission component 32, which means that the damping component can increase the damping of the follower and / or transmission component 32 during the movement process, so that the movement of the follower and / or transmission component 32 needs to overcome a larger force.

[0089] During the movement, the active member exerts a force on the driven member to drive the swing arm 2 to swing. The greater the force of the driven member against the active member, the greater the interaction force between the two, and the greater the force driving the swing arm 2 to swing. Therefore, in order to ensure that the force of the active member on the driven member is sufficient to drive the swing arm 2 to swing, it is necessary to appropriately increase the force of the driven member against the active member. Therefore, this embodiment provides a damping assembly on the driven member and / or the transmission assembly 32 to increase the force of the driven member against the active member, thereby increasing the force between the active member and the driven member, and increasing the force of the driven member on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0090] In one embodiment of the present invention, the damping assembly includes a friction damping assembly, which is disposed on the driven member and / or the transmission assembly 32 to increase the sliding friction during the operation of the driven member and / or the transmission assembly 32. In some embodiments, the friction damping assembly abuts against the driven member and / or the transmission assembly 32.

[0091] The friction damping component increases the sliding friction during the movement of the follower and / or the transmission component 32, increases the damping of the follower and / or the transmission component 32 during the movement, so that the movement of the follower and the transmission component 32 needs to overcome a greater force, increases the force between the active member and the driven member, and increases the force of the follower on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0092] In one embodiment of the present invention, as shown in Figure 6, the friction damping assembly includes a friction block 341, which abuts against at least one wall of the follower and the swing arm 2 that slides relative to each other during the movement of the follower; and / or, the friction block 341 abuts against at least one wall of the transmission assembly 32 and the swing arm 2 that slides relative to each other during the movement of the transmission assembly 32.

[0093] In this way, the sliding friction force during the movement of the follower and / or the transmission component 32 is increased, and the damping of the follower and / or the transmission component 32 during the movement is increased, so that the movement of the follower and / or the transmission component 32 needs to overcome a greater force, thereby increasing the force between the active member and the driven member, and increasing the force of the follower on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0094] In one embodiment of the present invention, referring to Figure 6, the friction damping assembly also includes a pressing structure 342, which is connected to the swing arm 2 and presses against the side of the friction block 341 facing the swing arm 2, so that the friction block 341 is pressed against the wall of the follower and / or the wall of the transmission assembly 32.

[0095] The setting of the pressing structure 342 causes the friction block 341 to be pressed against the wall surface of the driven member and / or the wall surface of the transmission component 32, thereby increasing the friction force when the friction block 341 slides, and increasing the damping of the driven member and / or the transmission component 32 during the movement process, so that the movement of the driven member and / or the transmission component 32 needs to overcome a greater force, thereby increasing the force between the active member and the driven member, and increasing the force of the driven member on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0096] In one embodiment of the present invention, the distance between the pressing end surface of the pressing structure 342 and the wall surface abutting the friction block 341 is adjustable to adjust the sliding friction force between the friction block 341 and the wall surface abutting therewith.

[0097] In this way, the sliding friction force can be easily adjusted to adapt to the swing drive of the swing arms 2 of different weights.

[0098] Exemplarily, the pressing structure 342 is a bolt, the tail end of the bolt abuts against the friction block 341 , and the distance between the tail end of the bolt and the wall of the abutting friction block 341 can be adjusted by screwing.

[0099] In one embodiment of the present invention, the damping assembly includes a load assembly, which is connected to the driven member and / or the transmission assembly 32. The driven member and / or the transmission assembly 32 drives the load assembly to move during the movement.

[0100] The addition of a load component makes the force required for the driven member and / or the transmission component 32 to be driven greater, thereby increasing the force between the active member and the driven member, and increasing the force of the driven member on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0101] In one embodiment of the present invention, as shown in Figures 7 and 8, the load assembly includes a first damping member, a second damping member and at least one rolling wheel 343, the rolling wheel 343 is rotatably arranged on the swing arm 2, and the rolling wheel 343 is transmission-connected to the follower and / or the transmission assembly 32, and the follower and / or the transmission assembly 32 can drive the rolling wheel 343 to rotate during the action; each rolling wheel 343 is provided with at least one first damping member, and the first damping member can rotate with the rolling wheel 343; at least one second damping member is provided corresponding to each rolling wheel 343, and the second damping member is arranged on the swing arm 2; wherein, the rolling wheel 343 can drive the first damping member to move relative to the second damping member during the rotation process, so that an interaction force is generated between the first damping member and the second damping member.

[0102] The interaction between the first damper and the second damper, as well as the rotation of the first damper, the second damper and the rolling wheel 343 all require force to drive. Therefore, the setting of the first damper, the second damper and the rolling wheel 343 makes the follower and / or the transmission assembly 32 require greater force when in action, thereby increasing the force between the active member and the driven member, and increasing the force of the driven member on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0103] In one embodiment of the present invention, as shown in FIG7 , the first damping member includes a roller 344 rotatably disposed on the side wall of the rolling wheel 343 , and the second damping member includes an elastic member 345 . The rolling wheel 343 can drive the roller 344 to roll the elastic member 345 during rotation.

[0104] The roller 344 rolls the elastic member 345, increasing the resistance, so that the follower and / or the transmission assembly 32 require more force when moving, increasing the force between the active member and the driven member, and increasing the force of the driven member on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0105] In one embodiment of the present invention, as shown in FIG8 , the first damping member includes a friction ring 346 fixedly arranged on the side wall of the rolling wheel 343 , and the second damping member includes a friction strip 347 . The rolling wheel 343 can drive the friction ring 346 to slide frictionally relative to the friction strip 347 during rotation.

[0106] The friction ring 346 slides frictionally relative to the friction strip 347, increasing the resistance, so that the follower and / or transmission assembly 32 requires more force when moving, increasing the force between the active member and the driven member, and increasing the force of the driven member on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0107] In one embodiment of the present invention, one of the fixed arm 1 and the swing arm 2 is provided with a limiting protrusion, and the other is provided with a retraction limit block and an extension limit block spaced apart around the swing center of the swing arm 2. The limiting protrusion is located between the retraction limit block and the extension limit block. When the swing arm 2 rotates around the first clockwise direction M until the limiting protrusion abuts against the extension limit block, the brush 4 is limited to the extended position. When the swing arm 2 rotates around the second clockwise direction N until the limiting protrusion abuts against the retraction limit block, the brush 4 is limited to the retraction position.

[0108] In this way, the swing angle of the swing arm 2 is limited, the moving range of the brush 4 is more accurately limited, and the working accuracy of the side brush module 320 is improved.

[0109] In one embodiment of the present invention, as shown in Figures 3 and 9, the active member includes a first gear 321, and the driven member includes a second gear 322. The first gear 321 and the second gear 322 are respectively rotatably connected to the swing arm 2, and the first gear 321 and the second gear 322 are engaged with each other. The driving component can drive the first gear 321 to rotate. When the driving component drives the first gear 321 to change the rotation direction, it can drive the swing arm 2 to change the swing direction through the second gear 322, so that the side brush module can switch between normal cleaning mode and special cleaning mode.

[0110] The first gear 321 drives the second gear 322 to move, which can not only drive the swing arm 2 to swing, but also facilitate the movement of the second gear 322 to be transmitted to the transmission assembly 32.

[0111] For example, as shown in Figures 3, 5 and 9, the second gear 322 is rotatably mounted on the swing arm 2 through the mounting shaft 325. In the normal cleaning mode, the brush 4 is in the retracted position, the limit protrusion abuts the retracted limit block, and the first gear 321 rotates around the second clockwise direction N, driving the second gear 322 to rotate around the first clockwise direction M. The rotation of the second gear 322 is transmitted to the brush 4 through the transmission assembly, driving the brush 4 to rotate; when it is necessary to switch to a special cleaning mode, the driving member 31 drives the first gear 321 to change its rotation direction from the second clockwise direction N to the first clockwise direction M. When the first gear 321 rotates around the first clockwise direction M, it applies a force on the gear teeth of the second gear 322 at an angle to the axial direction of the mounting shaft 325. Part of the force drives the second gear 322 to rotate around the second clockwise direction N, and the other part of the force drives the second gear 322 to rotate around the second clockwise direction N. The rotational torque drives the mounting shaft 325 to rotate around the linkage shaft 323 along the first clockwise direction M, and the mounting shaft 325 drives the swing arm 2 to rotate around the linkage shaft 323 along the first clockwise direction M, so that the limit protrusion moves away from the retracting limit block until the limit protrusion moves to abut against the extending limit block. At this time, due to the restriction of the extending limit block, the swing arm 2 cannot continue to rotate. At this time, the brush 4 is in the extended position, completing the switch from the normal cleaning mode to the special cleaning mode. In the special cleaning mode, the brush 4 is in the extended position, the limit protrusion abuts against the extending limit block, and the first gear 321 revolves around the first clockwise direction M. When it is necessary to switch to the normal cleaning mode, the rotation direction of the driving member 31 is changed again. This cycle can realize quick switching between the two cleaning modes.

[0112] In one embodiment of the present invention, as shown in Figures 5 and 10, the driving assembly includes a driving member 31, a first linkage shaft transmission gear 3241, a second linkage shaft transmission gear 3242, a third linkage shaft transmission gear 3243, a fourth linkage shaft transmission gear 3244 and a linkage shaft 323. The driving member 31 is installed on the fixed arm 1, the first linkage shaft transmission gear 3241 is coaxially connected to the rotation output shaft of the driving member 31, 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 respectively rotatably arranged on the fixed arm 1 and meshed in sequence, one end of the linkage shaft 323 is rotatably penetrated in the fixed arm 1, and the other end is penetrated in the swing arm 2, the linkage shaft 323 is penetrated in the fourth linkage shaft transmission gear 3244, and can rotate with the fourth linkage shaft transmission gear 3244, the first gear 321 is sleeved on the linkage shaft 323, and can rotate with the linkage shaft 323.

[0113] In this way, the driving assembly can drive the first gear 321 to rotate. In addition, the driving member 31 can change the direction of the first gear 321 by changing the rotation direction of its rotation output shaft, making the operation of switching the cleaning mode convenient and fast.

[0114] In one embodiment of the present invention, one of the first clockwise direction M and the second clockwise direction N is a clockwise direction, and the other is a counterclockwise direction.

[0115] In one embodiment of the present invention, the brush 4 rotates in the same clockwise direction in the special cleaning mode and the normal cleaning mode.

[0116] The rotation direction of the brush 4 remains unchanged, which prevents the rotation direction of the brush 4 from being affected by the change in the output direction of the driving member 31, thereby ensuring the cleanliness of the cleaning.

[0117] In one embodiment of the present invention, the transmission assembly 32 includes a first rotating transmission assembly and a second rotating transmission assembly. The first gear 321 changes the rotation direction so that the second gear 322 can be selectively connected to the input end of the first rotating transmission assembly or the input end of the second rotating transmission assembly. The output end of the first rotating transmission assembly and the output end of the second rotating transmission assembly are respectively connected to the brush 4. In the conventional cleaning mode, the second gear 322 is connected to the input end of the first rotating transmission assembly. When the second gear 322 rotates in a clockwise direction, it can drive the brush 4 to rotate around the set clockwise direction through the first rotating transmission assembly. In the special cleaning mode, the second gear 322 is connected to the input end of the second rotating transmission assembly. When the second gear 322 rotates in another clockwise direction, it can drive the brush 4 to rotate around the set clockwise direction through the second rotating transmission assembly.

[0118] The set clockwise direction may be the first clockwise direction M or the second clockwise direction N, which is not specifically limited here.

[0119] When the driving member 31 drives the linkage shaft 323 to change the rotation direction, the first gear 321 changes the rotation direction accordingly, so that the second gear 322 can be selectively connected to the input end of the first rotation transmission component or the input end of the second rotation transmission component. Therefore, when the rotation output shaft of the driving member 31 changes direction, the second gear 322 switches the rotation transmission component, so that when the side brush module 320 switches the cleaning mode by changing the output direction of the driving member 31, the rotation direction of the brush 4 will not be affected by the change in the output direction of the driving member 31. That is to say, when the driving member 31 drives the swing arm 2 to extend or retract by changing the rotation direction, it will not affect the rotation direction of the brush 4, so that the rotation direction of the brush 4 rotates in a clockwise direction regardless of whether it is in the retracted position or the extended position, thereby improving the cleanliness of cleaning.

[0120] In one embodiment of the present invention, the first rotating 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 respectively connected to the input end and the output end of the first intermediate transmission assembly, the second rotating transmission assembly includes a fourth gear 3262, a second intermediate transmission assembly and an output gear 3263, the fourth gear 3262 and the output gear 3263 are respectively connected to the input end and the output end of the second intermediate transmission assembly, 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 changes the rotation direction so that the second gear 322 can be selectively coaxially connected to the third gear 3261 or the fourth gear 3262.

[0121] When the driving member 31 drives the linkage shaft 323 to change the rotation direction, the first gear 321 changes the rotation direction accordingly, so that the second gear 322 can be selectively coaxially connected to the third gear 3261 or the fourth gear 3262, and then transmits the motion to the third gear 3261 or the fourth gear 3262. Therefore, when the rotation output shaft of the driving member 31 changes direction, the second gear 322 switches the coaxially connected gears, thereby changing the transmission motion route, so that when the side brush module 320 switches the cleaning mode by changing the output direction of the driving member 31, the rotation direction of the brush 4 will not be affected by the change in the rotation direction of the driving member 31. That is to say, when the driving member 31 drives the swing arm 2 to extend or retract by changing the rotation direction, it will not affect the rotation direction of the brush 4, so that the rotation direction of the brush 4 rotates in a clockwise direction regardless of whether it is in the retracted position or the extended position, thereby improving the cleanliness of cleaning.

[0122] In one embodiment of the present invention, the first intermediate transmission assembly includes a plurality of first transmission gears meshed in sequence, along the transmission direction, the first first transmission gear is meshed with the third gear 3261, and the last first transmission gear is meshed with the output gear 3263; the second intermediate transmission assembly includes a plurality of second transmission gears meshed in sequence, along the transmission direction, the first second transmission gear is meshed with the fourth gear 3262, and the last second transmission gear is meshed with the output gear 3263; the number of first transmission gears is one more or one less than the number of second transmission gears.

[0123] Since the two meshing gears rotate in opposite directions during transmission, when the input directions of the two gear sets are opposite and the number of gears in the two gear sets differs by one, the output directions can be made the same, so that the directions transmitted to the output gear 3263 by the two gear sets are the same, thereby keeping the rotation direction of the brush 4 unchanged.

[0124] For example, there are K first transmission gears and K-1 second transmission gears, and the K first transmission gears and K-1 second transmission gears are not shared. Thus, the difference in the number of the two types of gears is one, so that the direction of rotation transmitted to the output gear 3263 by the first intermediate transmission assembly and the second intermediate transmission assembly is the same.

[0125] For example, there are K first transmission gears and K-1 second transmission gears, wherein K-2 first transmission gears and K-2 second transmission gears are shared. In this way, the number of gears is reduced and the structure of the transmission assembly 32 is simplified.

[0126] Exemplarily, as shown in FIG. 10 and FIG. 11 , four first transmission gears are provided and three second transmission gears are provided.

[0127] Exemplarily, two of the first transmission gears and two of the second transmission gears are shared. For example, as shown in FIG11 , the four first transmission gears are the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, and the eighth gear 3267, and the three second transmission gears are the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267. In other words, the seventh gear 3266 and the eighth gear 3267 serve as both the first transmission gear and the second transmission gear.

[0128] In one embodiment of the present invention, the first gear 321 and the second gear 322 are both helical gears, and ratchet teeth are provided on both side surfaces of the second gear 322. The second gear 322 is movably and coaxially arranged between the third gear 3261 and the fourth gear 3262 along its axial direction. The sides of the third gear 3261 and the fourth gear 3262 facing the second gear 322 are both provided with ratchet teeth. The first gear 321 changes the rotation direction so that the ratchet teeth of the second gear 322 can selectively engage with the ratchet teeth of the third gear 3261 or the ratchet teeth of the fourth gear 3262.

[0129] It is understood that the first gear 321 and the second gear 322 are both helical gears and mesh with each other, so their rotation directions are opposite. Referring to Figure 9, the rotation direction of the first gear 321 is left-handed and the rotation direction of the second gear 322 is right-handed. When the first gear 321 changes from rotating about the second clockwise direction N to rotating about the first clockwise direction M, the teeth of the first gear 321 exert an oblique upward force on the teeth of the second gear 322. The vertical component of the oblique upward force drives the second gear 322 to rise vertically until the ratchet teeth thereon engage with the ratchet teeth of the third gear 3261. The horizontal component of the oblique upward force drives the second gear 322 to rotate along the second clockwise direction N. Since the ratchet teeth of the second gear 322 engage with the ratchet teeth of the third gear 3261 at this time, the second gear 322 drives the third gear 3261 to rotate synchronously. The rotational motion of the third gear 3261 is transmitted to the output gear 3263 through the first intermediate transmission assembly between the third gear 3261 and the output gear 3263, thereby driving the brush 4 to rotate. When the first gear 321 changes from rotating about the first clockwise direction M to rotating about the second clockwise direction N, the teeth of the first gear 321 exert an oblique downward force on the teeth of the second gear 322. The vertical component of the oblique downward force drives the second gear 322 to vertically descend until the ratchet teeth thereon engage with the ratchet teeth of the fourth gear 3262. The horizontal component of the oblique downward force drives the second gear 322 to rotate along the first clockwise direction M. Since the ratchet teeth of the second gear 322 engage with the ratchet teeth of the fourth gear 3262 at this time, the second gear 322 drives the fourth gear 3262 to rotate synchronously. The rotational motion of the fourth gear 3262 is transmitted to the output gear 3263 through the second intermediate transmission assembly between the fourth gear 3262 and the output gear 3263, thereby driving the brush 4 to rotate.

[0130] In this way, the ratchet teeth of the second gear 322 can selectively engage with the ratchet teeth of the third gear 3261 or the ratchet teeth of the fourth gear 3262, thereby realizing the switching of the two transmission motion lines, so that when the side brush module 320 switches the cleaning mode by changing the output direction of the driving member 31, the rotation direction of the brush 4 will not be affected by the change in the rotation direction of the driving member 31.

[0131] For example, as shown in FIG9 , the second gear 322 is rotatably mounted on the mounting shaft 325 and movably mounted along the axial direction of the mounting shaft 325, while the third gear 3261 and the fourth gear 3262 are only rotatably mounted on the mounting shaft 325. In this way, the second gear 322 can rotate around the mounting shaft 325 under the action of the first gear 321, ensuring that the second gear 322 transfers its motion to the output gear 3263, thereby driving the brush 4 to rotate. In addition, the second gear 322 can approach the third gear 3261 or the fourth gear 3262 under the action of the first gear 321, thereby switching the transmission motion line and ensuring that the rotation direction of the brush 4 remains unchanged.

[0132] In one embodiment of the present invention, the fixed arm 1 and the swing arm 2 are both hollow shells, and 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 to the hollow cavity of the fixed arm 1, and part of the linkage shaft 323 is rotatably penetrated in the hollow cavity of the fixed arm 1; another part of the linkage shaft 323 is rotatably penetrated in the hollow cavity of the swing arm 2, and 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 set in the hollow cavity of the swing arm 2.

[0133] In this way, the stable installation of each gear is achieved, and the fixed arm 1 and the swing arm 2 play a protective role for the internal gears.

[0134] In one embodiment of the present invention, as shown in Figure 6, the pressing structure 342 is connected to the swing arm 2, the side wall of the output gear 3263 is provided with a groove, the friction block 341 is provided in the groove, and one end of the pressing structure 342 presses against the side of the friction block 341 facing away from the output gear 3263.

[0135] In both cleaning modes, the output gear 3263 rotates relative to the swing arm 2, causing the wall surface of the output gear 3263 to slide and rub against the friction block 341. This increases the damping of the transmission assembly 32 during operation, requiring the transmission assembly 32 to overcome a greater force, thereby increasing the force between the active and passive members, and increasing the force exerted by the passive member on the swing arm 2, thereby ensuring that the active and passive members can drive the swing arm 2 to swing when they interact.

[0136] In one embodiment of the present invention, as shown in Figures 7, 8 and 11, the rolling wheel 343 in the load assembly is engaged with any one of 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.

[0137] In this way, the rolling wheel 343 is connected to the transmission component 32, and when the transmission component 32 is in motion, the rolling wheel 343 is driven to rotate, thereby driving the first damping member to move relative to the second damping member, so that an interaction force is generated between the first damping member and the second damping member, so that the force required for the follower and the transmission component 32 to move is greater, thereby increasing the force between the active member and the driven member, and increasing the force of the driven member on the swing arm 2, thereby ensuring that the active member and the driven member can drive the swing arm 2 to swing when they interact with each other.

[0138] In one embodiment of the present invention, the first intermediate transmission assembly includes a synchronous pulley assembly and a plurality of first transmission gears arranged in sequence along the transmission direction, and the synchronous pulley assembly is transmission-connected between the first first transmission gear and the third gear 3261, between any two adjacent first transmission gears, or between the last first transmission gear and the output gear 3263; the second intermediate transmission assembly includes a plurality of second transmission gears meshed in sequence, and along the transmission direction, the first second transmission gear is meshed with the fourth gear 3262, and the last second transmission gear is meshed with the output gear 3263; the number of first transmission gears is the same as the number of second transmission gears.

[0139] It is understood that the synchronous pulley assembly includes two synchronous pulleys and a synchronous belt with both ends wound around the two synchronous pulleys, and the two synchronous pulleys are coaxially connected to two transmission gears. The two synchronous pulleys rotate synchronously under the transmission action of the synchronous belt, so that the two transmission gears connected to the two synchronous pulleys have the same direction of rotation. The two transmission gears can be the first first transmission gear and the third gear 3261, or any two adjacent first transmission gears, or the last first transmission gear and the output gear 3263. In this way, by adding a synchronous pulley assembly to a transmission path, a pair of adjacent transmission gears in one transmission path have the same direction of rotation, the remaining adjacent gears have opposite directions of rotation, and any two adjacent gears in another transmission path have opposite directions of rotation. Therefore, when the input directions of the two transmission paths are opposite, the output directions can be made the same, thereby keeping the rotation direction of the brush 4 unchanged.

[0140] The following describes the working steps of the cleaning equipment provided in some embodiments of the present application:

[0141] S1. In the default state, the side brush module 320 is in the normal cleaning mode, the brush 4 is in the retracted position, the limit protrusion abuts the retracted limit block, the driving member 31 drives the first gear 321 to rotate around the second clockwise direction N, and drives the second gear 322 to rotate around the first clockwise direction M. The ratchet of the second gear 322 is engaged with the ratchet 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 through the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267 in sequence, driving the brush 4 to rotate around the first clockwise direction M.

[0142] S2. When the mobile platform 100 moves to the corner position, the driving member 31 changes the output direction, so that the direction of the first gear 321 changes from the second clockwise direction N to the first clockwise direction M, and the first gear 321 drives the second gear 322 to change from the first clockwise direction M to the second clockwise direction N. At this time, the second gear 322 exerts a force on the mounting shaft 325 under the action of the first gear 321. This force drives the mounting shaft 325 to drive the swing arm 2 to rotate along the first clockwise direction M around the linkage shaft 323, so that the brush 4 moves away from the mobile platform 100, and the limiting protrusion moves away from the retracting limit block and moves toward the extending limit block. When the swing arm 2 moves until the limiting protrusion abuts against the extending limit block, the swing arm 2 stops swinging. At this time, the brush 4 is in the extended position, and the side brush module 320 switches from the normal cleaning mode to the special cleaning mode.

[0143] After the second gear 322 changes its direction from the first clockwise direction M to the second clockwise direction N, the ratchet teeth of the second gear 322 disengage from the ratchet teeth of the fourth gear 3262 and engage with the ratchet teeth of the third gear 3261. The second gear 322 drives the third gear 3261 to rotate synchronously. The rotation of the third gear 3261 is transmitted to the output gear 3263 in sequence through the fifth gear 3264, the sixth gear 3265, the seventh gear 3266, and the eighth gear 3267, driving the brush 4 to rotate around the first clockwise direction M, and the brush 4 cleans the corner area.

[0144] S3. After the corner area is cleaned, the driving member 31 changes the output direction again, so that the direction of the first gear 321 changes from the first clockwise direction M to the second clockwise direction N, and the first gear 321 drives the second gear 322 to change from the second clockwise direction N to the first clockwise direction M. At this time, the second gear 322 exerts a force on the mounting shaft 325 under the action of the first gear 321. This force drives the mounting shaft 325 to drive the swing arm 2 to rotate along the second clockwise direction N around the linkage shaft 323, so that the brush 4 approaches the moving platform 100, and the limiting protrusion moves away from the extending limit block and moves toward the retracting limit block. When the swing arm 2 moves until the limiting protrusion abuts against the retracting limit block, the swing arm 2 stops swinging. At this time, the brush 4 is in the retracted position, and the side brush module 320 switches from the special cleaning mode to the normal cleaning mode.

[0145] After the direction of the second gear 322 changes 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. 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 through the ninth gear 3268, the seventh gear 3266, and the eighth gear 3267 in sequence, driving the brush 4 to rotate around the first clockwise direction M.

[0146] In this way, during the cleaning process, if the corner area is encountered again, the actions of step S1 to step S3 are repeated.

[0147] In the above steps S1 to S3, the cleaning mode can be switched by changing the output direction of the driving member 31. The operation is simple and quick. In both cleaning modes, the brush 4 rotates around the first clockwise direction M, and the change in the output direction of the driving member 31 will not affect the rotation direction of the brush 4, thereby improving the cleaning effect.

[0148] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. References to the common and similar parts between the various embodiments will be sufficient. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, their descriptions are relatively simple; for relevant details, refer to the descriptions of the methods.

[0149] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A side brush module for a cleaning device, characterized in that, include: A fixed arm, mounted on the bottom of the mobile platform of the cleaning equipment; A swing arm, one end of which is rotatably connected to the fixed arm, and the other end of which is provided with a rotatable cleaning member; The power assembly comprises a driving assembly, an active member, a driven member and a transmission assembly, wherein the active member, the driven member and the transmission assembly are arranged on the swing arm, the driving assembly is connected to the active member, the driven member is connected to the input end of the transmission assembly, and the cleaning member is connected to the output end of the transmission assembly. The active member is driven by the driving assembly to move, and the active member can drive the swing arm to swing through the driven member during the movement, so as to drive the cleaning member to move between the retracted position and the extended position, and the driven member can drive the cleaning member to rotate through the transmission assembly during the movement. The side brush module has a first cleaning mode and a second cleaning mode. In the first cleaning mode, the cleaning member is located at the retracted position. In the second cleaning mode, the cleaning member is located at the extended position.

2. The side brush module for a cleaning device according to claim 1, characterized in that The power assembly further includes a damping assembly, and the damping assembly is arranged on the driven member and / or the transmission assembly.

3. The side brush module for a cleaning device according to claim 2, wherein, The damping assembly includes a friction damping assembly, which is arranged on the driven member and is used to increase the sliding friction force during the movement of the driven member.

4. The side brush module for a cleaning device according to claim 3, wherein, The friction damping assembly includes a friction block, which abuts against at least one wall surface of the follower, and the at least one wall surface and the swing arm slide relatively during the movement of the follower.

5. The side brush module for a cleaning device according to claim 4, characterized in that, The friction damping assembly also includes a pressing structure, which is connected to the swing arm and presses against a side of the friction block facing the swing arm so that the friction block abuts against a wall surface of the follower.

6. The side brush module for a cleaning device according to claim 2, characterized in that The damping assembly includes a friction damping assembly, which is arranged on the transmission assembly and is used to increase the sliding friction force during the operation of the transmission assembly.

7. The side brush module for a cleaning device according to claim 6, wherein The friction damping assembly includes a friction block, which abuts against at least one wall surface of the transmission assembly, and the at least one wall surface and the swing arm slide relatively during the movement of the transmission assembly.

8. The side brush module for a cleaning device according to claim 7, characterized in that, The friction damping assembly also includes a pressing structure, which is connected to the swing arm and presses against a side of the friction block facing the swing arm, so that the friction block abuts against the wall surface of the transmission assembly.

9. The side brush module for a cleaning device according to claim 5 or 8, characterized in that, The distance between the pressing end surface of the pressing structure and the wall surface abutting against the friction block is adjustable to adjust the sliding friction force between the friction block and the wall surface abutting against the friction block.

10. The side brush module for a cleaning device according to any one of claims 2-9, characterized in that, The damping assembly includes a load assembly, and the load assembly is connected to the driven member. When the driven member moves, it drives the load assembly to move.

11. The side brush module for a cleaning device according to claim 10, characterized in that, The load assembly comprises: At least one rolling wheel, rotatably disposed on the swing arm, the rolling wheel being transmission-connected to the driven member, and the driven member being able to drive the rolling wheel to rotate during the operation; A first damping member, each of the rolling wheels is provided with at least one first damping member, and the first damping member can rotate along with the rolling wheel; The second damping member, at least one of the second damping members is provided corresponding to each of the rolling wheels, and the at least one second damping member is disposed on the swing arm; Wherein, during the rotation of the rolling wheel, the first damping member can be driven to move relative to the second damping member, so that an interaction force is generated between the first damping member and the second damping member.

12. The side brush module for a cleaning device according to any one of claims 2-9, characterized in that, The damping assembly includes a load assembly, the load assembly is connected to the transmission assembly, and during the operation of the transmission assembly, the load assembly is driven to operate.

13. The side brush module for a cleaning device according to claim 12, characterized in that, The load assembly includes: At least one rolling wheel, rotatably disposed on the swing arm, the rolling wheel is drivingly connected to the transmission assembly, and the transmission assembly can drive the rolling wheel to rotate during operation; The first damping member, at least one of the first damping members is provided on each of the rolling wheels, and the first damping member can rotate with the rolling wheel; The second damping member, at least one of the second damping members is provided corresponding to each of the rolling wheels, and the at least one second damping member is disposed on the swing arm; Wherein, during the rotation of the rolling wheel, the first damping member can be driven to move relative to the second damping member, so that an interaction force is generated between the first damping member and the second damping member.

14. The side brush module for a cleaning device according to claim 11 or 13, characterized in that, The first damping member includes a roller rotatably disposed on the side wall of the rolling wheel, and the second damping member includes an elastic member. During the rotation of the rolling wheel, the roller can be driven to roll on the elastic member.

15. The side brush module for a cleaning device according to claim 11 or 13, characterized in that, The first damping member includes a friction ring fixedly disposed on the side wall of the rolling wheel, and the second damping member includes a friction strip. During the rotation of the rolling wheel, the friction ring can be driven to frictionally slide relative to the friction strip.

16. The side brush module for a cleaning device according to claim 1, characterized in that, The driving member includes a first gear, the driven member includes a second gear, the first gear and the second gear are respectively rotatably connected to the swing arm, the first gear and the second gear are meshed with each other, the driving assembly can drive the first gear to rotate, and when the driving assembly drives the first gear to change the rotation direction, the swing arm can be driven to change the swing direction through the second gear, so that the side brush module can be switched between the first cleaning mode and the second cleaning mode.

17. The side brush module for a cleaning device according to claim 16, wherein, The transmission assembly includes a first rotary transmission assembly and a second rotary transmission assembly, the first gear can selectively connect the second gear to the input end of the first rotary transmission assembly or the input end of the second rotary transmission assembly by changing the rotation direction, and the output ends of the first rotary transmission assembly and the second rotary transmission assembly are respectively connected to the cleaning member. 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 clockwise direction, the cleaning member can be driven to rotate in a set clockwise direction through the first rotary transmission assembly. In the second cleaning mode, the second gear is connected to the input end of the second rotating transmission assembly, and when the second gear rotates around another clockwise direction, it can drive the cleaning member to rotate around the set clockwise direction through the second rotating transmission assembly.

18. The side brush module for a cleaning device according to claim 17, characterized in that, The first rotating transmission assembly includes a third gear, a first intermediate transmission assembly and an output gear, wherein the third gear and the output gear are respectively connected to the input end and the output end of the first intermediate transmission assembly. The second rotating transmission assembly includes a fourth gear, a second intermediate transmission assembly and the output gear, wherein the fourth gear and the output gear are respectively connected to the input end and the output end of the second intermediate transmission assembly. The output gear is rotationally connected to the swing arm, the cleaning member is coaxially connected to the output gear, and the first gear changes its rotation direction so that the second gear can be selectively coaxially connected to the third gear or the fourth gear.

19. The side brush module for a cleaning device according to claim 18, wherein The first intermediate transmission assembly comprises a plurality of first transmission gears meshed in sequence, wherein along the transmission direction, the first first transmission gear meshes with the third gear, and the last first transmission gear meshes with the output gear; The second intermediate transmission assembly comprises a plurality of second transmission gears meshed in sequence, wherein along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear; The number of the first transmission gears is one more or one less than the number of the second transmission gears.

20. The side brush module for a cleaning device according to claim 18, wherein, The first gear and the second gear are helical gears, ratchet teeth are provided on both side surfaces of the second gear, the second gear is movable along its axial direction and is coaxially arranged between the third gear and the fourth gear, ratchet teeth are provided on the sides of the third gear and the fourth gear facing the second gear, and the first gear changes its rotation direction so that the ratchet teeth of the second gear can selectively engage with the ratchet teeth of the third gear or the ratchet teeth of the fourth gear.

21. The side brush module for a cleaning device according to claim 18, characterized in that, The first intermediate transmission assembly includes a synchronous pulley assembly and a plurality of first transmission gears arranged in sequence along the transmission direction, wherein the synchronous pulley assembly is transmission-connected between the first first transmission gear and the third gear, between any two adjacent first transmission gears, or between the last first transmission gear and the output gear; The second intermediate transmission assembly comprises a plurality of second transmission gears meshed in sequence, wherein along the transmission direction, the first second transmission gear meshes with the fourth gear, and the last second transmission gear meshes with the output gear; The number of the first transmission gears is the same as the number of the second transmission gears.

22. A cleaning device, characterized in that, include: a mobile platform configured to automatically move on the operating surface; A cleaning module is disposed at the bottom of the mobile platform and is configured to clean at least a portion of the operating surface. The cleaning module comprises the side brush module for the cleaning device according to any one of claims 1-21.

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