Side-brush module for cleaning apparatus, and cleaning apparatus

Abstract

Provided 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 (1) mounted at the bottom of a mobile platform (100) of a cleaning apparatus; a swing arm (2), one end of which is rotationally connected to the fixed arm (1), and the other end of which is provided with a rotatable cleaning member (4); a positioning assembly (5), which is arranged between the fixed arm (1) and the swing arm (2); and a power assembly (3), which is connected to the fixed arm (1), wherein the power assembly (3) is configured to be capable of driving the swing arm (2) to swing under the positioning of the positioning assembly (5), so as to drive the cleaning member (4) to move between a retracted position and an extended position.

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. 202410024192.3 filed on January 5, 2024, and the contents of the above-mentioned Chinese patent application disclosure are hereby cited in their entirety as part of this disclosure. Technical Field

[0003] The present disclosure relates to the technical field of cleaning robots, and in particular to a side brush module for a cleaning device and the cleaning device. 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 integrated sweeping and mopping robots, their functions are becoming more and more numerous. However, current integrated sweeping and mopping robots are generally unable to clean indoor corners, resulting in incomplete cleaning and affecting the user experience. Summary of the Invention

[0006] The purpose of the present disclosure is to provide a side brush module for cleaning equipment and a cleaning equipment, which can solve the technical problem that indoor corner areas cannot be cleaned.

[0007] A first aspect of the present disclosure provides a side brush module for a cleaning device, comprising:

[0008] A fixed arm, mounted within the mobile platform of the cleaning equipment;

[0009] a swing arm, one end of the swing arm being rotatably connected to the fixed arm, and the other end of the swing arm being provided with a rotatable cleaning member;

[0010] a positioning assembly, disposed between the fixed arm and the swing arm;

[0011] A power assembly is connected to the fixed arm, and the power assembly is configured to drive the swing arm to swing under the positioning of the positioning assembly, so as to drive the cleaning element to move between the retracted position and the extended position.

[0012] Optionally, 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.

[0013] Optionally, 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.

[0014] Optionally, a first positioning groove and a second positioning groove are respectively provided at both ends of the slide groove, the first positioning groove is configured to position the swing arm in the retracted position, and the second positioning groove is configured to position the swing arm in the extended position.

[0015] Optionally, the first positioning groove and the second positioning groove are spherical groove structures.

[0016] Optionally, the positioning assembly includes: a positioning column, a first end of the positioning column is fixed to the fixed arm or the swing arm, and a second end of the positioning column slides along the sliding groove.

[0017] Optionally, the second end of the positioning column is a spherical structure, configured to slide in matching with the sliding groove.

[0018] Optionally, the positioning column is an elastic positioning column.

[0019] Optionally, the elastic positioning column is a coil spring, a spring or a rubber column.

[0020] Optionally, the positioning assembly further includes: a positioning ball, disposed at the second end of the positioning column and configured to slide along the sliding groove.

[0021] Optionally, the positioning ball is an elastic positioning ball or a rigid positioning ball.

[0022] Optionally, there are one or more positioning columns.

[0023] Optionally, the slide groove is an arc-shaped slide groove.

[0024] A second aspect of the present disclosure provides a cleaning device, comprising:

[0025] a mobile platform configured to automatically move on the operating surface;

[0026] 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.

[0027] Compared with the prior art, the embodiments of the present disclosure have the following technical effects:

[0028] The side brush module for cleaning equipment provided in the disclosed embodiments can drive the swing arm to swing via a power assembly, thereby driving the brush to move between a stowed position and an extended position. A positioning assembly disposed between the fixed arm and the swing arm allows the swing arm to slide stably along a chute during its swinging, ensuring the stability of the swing arm. The positioning assembly also ensures the brush's stable cleaning during cleaning.

[0029] The cleaning device provided by the embodiment of the present disclosure includes the above-mentioned side brush module for cleaning equipment, and the cleaning device includes all the beneficial effects of the side brush module for cleaning equipment. Therefore, the cleaning device provided by the embodiment of the present disclosure can ensure the stability of the swinging process of the side brush module and the cleaning process, thereby improving the user experience.

[0030] 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

[0031] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0032] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning device according to some embodiments of the present disclosure.

[0033] FIG2 is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present disclosure.

[0034] 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 disclosure.

[0035] FIG4 is a schematic diagram of the three-dimensional structure of the side brush module for cleaning equipment of some embodiments of the present disclosure, with the swing arm and part of the fixed arm hidden.

[0036] FIG5 is a schematic diagram of the three-dimensional structure of the swing arm and the fixed arm of some embodiments of the present disclosure.

[0037] FIG6 is a schematic diagram of the three-dimensional structure of a transmission assembly according to some embodiments of the present disclosure.

[0038] FIG7 is a schematic diagram of a three-dimensional structure of a portion of a transmission assembly according to some embodiments of the present disclosure.

[0039] FIG8 is a schematic diagram of the three-dimensional structure of the structure within the swing arm of some embodiments of the present disclosure.

[0040] FIG9 is a schematic diagram of a three-dimensional structure of a portion of a transmission assembly according to some embodiments of the present disclosure.

[0041] FIG10 is a schematic diagram of a three-dimensional structure of a portion of a fixed arm according to some embodiments of the present disclosure.

[0042] FIG. 11 is a schematic structural diagram of a positioning assembly according to some embodiments of the present disclosure.

[0043] Explanation 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, power assembly 3, brush 4, driving 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 limit member 347, positioning assembly 5, positioning column 51, positioning ball 52, slide groove 6, first positioning groove 61, second positioning groove 62. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, rather than all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are intended to fall within the scope of protection of the present disclosure.

[0045] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a," "an," "the," and "the" used in the embodiments of the present disclosure 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.

[0046] 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.

[0047] It should be understood that although the terms "first," "second," and "third" may be used to describe various types of information in the embodiments of the present disclosure, 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 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.

[0048] 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.

[0049] Optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0050] Figures 1 and 2 are schematic structural diagrams of a cleaning device according to an exemplary embodiment. As shown in Figures 1 and 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 perception system 120, a control system, a drive system 140, a cleaning module, an energy system, and a human-computer interaction system 170. Among them:

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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 x-axis, it is "turning right", and when the automatic cleaning device is tilted to the left of the x-axis, it is "turning left".

[0055] 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.

[0056] The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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, the cleaning head 210 is used to clean at least a portion of the operating surface, and a driving unit is used to drive the cleaning head 210 to 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. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned.

[0065] 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.

[0066] According to one of the specific embodiments of the present disclosure, as shown in Figure 3, the side brush module 320 for the cleaning equipment provided by the present disclosure 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, the cleaning member is, for example, a brush 4; the power assembly 3 is connected to the fixed arm 1, and the power assembly 3 is configured to drive the swing arm 2 to swing, so as to drive the brush 4 to move between a retracted position and an extended position. The side brush module 320 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.

[0067] The side brush module 320 for cleaning equipment provided by the embodiment of the present disclosure can drive the swing arm 2 to swing through the power component 3, thereby driving the brush 4 to move between the stowed position and the extended position. When cleaning a wide and flat area, the side brush module 320 switches to the normal cleaning mode. At this time, the brush 4 is in the stowed position and can clean the operating surface below the mobile platform 100. When cleaning a position close to a corner, the side brush module 320 switches to the special cleaning mode. At this time, the brush 4 is in the extended position and can clean a larger area. It can extend into the corner area for cleaning, thereby cleaning the corner area. Therefore, the side brush module 320 for cleaning equipment provided by the embodiment of the present disclosure can clean the corner area of ​​the room, improve the comprehensiveness of the cleaning range, and thus improve the user experience.

[0068] In one embodiment of the present disclosure, as shown in FIG. 3 to FIG. 5 , the power assembly 3 includes a driving member 31 and a transmission assembly 32 . The driving member 31 can drive the swing arm 2 to swing and the brush 4 to rotate through the transmission assembly 32 .

[0069] One driving member 31 can drive the swing arm 2 to swing and the brush 4 to rotate, thereby reducing the input of power source and saving cost.

[0070] Exemplarily, the driving member 31 is a motor.

[0071] In one embodiment of the present disclosure, the driving member 31 includes a rotating output shaft. In the normal cleaning mode, the rotating output shaft rotates along the first clockwise direction M, and in the special cleaning mode, the rotating output shaft rotates along the second clockwise direction N. When the rotation direction of the rotating output shaft changes from the first clockwise direction M to the second clockwise direction N, the side brush module 320 switches from the normal cleaning mode to the special cleaning mode; when the rotation direction of the rotating output shaft changes from the second clockwise direction to the first clockwise direction, the side brush module 320 switches from the special cleaning mode to the normal cleaning mode.

[0072] The driving member 31 changes the swing direction of the swing arm 2 by changing the direction of its rotating output shaft, thereby realizing the switching of the cleaning mode. After the cleaning mode is switched, the driving member 31 rotates in the clockwise direction to continue driving the brush 4. The operation of switching the cleaning mode is convenient and quick.

[0073] 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 retraction limit block and an extension limit block spaced apart around the swing center of the swing arm 2, the limiting protrusion being located between the retraction limit block and the extension limit block, and 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 extension position, and 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.

[0074] 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.

[0075] In one embodiment of the present disclosure, one of the first clockwise direction M and the second clockwise direction N is a clockwise direction, and the other is a counterclockwise direction.

[0076] In one embodiment of the present disclosure, the brush 4 rotates in the same clockwise direction in the special cleaning mode and the normal cleaning mode.

[0077] The rotation direction of the brush 4 remains unchanged, which can improve the cleanliness of cleaning and avoid affecting the rotation direction of the brush 4 due to the change of the output direction of the driving member 31, thereby ensuring the cleanliness of cleaning.

[0078] 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 rotates around its own central axis and is connected to the fixed arm 1 and the swing arm 2. The driving member 31 is driven and connected to the linkage shaft 323, and can drive the linkage shaft 323 to rotate; the input end of the first transmission assembly is connected to the linkage shaft 323, and the output end is connected to the swing arm 2. When the linkage shaft 323 rotates, the swing arm 2 can be driven to swing through the first transmission assembly; the input end of the second transmission assembly is connected to the first transmission assembly, and the output end is connected to the brush 4. When the linkage shaft 323 rotates, the brush 4 can be driven to rotate through the first transmission assembly and the second transmission assembly.

[0079] The rotation of the output shaft of the driving member 31 is transmitted to the swing arm 2 through the linkage shaft 323 and the first transmission assembly, driving the swing arm 2 to swing and switch the cleaning mode. The rotation of the output shaft of the driving member 31 is transmitted to the brush 4 through the linkage shaft 323, the first transmission assembly, and the second transmission assembly, driving the brush 4 to rotate and clean the work surface. In this way, a single driving member 31 can drive both the rotation of the brush 4 and the swing of the swing arm 2.

[0080] In one embodiment of the present disclosure, as shown in Figures 4 and 6, the rotation output shaft of the driving member 31 is coaxially connected to the first linkage shaft transmission gear 3241. The first linkage shaft transmission gear 3241 is meshed with the second linkage shaft transmission gear 3242, the third linkage shaft transmission gear 3243, and the fourth linkage shaft transmission gear 3244 in sequence. 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.

[0081] The rotating output shaft of the driving member 31 drives the first linkage shaft transmission gear 3241 to rotate. The rotation of the first linkage shaft transmission gear 3241 is transmitted to the fourth linkage shaft transmission gear 3244 through the second linkage shaft transmission gear 3242 and the third linkage shaft transmission gear 3243 in turn, driving the fourth linkage shaft transmission gear 3244 to rotate, thereby driving the linkage shaft 323 to rotate. In this way, the driving member 31 drives the linkage shaft 323.

[0082] In one embodiment of the present disclosure, as shown in Figures 4, 5 and 7, 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 along with the linkage shaft 323. The second gear 322 is rotatably connected to the swing arm 2. The first gear 321 and the second gear 322 are engaged with each other. When the first gear 321 changes its rotation direction, it can drive the swing arm 2 to change its swing direction through the second gear 322, so that the side brush module 320 can switch between normal cleaning mode and special cleaning mode.

[0083] When the driving member 31 drives the linkage shaft 323 to change its rotational direction, the first gear 321 also changes its rotational direction, thereby driving the swing arm 2 to change its swing direction through the second gear 322. Therefore, by changing the rotational direction of the driving member 31's output shaft, the swing arm 2 can change its swing direction, thereby switching the cleaning mode. The switching operation is simple and quick, saving time and effort.

[0084] For example, as shown in Figures 3 and 7, the second gear 322 is rotatably mounted on the swing arm 2 through the second mounting shaft 325. In the conventional 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 second 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 second 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 is transmitted to the second gear 322. The second mounting shaft 325 is passed to the second mounting shaft 325, and this part of the force forms a rotational torque relative to the linkage shaft 323. The rotational torque drives the second mounting shaft 325 to rotate around the linkage shaft 323 along the first clockwise direction M. The second 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 retraction limit block until the limit protrusion moves to abut against the extension limit block. At this time, due to the restriction of the extension 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 the extension 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 achieve quick switching between the two cleaning modes.

[0085] In one embodiment of the present disclosure, the second transmission assembly includes a first rotation transmission assembly and a second rotation 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 rotation transmission assembly or the input end of the second rotation transmission assembly. The output end of the first rotation transmission assembly and the output end of the second rotation transmission assembly are respectively connected to the brush 4. In the normal cleaning mode, the second gear 322 is connected to the input end of the first rotation 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 rotation transmission assembly. In the special cleaning mode, the second gear 322 is connected to the input end of the second rotation 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 rotation transmission assembly.

[0086] The set clockwise direction may be the first clockwise direction M or the second clockwise direction N, which is not specifically limited here.

[0087] 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.

[0088] In one embodiment of the present disclosure, 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.

[0089] 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.

[0090] In one embodiment of the present disclosure, the first gear 321 and the second gear 322 are both bevel 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.

[0091] 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 7, 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.

[0092] 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.

[0093] For example, as shown in FIG7 , the second gear 322 is rotatably mounted on the second mounting shaft 325 and movably mounted along the axial direction of the second mounting shaft 325, while the third gear 3261 and the fourth gear 3262 are rotatably mounted 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, ensuring that the motion of the second gear 322 is transmitted 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, thereby ensuring that the rotation direction of the brush 4 remains unchanged.

[0094] In one embodiment of the present disclosure, the first intermediate transmission assembly includes a plurality of first transmission gears meshed in sequence, and 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, 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 one more or one less than the number of second transmission gears.

[0095] 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.

[0096] For example, there are K first transmission gears and K-1 second transmission gears, and the K first transmission gears and the 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.

[0097] 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.

[0098] Exemplarily, as shown in FIG6 and FIG8 , four first transmission gears are provided and three second transmission gears are provided.

[0099] Exemplarily, two of the first transmission gears and two of the second transmission gears are shared. For example, as shown in FIG8 , 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.

[0100] In one embodiment of the present disclosure, 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 passed through the hollow cavity of the fixed arm 1; another part of the linkage shaft 323 is rotatably passed through 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.

[0101] 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.

[0102] In one embodiment of the present disclosure, 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.

[0103] 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.

[0104] In one embodiment of the present disclosure, as shown in Figure 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 is connected to the push rod transmission assembly 34. The linkage shaft 323 is connected to the push rod transmission assembly 34. When the linkage shaft 323 changes its rotation direction, it can drive the swing push rod 33 to change the direction of swinging around the linkage shaft 323 through the push rod transmission assembly 34, so as to drive the swing arm 2 to change the swing direction, so that the side brush module can switch between normal cleaning mode and special cleaning mode.

[0105] The driving member 31 can drive the linkage shaft 323 to change the rotation direction by changing the output direction, thereby driving the swing arm 2 to change the swing direction through the push rod transmission assembly 34 and the swing push rod 33. Therefore, by changing the rotation direction of the rotation output shaft of the driving member 31, the swing direction of the swing arm 2 can be changed, thereby realizing the switching of the cleaning mode.

[0106] 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. The first mounting shaft 341 is connected to the end of the swing push rod 33 that is away from the linkage shaft 323; 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 are meshed; the friction wheel 343 is sleeved on the first mounting shaft 341 and can rotate relative to the first mounting shaft 341, and the friction wheel 343 is connected to the friction transmission wheel 342, and the friction wheel 343 can roll along the wall of the fixed arm 1; wherein, when the first gear 321 changes its rotation direction, the friction transmission wheel 342 can drive the friction wheel 343 to change its rolling direction, thereby causing the swing push rod 33 to change its swing direction, so that the side brush module can switch between the normal cleaning mode and the special cleaning mode.

[0107] When the first gear 321 rotates, it drives the friction transmission wheel 342 to rotate, and the friction transmission wheel 342 drives the friction wheel 343 to rotate, and the friction wheel 343 rolls along the wall of the fixed arm 1, that is, the friction wheel 343 moves relative to the wall of the fixed arm 1, that is, the end of the swing push rod 33 connected to the first mounting shaft 341 moves along with the friction wheel 343 and moves relative to the wall of the fixed arm 1, while the position of the end of the swing push rod 33 connected to the linkage shaft 323 relative to the wall of the fixed arm 1 remains almost unchanged. Therefore, the position of the swing push rod 33 changes. Specifically, the swing push rod 33 swings around the linkage shaft 323, and the end of the swing push rod 33 away from the linkage shaft 323 pushes the swing arm 2 to swing.

[0108] In this way, the push rod transmission assembly 34 is transmitted to the swing push rod 33, so that the swing direction of the swing arm 2 can be changed by changing the rotation direction of the rotation output shaft of the driving member 31, thereby realizing convenient switching of the cleaning mode.

[0109] In one embodiment of the present disclosure, the sides of the friction transmission wheel 342 and the friction wheel 343 are in contact, and the push rod transmission assembly also includes a booster assembly, which 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, so 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.

[0110] In this way, compared with the direct rigid connection between the friction transmission wheel 342 and the friction wheel 343 , damage to the friction wheel 343 and the fixed arm 1 in the event of overload can be avoided.

[0111] In one embodiment of the present disclosure, the boost assembly includes a first limit member 347 and a first elastic member 344, the first limit member 347 is connected to the first mounting shaft 341, and is located on the side of the friction wheel 343 away from the friction transmission wheel 342, and the first elastic member 344 is elastically compressed between the first limit member 347 and the friction wheel 343; and / or, the boost assembly includes a second limit member and a second elastic member 345, the second limit member is connected to the first mounting shaft 341, and is located on the side of the friction transmission wheel 342 away from the friction wheel 343, and the second elastic member 345 is elastically compressed between the second limit member and the friction transmission wheel 342.

[0112] Exemplarily, a portion of the swing push rod 33 serves as a second limiting member, pressing against a side of the second elastic member 345 facing away from the friction transmission wheel 342 .

[0113] In this way, the first pressing force and the second pressing force are elastic pressures, further preventing damage to the friction wheel 343 and the fixed arm 1 in the event of overload.

[0114] For example, as shown in Figures 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 is adapted to the wheel surface of the friction wheel 343, which is used to increase the rolling friction between the two, thereby ensuring that the friction wheel 343 rolls along the fixed arm 1 when subjected to force, and further ensuring that the friction wheel 343 drives the swing push rod 33 to swing when rolling.

[0115] It should be noted that the first transmission component includes the first gear 321 and the second gear 322, which drives the swing arm 2 to swing, which is a first swing transmission scheme; the first transmission component includes the swing push rod 33 and the push rod transmission component 34, which drives the swing arm 2 to swing, which is a second swing transmission scheme. In some embodiments, the side brush module 320 can adopt only the first swing transmission scheme, or can adopt the first swing transmission scheme and the second swing transmission scheme at the same time.

[0116] The following describes the working steps of the cleaning equipment provided in some embodiments of the present application:

[0117] 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.

[0118] 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 the direction of rotation from the first clockwise direction M to the second clockwise direction N. At this time, the second gear 322 exerts a force on the second mounting shaft 325 under the action of the first gear 321. This force drives the second 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.

[0119] 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.

[0120] 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 second mounting shaft 325 under the action of the first gear 321. This force drives the second 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.

[0121] 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.

[0122] In this way, during the cleaning process, if the corner area is encountered again, the actions of step S1 to step S3 are repeated.

[0123] 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.

[0124] The presently disclosed embodiment also provides a side brush module for a cleaning device, as shown in FIG11 , comprising: a fixed arm 1 mounted on the bottom of a mobile platform 100 of the cleaning device; a swing arm 2, one end of which is rotatably connected to the fixed arm 1 and the other end of which is mounted 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, wherein the power assembly 3 is configured to drive the swing arm 2 to swing under the auxiliary positioning of the positioning assembly 5, thereby driving the brush 4 to move between a retracted position and an extended position. The structure and driving method of the fixed arm 1, the swing arm 2, and the power assembly 3 are described in the structure and principle of the above embodiment and are not further described here. It is understood that the "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 a fixed path under the action of the positioning assembly 5. For example, the swing arm 2 slides along the slide 6 under the action of the positioning assembly 5, thereby achieving the swinging. Furthermore, "positioning" may also mean that when the cleaning element 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 to improve the stability of the swing arm 2 in the retracted position or the extended position.

[0125] The side brush module for the cleaning equipment described in this embodiment is configured so that the positioning component is arranged between the fixed arm and the swing arm, so that the swing arm can slide stably along the slide groove during the swinging process, thereby ensuring the stability of the swinging of the swing arm. At the same time, when performing cleaning tasks, the stability of the brush cleaning can also be guaranteed due to the setting of the positioning component.

[0126] In some embodiments, as shown in Figure 11, a slide groove 6 is provided on the side of the fixed arm 1 facing the positioning component 5, one end of the positioning component 5 is fixed to the swing arm 2, and the other end is configured so that when the swing arm 2 swings between the retracted position and the extended position relative to the fixed arm 1, the other end of the positioning component 5 slides along the slide groove 6, thereby preventing the swing arm 2 from shaking during the swinging process and maintaining the stability of the side brush module.

[0127] In some embodiments, a slide groove 6 is provided on the side of the swing arm 2 facing the positioning assembly 5. The slide groove 6 can be provided on the side of the fixed arm 1 or on the side of the swing arm 2. The slide groove 6 is an arc-shaped structure. The arc-shaped structure revolves around the rotation center of the swing arm 2 relative to the fixed arm 1, so 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 is configured so that when the swing arm 2 swings between the retracted position and the extended position relative to the fixed arm 1, the other end of the positioning assembly 5 slides along the slide groove 6, thereby preventing the swing arm 2 from shaking during the swinging process and maintaining the stability of the side brush module.

[0128] In some embodiments, as shown in Figure 11, the ends of the slide 6 are respectively provided with a first positioning groove 61 and a second positioning groove 62. The first positioning groove 61 is configured to position the swing arm 2 in the retracted position, and the second positioning groove 62 is configured to position the swing arm 2 in the extended position. Optionally, the first positioning groove 61 and the second positioning groove 62 are spherical groove structures. When the positioning assembly 5 is in the retracted position, the end of the positioning assembly 5 is located in the first positioning groove 61. This ensures the stability of the swing arm 2, reduces the shaking of the side brush or the swing arm when cleaning in this position, and ensures the stability of the side brush during cleaning. Conversely, when the positioning assembly 5 is in the extended position, the end of the positioning assembly 5 is located in the second positioning groove 62. This ensures the stability of the swing arm 2, reduces the shaking of the side brush or the swing arm when cleaning in the extended position, and ensures the stability of the side brush during cleaning.

[0129] In some embodiments, as shown in FIG11 , the positioning assembly 5 includes: a positioning column 51, one end of which is fixed to the fixed arm 1 or the swing arm 2, and the other end of which slides along the slide groove 6. At this time, the positioning column 51 is a columnar structure extending approximately 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 column 51 is a spherical structure, which is configured to slide in matching with the slide groove 6. By setting the spherical structure, it is possible to ensure that the other end of the positioning column 51 slides smoothly in the slide groove 6. Optionally, the positioning column 51 is 1, 2 or more. FIG11 shows the case of 1 positioning column, and the case of multiple positioning columns is similar. By setting multiple positioning columns 51, the stability of the swing arm 2 during the swinging process can be further ensured.

[0130] In some embodiments, the positioning column 51 is an elastic positioning column. Optionally, the elastic positioning column is a coil spring, a spring, or a rubber column. The elasticity of the positioning column 51 can reduce the requirement for consistent distance between the fixed arm 1 and the swing arm 2. Even if the distance between the fixed arm 1 and the swing arm 2 is inconsistent, the elastic positioning column can still provide adjustable elastic support, thereby ensuring the stability of the swing arm during the swing process.

[0131] In some embodiments, as shown in FIG11 , 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 slide 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. This allows the coil spring to elastically expand and contract while the positioning ball 52 slides along the slide groove 6, making the connection between the fixed arm 1 and the swing arm 2 more flexible and reducing design difficulty.

[0132] 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, such as a rubber ball, it can further ensure the elastic connection between the fixed arm 1 and the swing arm 2. When the positioning ball 52 is a rigid positioning ball, since the positioning column 51 is an elastic member, it can also ensure the elastic connection between the fixed arm 1 and the swing arm 2. Moreover, since the rigid positioning ball has less friction, it is easier to slide in the slide groove.

[0133] The cleaning device provided by the embodiment of the present disclosure includes the above-mentioned side brush module for the cleaning device. The cleaning device provided by the embodiment of the present disclosure can ensure the stability of the swinging process of the side brush module and the cleaning process, thereby improving the user experience.

[0134] 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.

[0135] 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 cleaning equipment, characterized in that: include: A fixed arm, mounted within the mobile platform of the cleaning equipment; a swing arm, one end of the swing arm being rotatably connected to the fixed arm, and the other end of the swing arm being equipped with a rotatable cleaning member; a positioning assembly, disposed between the fixed arm and the swing arm; A power assembly is connected to the fixed arm, and the power assembly is configured to drive the swing arm to swing under the positioning of the positioning assembly, so as to drive the cleaning element to move between the retracted position and the extended position.

2. The side brush module for cleaning equipment according to claim 1, characterized in that: A sliding groove is provided on one side of the fixed arm facing the positioning assembly, and the positioning assembly is configured to slide along the sliding groove.

3. The side brush module for cleaning equipment according to claim 1, characterized in that: A sliding groove is provided on one side of the swing arm facing the positioning assembly, and the positioning assembly is configured to slide along the sliding groove.

4. The side brush module for cleaning equipment according to claim 2 or 3, characterized in that: A first positioning groove and a second positioning groove are respectively provided at both ends of the slide 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 for cleaning equipment according to claim 4, characterized in that: The first positioning groove and the second positioning groove are spherical groove structures.

6. The side brush module for cleaning equipment according to claim 2 or 3, characterized in that: The positioning component includes: A positioning column, wherein the first end of the positioning column is fixed to the fixed arm or the swing arm, and the second end of the positioning column slides along the sliding groove.

7. The side brush module for cleaning equipment according to claim 6, characterized in that: The second end of the positioning column is a spherical structure, and is configured to slide in matching with the sliding groove.

8. The side brush module for cleaning equipment according to claim 6, characterized in that: The positioning column is an elastic positioning column.

9. The side brush module for cleaning equipment according to claim 8, characterized in that: The elastic positioning column is a coil spring, a spring or a rubber column.

10. The side brush module for cleaning equipment according to claim 6, characterized in that: The positioning component also includes: The positioning ball is disposed at the second end of the positioning column and is configured to slide along the sliding groove.

11. The side brush module for cleaning equipment according to claim 10, characterized in that: The positioning ball is an elastic positioning ball or a rigid positioning ball.

12. The side brush module for cleaning equipment according to claim 6, characterized in that: There are one or more positioning columns.

13. The side brush module for cleaning equipment according to claim 2 or 3, characterized in that: The chute is an arc-shaped chute.

14. A cleaning device, characterized in that: include: a mobile platform configured to automatically move on the operating surface; A cleaning module is provided 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 to 13.

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