Cleaning module and cleaning apparatus

Abstract

A cleaning module and a cleaning apparatus. The cleaning module (200) comprises: a cleaning assembly (2000), which is configured to clean at least part of an operating surface; a driving assembly (230), which is configured to output a driving force; and a water pumping assembly (250), which is configured to be driven by the driving assembly (230) to supply water to the cleaning assembly (2000), and comprises: a water pumping structure (251), one end of which is snap-fitted to the driving assembly (230) and the other end of which has a central gear (2512), the central gear (2512) being driven by the driving assembly (230) to rotate at a first speed; a differential (253), which is arranged on the side of the water pumping structure (251) away from the driving assembly (230) and is configured to change the output speed of the central gear (2512); and a water distributor (252), which is connected to the differential (253), wherein at least part of the water distributor (252) rotates at a second speed along with the differential (253).

Description

Cleaning modules and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 202410024909.4 filed on January 5, 2024, and the contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

[0003] The present disclosure relates to the technical field of cleaning robots, and in particular to a cleaning module and a 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 sweeping and mopping robots, the functions of sweeping and mopping robots are increasing, and the structure is becoming more and more complex. A sweeping and mopping robot can often meet the application requirements of many different occasions. Due to the increasingly complex structure and the increasing number of integrated hardware structures, the size of the sweeping and mopping robots is becoming larger and larger, which is inconvenient to transport and use, and the cost is also increasing accordingly.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0007] The purpose of this disclosure is to provide an automatic cleaning device that can solve the technical problem of water supply control of multifunctional all-in-one cleaning devices. The specific solution is as follows:

[0008] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning module, comprising:

[0009] a cleaning assembly configured to clean at least a portion of the work surface;

[0010] a drive assembly configured to output a driving force;

[0011] A water pump assembly, configured to supply water to the cleaning assembly under the drive of the driving assembly, comprising:

[0012] a water pumping structure, one end of which is engaged with the driving assembly, and the other end of which has a central gear, the central gear rotating at a first speed under the drive of the driving assembly;

[0013] a differential, disposed on a side of the water pumping structure away from the drive assembly, configured to change the output speed of the central gear;

[0014] The water separator is connected to the differential, and at least a portion of the water separator rotates at a second speed along with the differential.

[0015] In some embodiments, the differential comprises:

[0016] A plurality of surrounding gears, each having a central shaft, wherein the central shaft is connected to the water distributor;

[0017] The plurality of surrounding gears are respectively engaged with the central gear. In response to the rotation of the central gear, the plurality of surrounding gears rotate around the central shaft and the central gear at the same time, thereby driving the water separator to rotate through the central shaft.

[0018] In some embodiments, the differential further comprises:

[0019] A gear ring connected to the water pump structure, wherein the inner wall of the gear ring is provided with continuous gear teeth;

[0020] The plurality of surrounding gears are respectively engaged with the central gear and the ring gear. In response to the rotation of the central gear, the plurality of surrounding gears rotate around the central axis and along the gear teeth on the inner wall of the ring gear, thereby driving the water separator to rotate through the central axis.

[0021] In some embodiments, the number of the plurality of orbiting gears is 2-5.

[0022] In some embodiments, the second speed is greater than or less than the first speed.

[0023] In some embodiments, the water separator comprises:

[0024] a rotor having at least one rotor water inlet hole and configured to rotate continuously in a first operating mode of the drive assembly;

[0025] A static plate is arranged on the water outlet direction side of the dynamic plate and has a plurality of static plate water outlet holes;

[0026] The moving plate rotates continuously relative to the static plate, and in response to the overlap of the projection of at least one moving plate water inlet hole and the static plate water outlet hole, the water distributor supplies water to the cleaning assembly through the static plate water outlet hole with the overlapping projection.

[0027] In some embodiments, the water separator further comprises:

[0028] The rotor bracket is arranged between the rotor and the differential, and is configured to rotate under the drive of the differential and drive the rotor to rotate.

[0029] In some embodiments, the rotor bracket includes:

[0030] At least one bracket water inlet hole, the at least one bracket water inlet hole overlaps with the at least one moving plate water inlet hole, and is configured to allow water to flow through the at least one bracket water inlet hole and the at least one moving plate water inlet hole and then flow out from the static plate water outlet hole.

[0031] In some embodiments, the movable plate bracket further includes at least one latching position, and the movable plate further includes at least one movable plate recess, and the movable plate recess cooperates with the latching position to achieve latching.

[0032] In some embodiments, the movable plate bracket further includes at least one recess, and the movable plate further includes at least one latching position, and the recess and the latching position cooperate to achieve latching.

[0033] In some embodiments,

[0034] The movable plate bracket is clamped with the movable plate to form a cavity;

[0035] The movable plate bracket includes at least one bracket water inlet hole, configured to allow water to flow through the at least one bracket water inlet hole into the cavity and then flow out through the at least one movable plate water inlet hole and the static plate water outlet hole.

[0036] In some embodiments, the water pump assembly further comprises:

[0037] a housing configured to accommodate the moving piece, the static piece, and the moving piece bracket;

[0038] Wherein, the multiple water outlets are arranged on the shell, and the shell has a water inlet, water flows into the shell from the water inlet, and flows out from the at least one water outlet after passing through the water inlet hole of the bracket, the water inlet hole of the moving plate and the water outlet hole of the static plate.

[0039] In some embodiments, the water separator further comprises:

[0040] The soft rubber pad is arranged on a side of the static piece away from the dynamic piece.

[0041] In some embodiments, the water divider further includes: a soft rubber pad, arranged on a side of the moving piece away from the static piece; and a sealing structure, arranged on a side of the static piece away from the moving piece.

[0042] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning device, comprising a cleaning module as described in any one of the above.

[0043] Compared with the prior art, the embodiments of the present disclosure have the following technical effects:

[0044] The cleaning module provided by the embodiment of the present disclosure includes a water pumping assembly with an integrated water divider. The water pumping assembly includes a water pumping structure, a differential and a water divider. Through the cooperation of the water pumping structure and the differential, the rotation speed of the water divider can be changed to increase or decrease the rotation speed of the water divider, thereby controlling the size of the water flow distributed by the water divider to meet the water flow requirements of the cleaning assembly under different cleaning modes. The structural design of the water divider is simple, making the cleaning module and the cleaning equipment as a whole more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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:

[0046] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning device according to some embodiments of the present disclosure.

[0047] FIG2 is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present disclosure.

[0048] FIG3 is a schematic diagram of the wet cleaning module structure of the cleaning equipment according to some embodiments of the present disclosure.

[0049] FIG4A is a schematic diagram of the structure of a driving assembly of a cleaning device according to some embodiments of the present disclosure at one angle.

[0050] FIG4B is a schematic structural diagram of the driving assembly of the cleaning device according to some embodiments of the present disclosure from another angle.

[0051] FIG5 is a schematic diagram of the structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0052] FIG6 is a schematic diagram of the explosion structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0053] FIG7 is a schematic diagram of an exploded structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure from another perspective.

[0054] Explanation of the accompanying drawings: Mobile platform 100, rear portion 110, forward portion 111, perception system 120, position determination device 121, buffer 122, drive system 140, drive wheel assembly 141, steering assembly 142, human-computer interaction system 170, cleaning module 1000, dry cleaning module 300, roller brush 310, side brush 320, wet cleaning module 200, drive assembly 230, motor 231, worm 232, drive wheel assembly 233, first drive wheel assembly 2331, first power transmission device 23311, second drive wheel assembly 2332, second power transmission device 23321, third drive wheel assembly 2333, third power transmission device 2333 1. Clutch assembly 2334, cable gear 241, cable 242, cleaning assembly 2000, first cleaning assembly 210, second cleaning assembly 220, lifting assembly 240, support platform 290, water pumping assembly 250, water pumping structure 251, central gear 2512, water distributor 252, rotor 2521, rotor water inlet 25211, static plate 2522, static plate water outlet 25221, rotor bracket 2523, bracket water inlet 25232, latch 25233, differential 253, ring gear 2531, gear teeth 2532, surrounding gear 2533, central shaft 2534, housing 2526, water outlet 25261, water inlet 25262. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] 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.

[0058] It should be understood that although the terms "first," "second," and "third" may be used to describe various 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, "first" may also be referred to as "second," and similarly, "second" may also be referred to as "first," without departing from the scope of the embodiments of the present disclosure.

[0059] 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.

[0060] Optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0061] Figures 1 and 2 are schematic diagrams of the structure of an automatic 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, 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 1000, an energy system, and a human-computer interaction system 170. Among them:

[0062] 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 outer glass surface of a building, with the outer glass surface 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 inner surface of a pipe, with the inner 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.

[0063] 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.

[0064] 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.

[0065] 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 transverse axis X, the front-to-back axis Y, and the central vertical axis Z. The forward drive direction along the front-to-back axis Y is marked as "forward", and the rearward drive direction along the front-to-back axis Y is marked as "rearward". The transverse axis X 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 X-axis. When the forward part of the automatic cleaning device is tilted upward and the rear part is tilted downward, it is "tilting up", and when the forward part of the automatic cleaning device is tilted downward and the rear part is tilted upward, it is "tilting down". 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".

[0066] 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.

[0067] The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

[0068] 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.

[0069] 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.

[0070] 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, a flash memory, or a 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 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 1000 for cleaning operations based on the environmental information and the environmental map.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] The cleaning module 1000 may include a dry cleaning module 300 and / or a wet cleaning module 200. As shown in Figure 2, the dry cleaning module 300 includes, among other things, a roller brush 310. The roller brush, which has some contact with the ground, sweeps up debris from the floor and carries it to the front of the dust collection port between the roller brush and the dust box. The dust is then drawn into the dust box by the suction force generated by the fan and passing through the dust box. The dry cleaning module may also include a side brush 320 with a rotating shaft at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning module.

[0076] According to one of the specific embodiments of the present disclosure, as shown in FIG3 , the wet cleaning module 200 provided by the present disclosure is configured to clean at least a portion of the operating surface in a wet cleaning manner. Specifically, the wet cleaning module 200 includes a driving component 230, which is used to output a driving force having a first working mode and a second working mode; the wet cleaning module 200 also includes a cleaning component 2000, which includes a first cleaning component 210 and a second cleaning component 220. The first cleaning component 210 is configured to reciprocate in the first working mode of the driving component 230 to clean at least a portion of the operating surface, and the second cleaning component 220 Component 220 is configured to rotate continuously in the first working mode of the driving assembly 230 to clean at least a portion of the operating surface; the wet cleaning module 200 also includes a lifting assembly 240, which is configured to lift the cleaning assembly to separate from the operating surface in the second working mode of the driving assembly 230, and to drop the cleaning assembly to contact the operating surface under the action of gravity; the wet cleaning module 200 also includes a water pumping assembly 250, which has multiple water outlets and is configured to supply water to the first cleaning assembly 210 and the second cleaning assembly 220 respectively in the first working mode of the driving assembly 230. The cleaning module of the present disclosure realizes a structural design in which a plurality of driven components (first cleaning assembly 210, second cleaning assembly 220, lifting assembly 240, and water pumping assembly 250) are driven to work by switching working modes through a single driving assembly 230, thereby simplifying the overall structure of the cleaning module and making the overall design of the cleaning equipment more compact.

[0077] In some embodiments, as shown in FIG3 , the wet cleaning module 200 provided by the present disclosure 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 support platform 290, a first cleaning component 210 and a second cleaning component 220 are arranged on the side of the support platform 290 facing the operating surface, and a drive component 230, a lifting component 240, and a water pump component 250 are arranged on the side of the support platform 290 facing the moving platform: the first cleaning component 210 is driven by the drive component 230 to reciprocate along the surface to be cleaned, and the contact surface of the first cleaning component 210 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, and the reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned. The second cleaning component 220 is driven by the drive component 230 to continuously rotate along the surface to be cleaned, and the contact surface of the second cleaning component 220 and the surface to be cleaned is also provided with a cleaning cloth or a cleaning plate, and the continuous rotation generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned.

[0078] In some embodiments, the second cleaning assembly is disposed at an edge of the first cleaning assembly, and the second cleaning assembly is configured to continuously rotate under the drive of the drive assembly to clean at least a portion of the work surface. The first cleaning assembly has a plurality of water distribution holes, and the first cleaning assembly is configured to reciprocate under the drive of the drive assembly to clean at least a portion of the work surface.

[0079] It can be understood that the higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion. For example, when the frequency of high-frequency vibration is set to the sound wave frequency, the tufts on the surface of the first cleaning component 210 will extend in the same direction more uniformly under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, rather than simply applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not cause the tufts to extend in nearly the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no messy water stains will be left.

[0080] The reciprocating motion can be repeated motion along any one or more directions within the operating surface, or it can be vibration perpendicular to the operating surface, and there is no strict restriction on this. Optionally, the reciprocating motion direction of the cleaning module is roughly perpendicular to the machine's travel direction, because the reciprocating motion direction parallel to the machine's travel direction will cause instability to the moving machine itself, because the thrust and resistance in the travel direction will make the drive wheel easy to slip. The impact of slipping is more obvious in the case of a wet cleaning module, because the wetness of the operating surface increases the possibility of slipping. In addition to affecting the smooth travel and cleaning of the machine, slipping will also cause inaccurate ranging of sensors such as odometers and gyroscopes, resulting in the inability of navigation-type automatic cleaning equipment to accurately locate and draw maps. In the case of frequent slipping, the impact on SLAM will not be negligible, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement component of the cleaning head in the machine's travel direction causes the machine to be constantly pushed forward and backward while moving, so the machine's movement will be unstable and smooth.

[0081] The cleaning intensity and efficiency of the cleaning equipment can also be automatically and dynamically adjusted based on the operating environment of the cleaning equipment. For example, the cleaning equipment can achieve dynamic adjustment based on the physical information of the surface to be cleaned detected by the sensing system 120. For example, the sensing system 120 can detect information such as the flatness of the surface to be cleaned, the material of the surface to be cleaned, and the presence of oil and dust, and transmit this information to the control system of the cleaning equipment. Accordingly, the control system can instruct the cleaning equipment to automatically and dynamically adjust the speed of the motor and the transmission ratio of the power transmission device based on the operating environment of the cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the first cleaning component.

[0082] For example, when the cleaning device is operating on a flat surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is operating on an uneven surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat surface is easier to clean than an uneven surface, so cleaning an uneven surface requires the first cleaning component to reciprocate faster (i.e., at a higher frequency) and use a larger amount of water.

[0083] For example, when the cleaning device is operating on a tabletop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the cleaning device is operating on the ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, the tabletop has less dust and oil, and the material constituting the tabletop is also easier to clean. Therefore, the first cleaning component needs to perform fewer reciprocating motions, and the water pump needs to provide a relatively small amount of water to clean the tabletop.

[0084] As an optional embodiment of the present disclosure, a lifting assembly 240 is provided between the support platform 290 and the mobile platform 100, which is used to make the cleaning assembly better contact with the surface to be cleaned, or to adopt different cleaning strategies for surfaces to be cleaned of different materials. Optionally, the dry cleaning module 300 can be connected to the mobile platform 100 through a passive lifting assembly. When the cleaning equipment encounters an obstacle, the dry cleaning module 300 can more conveniently cross the obstacle through the lifting assembly. Optionally, the wet cleaning module 200 can be connected to the mobile platform 100 through an active lifting assembly. When the wet cleaning module 200 is temporarily not involved in the work, or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning module 200, the wet cleaning module 200 is lifted by the active lifting assembly and separated from the surface to be cleaned, thereby achieving a change in the cleaning means.

[0085] In some embodiments, as shown in FIG4A , the drive assembly 230 includes a motor 231 . The motor 231 is configured to rotate forward in a first operating mode to output a forward driving force, and reverse in a second operating mode to output a reverse driving force. The motor 231 transmits power to the first cleaning assembly 210 , the second cleaning assembly 220 , the lifting assembly 240 , the water pump assembly 250 , and the like via a power transmission device. The energy system provides power and energy to the motor 231 and is controlled as a whole by a control system. The power transmission device may be a gear or gear train drive, a chain drive, a belt drive, or a worm gear, among others.

[0086] In some embodiments, the drive assembly 230 includes a worm 232, which is connected to the output shaft of the motor 231 and realizes forward or reverse rotation under the drive of the motor 231; the drive assembly 230 also includes multiple drive wheel assemblies 233, and the multiple drive wheel assemblies 233 are respectively engaged with the worm 232, and under the drive of the worm 232 to rotate forward or reverse, respectively drive the first cleaning assembly 210, the second cleaning assembly 220, the water pumping assembly 250 and the lifting assembly 240 to work in the first working mode or the second working mode. It can be understood by ordinary technicians in this field that the drive wheel assembly can be a gear or a gear set composed of multiple gears. In which, in response to the forward driving force, the first cleaning component 210 performs reciprocating motion, the second cleaning component 220 performs continuous rotation, and the water pumping component 250 supplies water to the first cleaning component 210 and the second cleaning component 220; in response to the reverse driving force, the first cleaning component 210 stops reciprocating motion, the second cleaning component 220 stops rotating, the water pumping component 250 stops supplying water to the first cleaning component 210 and the second cleaning component 220, and the lifting component 240 lifts the first cleaning component 210 and the second cleaning component 220 to separate them from the operating surface.

[0087] In some embodiments, as shown in Figure 4A, the drive wheel assembly 233 includes a first drive wheel assembly 2331, and the drive assembly 230 also includes a first power transmission device (not shown) that cooperates with the first drive wheel assembly 2331. The first drive wheel assembly 2331 transmits power to the first cleaning assembly 210 through the first power transmission device. The first cleaning assembly 210 reciprocates under the drive of the first power transmission device to clean a portion of the operating surface. Since the first cleaning assembly 210 can reciprocate in a local area for cleaning, it can focus on cleaning local heavily stained areas. Optionally, the first drive wheel assembly 2331 is an asymmetric structure, and the first power transmission device can be a vibration connecting rod. The vibration connecting rod drives the first cleaning assembly 210 to vibrate back and forth under the rotation drive of the asymmetric structure.

[0088] In some embodiments, the drive wheel assembly 233 includes a second drive wheel assembly 2332, and the drive assembly 230 also includes a second power transmission device 23321 that cooperates with the second drive wheel assembly 2332. The second drive wheel assembly 2332 is engaged with the second power transmission device 23321 to transmit power to the second cleaning assembly 220. The second cleaning assembly 220 is driven by the second power transmission device 23321 to continuously rotate to clean a portion of the operating surface. Since the second cleaning assembly 220 can continuously rotate in a local area for cleaning, it can focus on cleaning local heavily stained areas. Optionally, the second power transmission device 23321 can be a gear set with multiple gears meshing and driving, or it can be a synchronous belt drive.

[0089] In some embodiments, as shown in Figure 4B, the driving wheel assembly 233 includes a third driving wheel assembly 2333, and the driving assembly 230 also includes a third power transmission device 23331 that cooperates with the third driving wheel assembly 2333. A person skilled in the art can understand that the third power transmission device 23331 can be a gear or a gear set composed of multiple gears. The third driving wheel assembly 2333 is engaged with the third power transmission device 23331 to transmit power to the water pumping assembly 250. Under the drive of the third power transmission device 23331, the water pumping assembly 250 transports water to the first cleaning assembly 210 and the second cleaning assembly 220.

[0090] In some embodiments, the driving wheel assembly 233 includes a fourth driving wheel assembly, and the fourth driving wheel assembly includes, for example, a clutch assembly 2334. The clutch assembly 2334 is used to directly drive the lifting assembly 240. The lifting assembly 240 includes a cable gear 241 and a cable 242. The clutch assembly 2334 is arranged between the third power transmission device 23331 and the cable gear 241. The cable gear 241 is wound with a cable 242. The distal end of the cable 242 is wound around the support platform 290. When the motor 231 rotates in the reverse direction, the clutch assembly 2334 The third power transmission device 23331 is meshed and connected with the third power transmission device 23331, and the third power transmission device 23331 provides a reverse driving force. Since the clutch assembly 2334 is meshed with the third power transmission device 23331 in the reverse direction, it can provide driving force. The third power transmission device 23331 drives the cable gear 241 to rotate through the clutch assembly 2334. The cable gear 241 rotates while pulling the support platform 290 through the cable 242. The support platform 290 raises the first cleaning assembly 210 and the second cleaning assembly 220 under the pull of the cable 242. When the motor 231 rotates in the forward direction, the third power transmission device 23331 provides a forward driving force. The clutch assembly 2334 is not meshed with the forward rotation of the third power transmission device 23331, and no driving force is provided. The cable gear 241 cannot pull the support platform 290 through the cable 242.

[0091] As described above, when the motor 231 rotates forward, the drive assembly 230 drives the first cleaning assembly 210 to vibrate and clean through the first drive wheel assembly 2331 and the first power transmission device, drives the second cleaning assembly 220 to rotate and clean through the second drive wheel assembly 2332 and the second power transmission device 23321, and drives the water pump assembly 250 to supply water through the third drive wheel assembly 2333 and the third power transmission device 23331; when the motor 231 is reversed, the cable gear 241 is driven by the clutch assembly 2334, and the support platform 290 is pulled by the cable 242 to lift the first cleaning assembly 210 and the second cleaning assembly 220. This application realizes the control of four motion modules by one motor. The motor rotates forward, drives the vibration of the vibrating part and the rotation of the rotating part, and at the same time realizes water supply for cleaning. The motor reverses to drive the lifting assembly to rise and fall. This application makes the drive structure reusable, the entire drive structure is more compact, simplifies the number of motors, reduces energy consumption and noise, and improves user experience.

[0092] In some embodiments, as shown in Figures 5-7, the water pumping assembly 250 includes a water pumping structure 251. The water pumping structure 251 includes a connection portion connected to the third power transmission device 23331, so that the water pumping structure 251 rotates, for example, peristaltically, under the drive of the third power transmission device 23331 to achieve water pumping. The water pumping structure 251 can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

[0093] In some embodiments, the water pumping structure 251 includes a rotating part 2511, which squeezes the water pumping tube to achieve peristaltic pumping. The side of the rotating part 2511 facing the driving assembly 230 includes a connecting part connected to the third power transmission device 23331, such as a keying groove. The other end of the water pumping structure 251 has a center gear 2512, and the center gear 2512 rotates at a first speed under the drive of the rotating part 2511.

[0094] In some embodiments, the water pump assembly 250 further includes a differential 253, which is disposed on a side of the water pump structure 251 away from the drive assembly 230. The differential 253 is configured to change the output speed of the central gear 2512. The configuration of the differential 253 can increase or decrease the rotational speed of the water distributor, thereby increasing or decreasing the amount of water discharged through the water distributor, thereby achieving the purpose of precisely controlling the water volume.

[0095] In some embodiments, the differential 253 includes a plurality of surrounding gears 2533, each having a central axis 2534 fixedly connected to the water diverter 252. The plurality of surrounding gears 2533 are respectively meshed with the central gear 2512. In response to the rotation of the central gear 2512, the plurality of surrounding gears 2533 rotate about the central axis 2534 and simultaneously revolve around the central gear 2512. Because the central axis 2534 is fixedly connected to the rotating portion of the water diverter 252, the revolution of the central axis 2534 drives the rotating portion of the water diverter to rotate. The provision of the differential 253 can increase or decrease the rotational speed of the rotating portion of the water diverter 252. Compared to a structure without a differential, the provision of the differential can control the water output of the water diverter.

[0096] In some embodiments, as shown in Figures 5-7, the differential 253 also includes a ring gear 2531, which is connected to the water pumping structure 251 through at least one lug. Optionally, the ring gear 2531 constitutes a part of the outer shell of the water pumping assembly 250, and the inner wall of the ring gear 2531 is provided with continuous gear teeth 2532, and the number of teeth of the gear teeth 2532 is set according to the need of speed increase or speed decrease of the differential; the multiple surrounding gears 2533 are respectively engaged with the central gear 2512 and the ring gear 2532. In response to the rotation of the central gear 2512, the multiple surrounding gears 2533 rotate around the central axis 2534 and rotate along the gear teeth 2532 on the inner wall of the ring gear 2531, thereby driving the rotating part of the water divider 252 to rotate through the central axis 2534.

[0097] In some embodiments, the number of the multiple surrounding gears 2533 is 2-5, for example 3 or 4. The setting of multiple surrounding gears 2533 can increase the rotational stability of the differential, make the acceleration or deceleration output more stable, and improve the stability of the water output of the water distributor.

[0098] In some embodiments, the second speed is greater than or less than the first speed. A replaceable gear ring 2531 is provided to enable the second speed to be greater than or less than the first speed, depending on application needs. When the second speed is greater than the first speed, the speed of the rotating portion of the water diverter is increased, thereby increasing the water supply. When the second speed is less than the first speed, the speed of the rotating portion of the water diverter is decreased, thereby reducing the water supply.

[0099] In some embodiments, the water pump assembly 250 further includes a water distributor 252 , which is connected to the differential 253 , and at least a portion of the water distributor 252 rotates at a second speed along with the differential 253 , so as to distribute water from the water pump assembly 250 to the first cleaning assembly 210 and / or the second cleaning assembly 220 .

[0100] In some embodiments, as shown in Figures 6 and 7, the water divider 252 includes: a moving piece 2521, the moving piece 2521 has at least one moving piece water inlet hole 25211, and the moving piece 2521 is configured to rotate continuously in the first working mode of the driving assembly 230; a static piece 2522, the static piece 2522 is arranged on the side of the water outlet direction of the moving piece 2521, the static piece 2522 has a plurality of static piece water outlet holes 25221, and the static piece water outlet holes 25221 are respectively connected to the plurality of water outlets of the water supply assembly; wherein, the moving piece 2521 rotates continuously relative to the static piece 2522, and in response to the overlap of the projection of the at least one moving piece water inlet hole 25211 and the static piece water outlet hole 25221, the water divider 252 supplies water to the first cleaning assembly 210 and / or the second cleaning assembly 220 through the static piece water outlet hole 25221 with the overlapping projection. Optionally, the moving piece 2521 and the static piece 2522 are selected from at least one of the following materials: ceramic, metal, hard plastic, etc., so as to ensure that the moving piece 2521 and the static piece 2522 are in smooth rotational contact.

[0101] Optionally, the moving piece 2521 has a moving piece water inlet hole 25211, and the surface of the static piece 2522 is evenly spaced along the circumference to set 3-8 static piece water outlet holes 25221, for example, 6 static piece water outlet holes 25221 are set, each static piece water outlet hole 25221 is connected to the water outlet pipe, and the water flow is supplied to the first cleaning component 210 or the second cleaning component 220 through the water outlet pipe. The moving piece 2521 is fitted with the static piece 2522 and the moving piece 2521 rotates continuously relative to the static piece 2522. The movable plate 2521 rotates continuously relative to the static plate 2522, and the movable plate water inlet hole 25211 slides through the six static plate water outlet holes 25221 in sequence. When the movable plate water inlet hole 25211 overlaps with the projection of one of the static plate water outlet holes 25221, water flows from the movable plate water inlet hole 25211 with the overlapping projection to the static plate water outlet hole 25221. The water flows through the static plate water outlet hole 25221 to the first cleaning component 210 or the second cleaning component 220 connected thereto. It can be understood that the water distributor 252 supplies water to the static plate water outlet holes 25221 in turn through rotation, that is, it supplies water to the water distribution holes of the first cleaning component 210 or the second cleaning component 220 in turn. When the rotation speed of the movable plate 2521 is fast enough, it can be considered that water is continuously supplied to each water distribution hole of the first cleaning component 210 or the second cleaning component 220.

[0102] In some embodiments, as shown in Figures 6-7, the water divider 252 further includes a rotor bracket 2523. One side of the rotor bracket 2523 is connected to a surrounding gear 2533 via a central shaft 2534. The central shaft 2534 is stationary relative to the rotor bracket 2523, while the surrounding gear 2533 rotates about the central gear, thereby driving the rotor bracket 2523 to rotate differentially. The other side of the rotor bracket 2523 engages with the rotor 2521. The rotor bracket 2523 is configured to rotate differentially under the drive of the differential 253 and drive the rotor 2521 to rotate. In some embodiments, at least one latching position 25233 and / or recess is provided on the inner edge or other location of the rotor bracket 2523. The rotor 2521 has at least one rotor recess and / or latching position. The latching position 25233 engages with the recess to secure the rotor bracket 2523 relative to the surrounding gear, thereby enabling the rotor bracket 2523 to drive the rotor 2521 to rotate together.

[0103] In some embodiments, the rotor bracket 2523 further includes at least one bracket water inlet hole 25232, which overlaps with the at least one rotor water inlet hole 25211, allowing water to flow through the at least one bracket water inlet hole 25232 and the at least one rotor water inlet hole 25211 before flowing out of the static blade water outlet hole 25221. Optionally, the rotor bracket 2523 is tightly fitted with the rotor 2521, the rotor bracket 2523 includes one bracket water inlet hole 25232, the rotor 2521 includes one rotor water inlet hole 25211, and the bracket water inlet hole 25232 overlaps with the rotor water inlet hole 25211, allowing water to flow through the bracket water inlet hole 25232 and the rotor water inlet hole 25211 before flowing out of the static blade water outlet hole 25221.

[0104] In some embodiments, the movable plate bracket 2523 is engaged with the movable plate 2521 to form a cavity. The movable plate bracket 2523 includes one to three bracket water inlet holes 25232, for example, three bracket water inlet holes 25232. Water flows through the three bracket water inlet holes 25232 into the cavity and is then buffered therein. As the movable plate bracket 2523 and the movable plate 2521 rotate, water flows out when the movable plate water inlet hole 25211 overlaps with the static plate water outlet hole 25221. This cavity structure ensures continuous water supply to multiple water distribution holes, reducing the rotational speed requirement of the movable plate bracket 2523.

[0105] In some embodiments, as shown in Figure 5, the water divider 252 also includes a shell 2526, and the shell 2526 is configured to accommodate the moving piece 2521, the static piece 2522 and the moving piece bracket 2523; wherein, the multiple water outlets 25261 are arranged on the shell 2526, and the shell has a water inlet 25262, and the water flows into the shell 2526 from the water inlet 25262, and then flows into the bracket water inlet hole 25232 from the gap between the shell 2526 and the bracket water inlet hole 25232, and flows out from the at least one water outlet 25261 after passing through the bracket water inlet hole 25232, the moving piece water inlet hole 25211 and the static piece water outlet hole 25221.

[0106] In some embodiments, the water divider 252 further includes a soft rubber pad, which is disposed on a side of the static piece 2522 away from the moving piece 2521. The soft rubber pad includes at least one soft rubber pad hole, which is disposed one-to-one with the water outlet hole 25221 of the static piece. The soft rubber pad seals between the static piece 2522 and the housing 2526 to prevent water entering the housing 2526 through the water inlet 25262 from flowing directly toward the side of the static piece 2522.

[0107] In some embodiments, the water divider 252 also includes a soft rubber pad, which is arranged between the moving plate 2521 and the chuck 2513; and a sealing structure, which is arranged between the static plate 2522 and the outer shell 253 to prevent water entering the outer shell 253 from the water inlet from flowing directly to the side of the static plate 2522.

[0108] In some embodiments, the water separator 252 further includes at least one sealing ring disposed between the rotor bracket 2521 and the housing 2526. The housing 2526 includes a front housing and a rear housing, and an additional sealing ring may be disposed between the front housing and the rear housing to seal the front housing and the rear housing.

[0109] The cleaning module provided by the embodiment of the present disclosure includes a water pumping assembly with an integrated water divider. The water pumping assembly includes a water pumping structure, a differential and a water divider. Through the cooperation of the water pumping structure and the differential, the rotation speed of the water divider can be changed to increase or decrease the rotation speed of the water divider, thereby controlling the size of the water flow distributed by the water divider to meet the water flow requirements of the cleaning assembly under different cleaning modes. The structural design of the water divider is simple, making the cleaning module and the cleaning equipment as a whole more compact.

[0110] 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.

[0111] 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 cleaning module, comprising: A cleaning component, connected to a water pumping component and configured to clean at least a part of an operation surface; A driving component, configured to output a driving force; The water pumping component, connected to the driving component and configured to supply water to the cleaning component under the action of the driving force output by the driving component. The water pumping component includes: A water pumping structure, one end of which is clamped to the driving component, and the other end has a central gear, and the central gear rotates at a first speed under the drive of the driving component; A differential, disposed on a side of the water pumping structure away from the driving component, configured to change the output speed of the central gear; A water distributor, connected to the differential, and at least a part of the water distributor rotates at a second speed along with the differential.

2. The cleaning module according to claim 1, wherein, The differential includes: A plurality of surrounding gears, each having a central axis, and the central axis is connected to the water distributor; Wherein, the plurality of surrounding gears are respectively meshed with the central gear. In response to the rotation of the central gear, the plurality of surrounding gears rotate around the central axis and rotate around the central gear at the same time, so as to drive the water distributor to rotate through the central axis.

3. The cleaning module according to claim 2, wherein, The differential further includes: A ring gear, connected to the water pumping structure, and continuous teeth are provided on the inner side wall of the ring gear; Wherein, the plurality of surrounding gears are respectively meshed with the central gear and the ring gear. In response to the rotation of the central gear, the plurality of surrounding gears rotate around the central axis and rotate along the teeth on the inner side wall of the ring gear, so as to drive the water distributor to rotate through the central axis.

4. The cleaning module according to claim 2 or 3, wherein, The number of the plurality of surrounding gears is 2 - 5.

5. The cleaning module according to claim 1, wherein, The second speed is greater than or less than the first speed.

6. The cleaning module according to claim 1, wherein, The water distributor includes: A moving piece, having at least one moving piece water inlet hole and configured to rotate continuously in a first working mode of the driving component; A stationary piece, disposed on a side of the moving piece in the water outlet direction and having a plurality of stationary piece water outlet holes; Wherein, the moving piece rotates continuously relative to the stationary piece. In response to the projection overlap of the at least one moving piece water inlet hole and the stationary piece water outlet holes, the water distributor supplies water to the cleaning component through the stationary piece water outlet holes with overlapping projections.

7. The cleaning module according to claim 6, wherein, The water distributor further includes: A moving piece bracket, disposed between the moving piece and the differential and configured to rotate under the drive of the differential and drive the moving piece to rotate.

8. The cleaning module according to claim 7, wherein, The moving piece bracket includes: At least one bracket water inlet hole, which overlaps with the at least one moving piece water inlet hole and is configured to enable water to flow through the at least one bracket water inlet hole, the at least one moving piece water inlet hole and then flow out from the stationary piece water outlet holes.

9. The cleaning module according to claim 7, wherein, The moving piece bracket further includes at least one clamping position, and the moving piece further includes at least one moving piece recess, and the moving piece recess and the clamping position cooperate to achieve clamping.

10. The cleaning module according to claim 7, wherein, The moving piece bracket further includes at least one recess, and the moving piece further includes at least one clamping position, and the recess and the clamping position cooperate to achieve clamping.

11. The cleaning module according to claim 7, wherein, A cavity is formed after the moving piece bracket is clamped with the moving piece; The moving vane bracket includes at least one bracket water inlet configured to allow water to flow through the at least one bracket water inlet into the cavity and then out through the at least one moving vane water inlet and the stationary vane water outlet.

12. The cleaning module according to claim 7, wherein, The water pumping assembly further includes: a housing configured to accommodate the moving vane, the stationary vane, and the moving vane bracket; wherein the plurality of water outlets are provided on the housing, and the housing has a water inlet, and water flows into the housing from the water inlet and flows out from the at least one water outlet after passing through the bracket water inlet, the moving vane water inlet, and the stationary vane water outlet.

13. The cleaning module according to claim 6, wherein, The water diverter further includes: a soft rubber pad provided on a side of the stationary vane away from the moving vane.

14. The cleaning module according to claim 6, wherein, The water diverter further includes: a soft rubber pad provided on a side of the moving vane away from the stationary vane; a sealing structure provided on a side of the stationary vane away from the moving vane.

15. A cleaning device, comprising the cleaning module according to any one of claims 1-14.

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