Cleaning module and cleaning apparatus

Abstract

Provided in the present disclosure are a cleaning module and a cleaning apparatus. The cleaning module comprises: a driving assembly, which is used for outputting a driving force; and a water pumping assembly, which is configured to provide a plurality of paths of outgoing water under the driving of the driving assembly, wherein the water pumping assembly comprises a housing, which has at least one water inlet and a plurality of water outlets, and a water pumping structure, which is arranged in the housing and comprises a first water pumping structure and a second water pumping structure sequentially arranged in a direction away from the driving assembly, the first water pumping structure and the second water pumping structure respectively pumping a water flow out of the plurality of water outlets.

Description

Cleaning modules and cleaning equipment

[0001] Cross-references

[0002] This disclosure claims priority to Chinese patent application No. 202410024130.2 filed on January 5, 2024, the entire contents of which are incorporated herein by reference. 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. Summary of the Invention

[0006] The purpose of this disclosure is to provide a cleaning module and cleaning equipment that can solve the technical problem of compact design under the multifunctional all-in-one cleaning equipment. The specific solution is as follows:

[0007] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning module, comprising:

[0008] A driving component for outputting driving force;

[0009] A water pump assembly, configured to provide multiple water outlets under the drive of the drive assembly, comprising:

[0010] a housing having at least one water inlet and a plurality of water outlets;

[0011] The water pumping structure is arranged in the shell, and includes a first water pumping structure and a second water pumping structure arranged in sequence in a direction away from the driving component. The first water pumping structure and the second water pumping structure respectively pump water out from the multiple water outlets.

[0012] In some embodiments, the first pumping structure and the second pumping structure are coaxial.

[0013] In some embodiments, the first water pumping structure includes: a first rotating part and a first water pumping pipe, the first rotating part squeezes the first water pumping pipe to pump water;

[0014] The second water pumping structure includes: a second rotating part and a second water pumping pipe, and the second rotating part squeezes the second water pumping pipe to pump water.

[0015] In some embodiments, the first rotating portion includes: a first rotating shaft and a plurality of first extrusion portions circumferentially arranged around the first rotating shaft;

[0016] The second rotating portion includes: a second rotating shaft and a plurality of second extrusion portions circumferentially arranged around the second rotating shaft;

[0017] Wherein, the first rotating shaft and the second rotating shaft are coaxial.

[0018] In some embodiments, the multiple first extrusion parts and the multiple second extrusion parts respectively extrude the first pump water pipe and the second pump water pipe synchronously; or, the multiple first extrusion parts and the multiple second extrusion parts respectively extrude the first pump water pipe and the second pump water pipe asynchronously.

[0019] In some embodiments, the water pumping structure further comprises: a first rotary disk and a second rotary disk;

[0020] The plurality of first extrusion portions are substantially perpendicular to the first turntable surface; and the plurality of second extrusion portions are substantially perpendicular to the second turntable surface.

[0021] In some embodiments, the first extrusion portion includes: a first extrusion shaft and a first extrusion column sleeved on the first extrusion shaft;

[0022] The second extrusion portion includes a second extrusion shaft and a second extrusion column sleeved on the second extrusion shaft.

[0023] In some embodiments, the first rotating portion and the second rotating portion have different rotation radii.

[0024] In some embodiments, the first pumping pipe and the second pumping pipe have different diameters.

[0025] In some embodiments, the water pump assembly further comprises:

[0026] The water distribution member includes a water distribution member inlet and a first water distribution member outlet and a second water distribution member outlet sequentially arranged along the water flow direction. The first water distribution member outlet and the second water distribution member outlet are respectively connected to the first water pump pipe and the second water pump pipe.

[0027] In some embodiments, the first rotating part further includes:

[0028] The engagement groove is provided on a side of the first rotating shaft away from the second rotating shaft and is configured to engage with the driving assembly.

[0029] In some embodiments, the water pumping structure further comprises:

[0030] A third water pumping structure is coaxial with the first water pumping structure and the second water pumping structure.

[0031] In some embodiments, the water pumping structure further comprises:

[0032] The third water pumping structure includes: a third rotating part and a third water pumping pipe, and the third rotating part squeezes the third water pumping pipe to achieve water pumping.

[0033] In some embodiments, the third rotating portion includes: a third rotating shaft and a plurality of third extrusion portions circumferentially arranged around the third rotating shaft;

[0034] Wherein, the third rotating shaft and the second rotating shaft are coaxial.

[0035] In some embodiments, the plurality of third extrusion parts and the plurality of second extrusion parts respectively extrude the third pumping water pipe and the second pumping water pipe synchronously; or, the plurality of third extrusion parts and the plurality of second extrusion parts respectively extrude the third pumping water pipe and the second pumping water pipe asynchronously.

[0036] In some embodiments, the third extrusion portion includes: a third extrusion shaft and a third extrusion column sleeved on the third extrusion shaft.

[0037] In some embodiments, the third rotating portion has the same rotation radius as the first rotating portion or the second rotating portion.

[0038] In some embodiments, the third pumping pipe has the same diameter as the first pumping pipe or the second pumping pipe.

[0039] 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.

[0040] Compared with the prior art, the embodiments of the present disclosure have the following technical effects:

[0041] The present disclosure provides a cleaning module and cleaning equipment, wherein the cleaning module includes a pumping structure formed by coaxially connecting multiple pumping structures in series, and each pumping structure includes a rotating part and a pumping pipe. The coaxial rotation of multiple pumping structures can realize synchronous or asynchronous water discharge from multiple pumping pipes, so that the same pumping component can pump out multiple water flows at the same time, so that it is evenly distributed in one or more cleaning components, thereby improving the application scenario of the pumping component, strengthening the function of the pumping component, simplifying the structure of the pumping component, and making the cleaning module structure more compact under multi-functional requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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:

[0043] FIG1 is a schematic diagram of the three-dimensional structure of a cleaning device according to some embodiments of the present disclosure.

[0044] FIG2 is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present disclosure.

[0045] FIG3 is a schematic diagram of the wet cleaning module structure of the cleaning equipment according to some embodiments of the present disclosure.

[0046] FIG4-1 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.

[0047] FIG4-2 is a schematic structural diagram of the driving assembly of the cleaning device according to some embodiments of the present disclosure from another angle.

[0048] 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.

[0049] FIG6 is a schematic diagram of the internal structure of a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0050] FIG7 is a schematic diagram of the internal structure of a water pump structure of a cleaning device according to some embodiments of the present disclosure.

[0051] Description of reference numerals: mobile platform 100, rearward portion 110, forward portion 111, sensing system 120, position determination device 121, Buffer 122, drive system 140, drive wheel assembly 141, steering assembly 142, human-computer interaction system 170, dry cleaning module 300, roller brush 310, side brush 320, wet cleaning module 200, drive assembly 230, motor 231, worm 232, turbine 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 23331, 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, first water pumping structure 251, first rotating part 2511, first turntable 25111, first extrusion part 25112, first An extrusion shaft 251121, a first extrusion column 251122, a first rotating shaft 25113, a first water pumping pipe 2512, a second water pumping structure 252, a second rotating part 2521, a second rotating disk 25211, a second extrusion part 25212, a second extrusion shaft 252121, a second extrusion column 252122, a second rotating shaft 25213, a second water pumping pipe 2522, a third water pumping structure 253, a third rotating part 3531, and a Three turntables 25311, third extrusion part 25312, third extrusion shaft 253121, third extrusion column 253122, third rotating shaft 25313, third pump water pipe 2532, shell 254, first slot 2541, second slot 2542, water assembly 255, water inlet pipe 2551, water distribution part 2552, water inlet plate 2553, water outlet assembly 256, water outlet pipe 2561, water outlet plate 2562, and health groove 257. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] 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.

[0055] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present disclosure, these should not be limited to these terms. These terms are only used to distinguish. For example, the first can also be referred to as the second, and similarly, the second can also be referred to as the first without departing from the scope of the embodiments of the present disclosure.

[0056] 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.

[0057] Optional embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0058] 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, an energy system, and a human-computer interaction system 170. Among them:

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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 front and rear axis x, the lateral axis y and the central vertical axis z. The forward drive direction along the front and rear axis x is marked as "forward", and the rear drive direction along the front and rear axis x is marked as "backward". 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 "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 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".

[0063] 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.

[0064] The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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 for the automatic cleaning device to be able 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.

[0070] 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.

[0071] 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.

[0072] The cleaning module 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 ground and carries it to the front of the dust collection port between the roller brush and the dust box. The dust box 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.

[0073] 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.

[0074] 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 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.

[0075] 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, if 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, instead of simply applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation. The downward pressure alone will not make the tufts 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.

[0076] The reciprocating motion can be a repeated motion along any one or more directions within the operating surface, or a 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 machine itself in motion, 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 simultaneous positioning and mapping (SLAM) will not be ignored, so it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the cleaning head movement component in the machine's travel direction causes the machine to be constantly pushed forward and backward while traveling, so the machine's walking will be unstable and smooth.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] In some embodiments, as shown in FIG4-1 , 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.

[0082] 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.

[0083] In some embodiments, as shown in FIG4-1, 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 a local heavily stained area. 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.

[0084] 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.

[0085] In some embodiments, as shown in Figure 4-2, the drive wheel assembly 233 includes a third drive wheel assembly 2333, and the drive assembly 230 also includes a third power transmission device 23331 that cooperates with the third drive 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 drive wheel assembly 2333 is engaged with the third power transmission device 23331 to transmit power to the water pump assembly 250. Under the drive of the third power transmission device 23331, the water pump assembly 250 transports water to the first cleaning assembly 210 and the second cleaning assembly 220.

[0086] 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.

[0087] 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.

[0088] In some embodiments, as shown in Figures 5 and 6, the water pump assembly 250 includes a joint groove 257 connected to the third power transmission device 23331, so that the water pump assembly 250 rotates under the transmission of the third power transmission device 23331, such as peristalsis, to achieve the water pumping effect. Specifically, the water pump assembly 250 includes a housing 254, and the top of the housing 254 has a first slot 2541 and a second slot 2542. The first slot 2541 is used to set the water inlet assembly 255, and the second slot 2542 is used to set the water outlet assembly 256. The water inlet assembly 255 is connected to the clean water tank through the water inlet pipe 2551, and the water outlet assembly 256 is connected to the first cleaning assembly 210 and the second cleaning assembly 220 respectively through multiple water outlet pipes 2561. The water pump assembly can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc.

[0089] In some embodiments, the water inlet assembly 255 further includes a water diverter 2552, which extends from the housing 254 through the first slot 2541 to facilitate connection with the water inlet pipe 2551. The water diverter 2552 includes a water diverter inlet and first, second, and third water diverter outlets arranged sequentially along the water flow direction. The first, second, and third water diverter outlets are respectively connected to the first, second, and third water diverter outlets of the first pump pipe 2512, the second, and third water diverter outlets of the second pump pipe 2522, 2532. The water inlet assembly 255 further includes a water inlet plate 2553, which is provided with through holes for connecting the first, second, and third water diverter outlets to the first, second, and third water diverter outlets of the first pump pipe 2512, the second, and third water diverter outlets of the second pump pipe 2522, 2532. The water inlet plate 2553 is shielded from the inside of the first slot 2541 to prevent dust from entering the water pump assembly 250. In addition, since the water inlet assembly and the first rotating part 2511, the second rotating part 2521 and the third rotating part 2531 are relatively independently arranged, replacement or maintenance is convenient.

[0090] In some embodiments, the water outlet assembly 256 further includes a water outlet plate 2562. The water outlet plate 2562 is provided with through holes for connecting the first water pump pipe 2512, the second water pump pipe 2522, the third water pump pipe 2532, and the plurality of water outlet pipes 2561. The water outlet plate 2562 is shielded inside the second slot 2542 to prevent dust from entering the water pump assembly 250. In addition, because the water outlet assembly 256 and the first rotating portion 2511, the second rotating portion 2521, and the third rotating portion 2531 are relatively independent, replacement or maintenance is facilitated.

[0091] In some embodiments, as shown in FIG6 , the water pumping assembly 250 includes a first water pumping structure 251 and a second water pumping structure 252 sequentially arranged in a direction away from the driving assembly 230, that is, the distance between the second water pumping structure 252 and the driving assembly 230 is greater than the distance between the first water pumping structure 251 and the driving assembly 230. The first water pumping structure 251 and the second water pumping structure 252 are connected in series via a rotating shaft and rotate synchronously. In other embodiments, a third water pumping structure 253 may also be included. The first water pumping structure 251, the second water pumping structure 252, and the third water pumping structure 253 are connected in series via a rotating shaft and rotate synchronously. The first water pumping structure 251, the second water pumping structure 252, and / or the third water pumping structure 253 respectively pump water out of the multiple water outlets and distribute it to the first cleaning assembly 210 and the second cleaning assembly 220. For example, water can be distributed through a water outlet device provided in the first cleaning component 210 and the second cleaning component 220. The water outlet device can be a nozzle, a drip hole, an immersion cloth, etc., which evenly distributes water on the cleaning head, thereby wetting the cleaning head and the surface to be cleaned. After wetting, the stains on the surface to be cleaned can be cleaned more easily.

[0092] In some embodiments, as shown in Figures 6-7, the first water pumping structure 251 includes a first rotating portion 2511 and a first water pumping pipe 2512. The first rotating portion 2511 squeezes the first water pumping pipe 2512 to pump water. Optionally, the first rotating portion 2511 includes a first rotating disk 25111, a first squeezing portion 25112 disposed on the first rotating disk 25111 and extending perpendicularly to the surface of the first rotating disk 25111, and a first rotating shaft 25113. The first squeezing portion 25112 is circumferentially arranged around the first rotating shaft 25113. For example, the first squeezing portion may comprise three to five evenly spaced first squeezing columns 251122, which are sleeved onto the first squeezing shaft 251121. As the first rotating disk 25111 rotates, the multiple first squeezing columns 251122 successively squeeze the first water pumping pipe 2512, achieving peristaltic water discharge. When the first water pump pipe 2512 is squeezed, the water path is cut off and water discharge stops; when the first water pump pipe 2512 is not squeezed, the water path is unblocked and water discharge starts.

[0093] In some embodiments, as shown in Figures 6-7, the second water pumping structure 252 includes a second rotating portion 2521 and a second water pumping pipe 2522. The second rotating portion 2521 squeezes the second water pumping pipe 2522 to pump water. Optionally, the second rotating portion 2521 includes a second rotating disk 25211, a second squeezing portion 25212 disposed on the second rotating disk 25211 and extending perpendicularly to the surface of the second rotating disk 25211, and a second rotating shaft 25213. The second squeezing portion 25212 is circumferentially arranged around the second rotating shaft 25213. For example, the second squeezing portion may comprise three to five evenly spaced second squeezing columns 252122, which are sleeved onto the second squeezing shaft 252121. As the second rotating disk 25211 rotates, the multiple second squeezing columns 252122 successively squeeze the second water pumping pipe 2522 to achieve peristaltic water discharge. When the second water pump pipe 2522 is squeezed, the water path is cut off and water discharge stops; when the second water pump pipe 2522 is not squeezed, the water path is unblocked and water discharge starts.

[0094] In some embodiments, as shown in Figures 6-7, the third water pumping structure 253 includes a third rotating portion 3531 and a third water pumping pipe 2532. The third rotating portion 2531 squeezes the third water pumping pipe 2532 to pump water. Optionally, the third rotating portion 2531 includes a third rotating disk 25311, a third squeezing portion 25312 disposed on the third rotating disk 25311 and extending perpendicularly to the disk surface of the third rotating disk 25311, and a third rotating shaft 25313. The third squeezing portion 25312 is circumferentially arranged around the third rotating shaft 25313. For example, the third squeezing portion may comprise three to five evenly spaced third squeezing columns 253122, which are sleeved onto the third squeezing shaft 253121. As the third rotating disk 25311 rotates, the multiple third squeezing columns 253122 successively squeeze the third water pumping pipe 2532 to achieve peristaltic water discharge. When the third pump water pipe 2532 is squeezed, the water path is cut off and water discharge stops; when the third pump water pipe 2532 is not squeezed, the water path is unblocked and water discharge starts.

[0095] In some embodiments, the first rotating shaft 25113, the second rotating shaft 25213 and / or the third rotating shaft 25313 are coaxial to ensure the stability of the rotation of the water pumping assembly.

[0096] In some embodiments, the first rotating part 2511, the second rotating part 2521 and / or the third rotating part 2531 rotate synchronously on the same axis, and the extrusion parts on the first rotating part 2511, the second rotating part 2521 and / or the third rotating part 2531 are correspondingly arranged. When the first rotating part 2511, the second rotating part 2521 and / or the third rotating part 2531 are rotated to the extrusion position, the first pump water pipe 2512, the second pump water pipe 2522 and / or the third pump water pipe 2532 can be synchronously squeezed, thereby achieving simultaneous water discharge and simultaneous stopping of water discharge, so that a cleaning component 210 and the second cleaning component 220 can be supplied with water at the same time during cleaning, thereby ensuring uniformity of water supply. In some embodiments, the extrusion parts can be staggered to control the first rotating part 2511, the second rotating part 2521 and / or the third rotating part 2531 to rotate synchronously, but to asynchronously squeeze the first pump water pipe 2512, the second pump water pipe 2522 and / or the third pump water pipe 2532, thereby controlling the asynchronous water discharge from different water outlets. Compared with the above-mentioned synchronous water discharge method, it is not necessary to distribute the water volume to three outlets each time water is discharged, so as to increase the water volume supplied by a single water outlet, that is, the water output can be increased without increasing the power of the driving component.

[0097] In some embodiments, the second water pumping structure is configured to pump water to the second cleaning assembly, and the first water pumping structure and / or the third water pumping structure are configured to pump water to the first cleaning assembly 210. In some embodiments, the rotation radius of the third rotating portion 2531 is equal to the rotation radius of the first rotating portion 2511, and the rotation radius of the first rotating portion 2511 and the second rotating portion 2521 are different, for example, the rotation radius of the first rotating portion 2511 is greater than the rotation radius of the second rotating portion 2521. In some embodiments, the diameter of the third pump water pipe 2532 is equal to the diameter of the first pump water pipe 2512, and the diameters of the first pump water pipe 2512 and the second pump water pipe 2522 are different. For example, the diameter of the first pump water pipe 2512 is larger than the diameter of the second pump water pipe 2522, so as to control the amount of water output. For example, the area of ​​the first cleaning component 210 is large, and the diameters of the first pump water pipe 2512 and the third pump water pipe 2532 can be increased to increase the water output. The area of ​​the second cleaning component 220 is small, and the diameter of the second pump water pipe 2522 is reduced to reduce the water output, wherein the diameter of the second pump water pipe 2522 is positively correlated with the area of ​​the second cleaning component 220.

[0098] The present disclosure provides a cleaning module and cleaning equipment, wherein the cleaning module includes a pumping structure formed by coaxially connecting multiple pumping structures in series, and each pumping structure includes a rotating part and a pumping pipe. The coaxial rotation of multiple pumping structures can realize synchronous or asynchronous water discharge from multiple pumping pipes, so that the same pumping component can pump out multiple water flows at the same time, so that it is evenly distributed in one or more cleaning components, thereby improving the application scenario of the pumping component, strengthening the function of the pumping component, simplifying the structure of the pumping component, and making the cleaning module structure more compact under multi-functional requirements.

[0099] 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.

[0100] 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, characterized in that, Comprising: A drive assembly, drivingly connected to the water pumping assembly; The water pumping assembly, configured to provide multiple paths of water outlet under the drive of the drive assembly, including: A housing, having a plurality of water outlets; A water pumping structure, disposed within the housing, including a first water pumping structure and a second water pumping structure sequentially arranged in a direction away from the drive assembly, the first water pumping structure and the second water pumping structure being connected by a rotating shaft and configured to pump water from the plurality of water outlets respectively.

2. The cleaning module according to claim 1, wherein The first water pumping structure and the second water pumping structure are coaxial.

3. The cleaning module according to claim 1, wherein The first water pumping structure includes: a first rotating part and a first water pumping pipe, the first rotating part squeezing the first water pumping pipe to achieve water pumping; The second water pumping structure includes: a second rotating part and a second water pumping pipe, the second rotating part squeezing the second water pumping pipe to achieve water pumping.

4. The cleaning module according to claim 3, wherein The first rotating part includes: a first rotating shaft and a plurality of first squeezing parts circumferentially arranged around the first rotating shaft; The second rotating part includes: a second rotating shaft and a plurality of second squeezing parts circumferentially arranged around the second rotating shaft; Wherein, the first rotating shaft and the second rotating shaft are coaxial.

5. The cleaning module according to claim 4, wherein The plurality of first squeezing parts and the plurality of second squeezing parts squeeze the first water pumping pipe and the second water pumping pipe respectively synchronously; or, the plurality of first squeezing parts and the plurality of second squeezing parts squeeze the first water pumping pipe and the second water pumping pipe respectively asynchronously.

6. The cleaning module according to claim 4, wherein The water pumping structure further includes: a first turntable and a second turntable; Wherein, the plurality of first squeezing parts are substantially perpendicular to the disk surface of the first turntable; the plurality of second squeezing parts are substantially perpendicular to the disk surface of the second turntable.

7. The cleaning module according to claim 4, wherein The first squeezing part includes: a first squeezing shaft and a first squeezing column sleeved on the first squeezing shaft; The second squeezing part includes: a second squeezing shaft and a second squeezing column sleeved on the second squeezing shaft.

8. The cleaning module according to claim 3, wherein The rotating radii of the first rotating part and the second rotating part are different.

9. The cleaning module according to claim 3, wherein The diameters of the first water pumping pipe and the second water pumping pipe are different.

10. The cleaning module according to claim 3, wherein The water pumping assembly further includes: A water dividing member, including a water dividing member inlet and a first water dividing member outlet and a second water dividing member outlet sequentially arranged along the water flow direction, the first water dividing member outlet and the second water dividing member outlet being communicated with the first water pumping pipe and the second water pumping pipe respectively.

11. The cleaning module according to claim 4, wherein The first rotating part further includes: A keying groove, disposed on a side of the first rotating shaft away from the second rotating shaft, configured to be clamped with the drive assembly.

12. The cleaning module according to claim 4, wherein The water pumping structure further includes: A third water pumping structure, the third water pumping structure being coaxial with the first water pumping structure and the second water pumping structure.

13. The cleaning module according to claim 12, wherein, The third water pumping structure includes: a third rotating part and a third water pumping pipe, the third rotating part squeezing the third water pumping pipe to achieve water pumping.

14. The cleaning module according to claim 13, wherein The third rotating part includes: a third rotating shaft and a plurality of third squeezing parts circumferentially arranged around the third rotating shaft; Wherein, the third rotating shaft and the second rotating shaft are coaxial.

15. The cleaning module according to claim 14, wherein The multiple third extrusion parts and the multiple second extrusion parts synchronously extrude the third pump water pipe and the second pump water pipe respectively; or, the multiple third extrusion parts and the multiple second extrusion parts extrude the third pump water pipe and the second pump water pipe asynchronously respectively.

16. The cleaning module according to claim 14, wherein The third extrusion part includes: a third extrusion shaft and a third extrusion column sleeved on the third extrusion shaft.

17. The cleaning module according to claim 13, wherein, The rotation radius of the third rotating part is the same as that of the first rotating part or the second rotating part.

18. The cleaning module according to claim 13, wherein, The diameter of the third pump water pipe is the same as that of the first pump water pipe or the second pump water pipe.

19. A cleaning device, characterized in that, It includes the cleaning module according to any one of claims 1-18.

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