Cleaning module and cleaning apparatus

Abstract

Provided in the present disclosure are a cleaning module and a cleaning apparatus. The cleaning module comprises: a cleaning assembly, which is configured to clean at least part of an operating surface; a driving assembly, which is configured to output a driving force; and a water pumping assembly, which is configured to supply water to the cleaning assembly under the driving of the driving assembly, and comprises: a water pumping structure, which is snap-fitted at one end thereof to the driving assembly, and is configured to pump water at a preset period or non-periodically under the driving of the driving assembly; a moving plate, which is at least provided with one moving-plate water intake hole and is configured to be capable of continuous rotation, wherein the moving-plate water intake hole has a first opening angle; and a stationary plate, which is arranged on one side of the water output direction of the moving plate and is at least provided with n stationary-plate water output holes, wherein n is a natural number greater than or equal to two, and the n stationary-plate water output holes respectively have n second opening angles, the moving plate continuously rotating relative to the stationary plate, and in response to the projection of the moving-plate water intake hole overlapping the projection of at least one of the stationary-plate water output holes, the water pumping assembly supplying water to the cleaning assembly by means of the stationary-plate water output hole having an overlapping projection. (FIG. 6)

Description

Cleaning modules and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410024901.8 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 part of this disclosure. 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] All-in-one robots can both sweep and clean the floor, and are becoming increasingly common in household life.

[0005] With the development of integrated sweeping and mopping robots, their functions have become more and more diverse, and their structures have become increasingly complex. A single sweeping and mopping robot can often meet the needs of a wide range of applications. However, this increasing complexity and the integration of more hardware components have led to larger and more complex sweeping and mopping robots, making them inconvenient to transport and use, and increasing their cost. Summary of the Invention

[0006] The purpose of this disclosure is to provide a cleaning module and an automatic cleaning device that can solve the technical problem of water supply control in a multifunctional all-in-one cleaning device. The specific solution is as follows:

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

[0008] a cleaning assembly configured to clean at least a portion of the work surface;

[0009] a drive assembly configured to output a driving force;

[0010] A water pump assembly, configured to supply water to the cleaning assembly under the drive of the driving assembly, comprising:

[0011] a water pumping structure, one end of which is engaged with the driving assembly and configured to pump water in a preset cycle or without a cycle under the drive of the driving assembly;

[0012] The rotor is provided with at least one rotor water inlet hole and is configured to be able to rotate continuously, wherein the rotor water inlet hole has a first opening angle;

[0013] a static plate, arranged on one side of the water outlet direction of the dynamic plate, and provided with at least n static plate water outlet holes, where n is a natural number greater than or equal to 2, and the n static plate water outlet holes respectively have n second opening angles;

[0014] The moving plate rotates continuously relative to the static plate, and in response to the overlap of the projection of the moving plate water inlet hole and at least one static plate water outlet hole, the water pump assembly supplies water to the cleaning assembly through the static plate water outlet hole with the overlapping projection.

[0015] In some embodiments, the moving piece is fixedly connected to the water pumping structure, and the moving piece rotates synchronously with the water pumping structure;

[0016] The number of pumping cycles of the water pumping structure in one rotation is the same as the number of the water outlet holes of the static plate, and the water outlet position of the water pumping structure in each pumping cycle corresponds to the position of one water outlet hole of the static plate.

[0017] In some embodiments, the moving plate is differentially connected to the water pumping structure, and the moving plate rotates differentially with the water pumping structure.

[0018] In some embodiments, the ratio of the rotation speed of the rotor to the rotation speed of the water pumping structure is a non-integer.

[0019] In some embodiments, the second opening angles of the n static plate water outlet holes are A1, A2, ..., An respectively, the first opening angle of the moving plate water inlet hole is B, and the ratio of the water output of the n static plate water outlet holes within one rotation of the water pump structure is (B+A1): (B+A2): ... (B+An-1): (B+An).

[0020] In some embodiments, the second opening angles of the n static plate water outlet holes satisfy the following relationship: A1 <A2=……=An。

[0021] In some embodiments, the rotor is connected to the water pump structure via a differential;

[0022] Among them, the water pumping structure includes a central gear; the differential includes a plurality of surrounding gears, each having a central shaft, and the central shaft is connected to the moving plate; the plurality of surrounding gears are respectively engaged with the central gear, and in response to the rotation of the central gear, the plurality of surrounding gears rotate around the central shaft and around the central gear at the same time, thereby driving the moving plate to rotate differentially through the central shaft.

[0023] In some embodiments, the differential further comprises:

[0024] A gear ring connected to the water pump structure, wherein the inner side wall of the gear ring is provided with continuous gear teeth;

[0025] Among them, the multiple surrounding gears are respectively engaged with the central gear and the ring gear. In response to the rotation of the central gear, the multiple surrounding gears rotate around the central axis and rotate along the gear teeth on the inner wall of the ring gear, thereby driving the movable plate to rotate through the central axis.

[0026] In some embodiments, the water pump assembly further comprises:

[0027] The rotor bracket is arranged between the rotor and the water pumping structure, and is configured to rotate under the drive of the water pumping structure and drive the rotor to rotate.

[0028] In some embodiments, the moving plate is connected to the driving assembly or other driving member, and rotates continuously under the drive of the driving assembly or other driving member.

[0029] According to an embodiment of the present disclosure, the present disclosure provides a cleaning device, comprising the cleaning module as described in any one of the above items. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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:

[0031] FIG1 is a schematic diagram of a three-dimensional structure of a cleaning device according to some embodiments of the present disclosure.

[0032] FIG2 is a schematic diagram of the bottom structure of a cleaning device according to some embodiments of the present disclosure.

[0033] FIG3 is a schematic structural diagram of a wet cleaning module of a cleaning device according to some embodiments of the present disclosure.

[0034] Figure 4-1 is a schematic structural diagram of a driving assembly of a cleaning device according to some embodiments of the present disclosure at one angle.

[0035] Figure 4-2 is a schematic structural diagram of the driving assembly of the cleaning device according to some embodiments of the present disclosure from another angle.

[0036] 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.

[0037] FIG6 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.

[0038] 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.

[0039] FIG8 is a schematic diagram of a static plate structure in a water pump assembly of a cleaning device according to some embodiments of the present disclosure.

[0040] FIG9 is a schematic diagram of water supply flow of a water pump structure of a cleaning device according to some embodiments of the present disclosure.

[0041] FIG10 is a schematic diagram of the cross-sectional structure of a water pump assembly of a cleaning device according to other embodiments of the present disclosure.

[0042] Explanation of the reference numerals: Mobile platform 100, rear 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, 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 23331, clutch assembly 2334, cable gear 241, cable 242, cleaning assembly 2000, first cleaning assembly 210, second cleaning assembly 220, lifting assembly 240, supporting platform 290, water pumping assembly 250, water pumping structure 251, rotating part 2511, central gear 2512, water distributor 252, moving piece 2521, moving piece water inlet hole 25211, static piece 2522, static piece water outlet hole 25221, slot 25222, moving piece bracket 2523, joint 25231, bracket water inlet hole 25232, latch 25233, soft rubber pad 2524, soft rubber pad hole 25241, differential 253, ring gear 2531, gear teeth 2532, surrounding gear 2533, central shaft 2534, housing 2526, water outlet 25261, water inlet 25262. DETAILED DESCRIPTION

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0049] Figures 1-2 are schematic diagrams illustrating the structure of an automatic cleaning device according to an exemplary embodiment. As shown in Figures 1-2 , the automatic cleaning device can be a vacuum robot, a mopping / brushing robot, a window-climbing robot, and so on. The automatic cleaning device may 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.

[0050] 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.

[0051] 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.

[0052] The perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located on the forward part 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 are used to provide the control system with various position information and motion status information of the machine.

[0053] In order to more clearly describe the behavior of the automatic cleaning device, the following directions are defined: the automatic cleaning device can move on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis 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 lateral 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 tilts to the right of the Y-axis, it is "turning right", and when the automatic cleaning device tilts to the left of the y-axis, it is "turning left".

[0054] 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.

[0055] The location determination device 121 includes but is not limited to a camera and a laser ranging device (LDS).

[0056] 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, laser rangefinders, and other devices can also be used to provide even more accurate judgments.

[0057] The forward portion 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the drive wheel assembly propels the automated cleaning device across the ground, the buffer 122 detects one or more events (or objects) in the automated cleaning device's path via a sensor system, such as an infrared sensor. The automated cleaning device can control the drive wheel assembly based on the events (or objects) detected by the buffer 122, such as obstacles or walls, to respond to the events (or objects), such as by moving away from the obstacles.

[0058] The control system is arranged on a circuit board within the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, that communicates with a non-temporary memory, such as a hard disk, a flash memory, or a random access memory. The application processor is configured to receive the environmental information sensed by the multiple sensors transmitted by the perception system 120, and to use a positioning algorithm, such as SLAM, based on the obstacle information fed back by the laser ranging device, to draw a real-time map of the environment in which the automatic cleaning device is located, and to autonomously determine the driving path based on the environmental information and the environmental map, and then control the drive system 140 to perform operations such as forward, backward, and / or steering based on the autonomously determined driving path. Furthermore, the control system can also decide whether to start the cleaning module 1000 for cleaning operations based on the environmental information and the environmental map.

[0059] 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.

[0060] 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, preferably, the drive system 140 includes 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 can be a driven wheel or a driving wheel, and its structural form includes but is not limited to a universal wheel. The steering assembly 142 can be located in front of the drive wheel assembly 141.

[0061] 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.

[0062] 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.

[0063] 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 ground 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 of the air 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.

[0064] According to an embodiment 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 using a wet cleaning method. 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 is configured to continuously rotate in the first working mode of the driving component 230 to clean the operating surface. Clean at least a portion of the operating surface; the wet cleaning module 200 further includes a lifting assembly 240, which is configured to lift the cleaning assembly to separate from the operating surface in the second operating 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 further 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 operating mode of the driving assembly 230. The cleaning module disclosed in the present invention realizes a structural design in which a plurality of driven assemblies (the first cleaning assembly 210, the second cleaning assembly 220, the lifting assembly 240, and the water pumping assembly 250) are driven to work by switching the operating 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.

[0065] In some embodiments, as shown in FIG3 , the wet cleaning module 200 provided herein is configured to clean at least a portion of the work surface using a wet cleaning method. The wet cleaning module 200 includes a support platform 290, with a first cleaning assembly 210 and a second cleaning assembly 220 disposed on the side of the support platform 290 facing the work surface. A drive assembly 230, a lifting assembly 240, and a water pump assembly 250 are disposed on the side of the support platform 290 facing the moving platform. Driven by the drive assembly 230, the first cleaning assembly 210 reciprocates along the surface to be cleaned. A cleaning cloth or cleaning plate is provided on the contact surface of the first cleaning assembly 210 with the surface to be cleaned. This reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains from the surface. Driven by the drive assembly 230, the second cleaning assembly 220 continuously rotates along the surface to be cleaned. A cleaning cloth or cleaning plate is also provided on the contact surface of the second cleaning assembly 220 with the surface to be cleaned. This continuous rotation generates high-frequency friction with the surface to be cleaned, thereby removing stains from the surface.

[0066] 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.

[0067] It is understandable that the higher the friction frequency, the more friction times per unit time. For high-frequency reciprocating motion, also called reciprocating vibration, its cleaning ability is much greater than that of ordinary reciprocating motion. For example, if the frequency of high-frequency vibration is set to the frequency of sound waves, the tufts on the surface of the first cleaning component 210 will extend in the same direction more uniformly under the shaking 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. Simply applying downward pressure 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.

[0068] Reciprocating motion can be repeated movement along any one or more directions within the operating surface, or it can be vibration perpendicular to the operating surface, with no strict restrictions. Optionally, the reciprocating motion of the cleaning module is approximately perpendicular to the machine's direction of travel, as reciprocating motion parallel to the machine's direction of travel can cause instability to the moving machine itself. Thrust and resistance in the direction of travel can cause the drive wheels to slip easily, and the impact of slipping is more pronounced when a wet cleaning module is included. A wet and slippery operating surface increases the likelihood of slipping, which not only affects the machine's smooth movement and cleaning, but also causes inaccurate ranging for sensors such as the odometer and gyroscope, resulting in inaccurate positioning and mapping of the navigation-type automatic cleaning equipment. Frequent slippage can have a significant impact on SLAM (Simultaneous Local Mapping), so slipping machine behavior needs to be avoided as much as possible. In addition to slipping, the cleaning head's motion in the machine's direction of travel causes the machine to be constantly pushed forward and backward as it moves, resulting in jerky and unstable movement.

[0069] 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.

[0070] 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 flat surfaces are easier to clean than uneven surfaces. Therefore, cleaning uneven surfaces requires faster reciprocating motion (i.e., higher frequency) of the first cleaning component and a larger water volume.

[0071] For another 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 is less dusty and greasy, 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.

[0072] 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 enable the cleaning assembly to better contact 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 overcome 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.

[0073] 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 and 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 set drive, a chain drive, a belt drive, or a worm gear, among others.

[0074] In some embodiments, the drive assembly 230 includes a worm 232; the worm 232 is connected to the output shaft of the motor 231 and is driven by the motor 231 to achieve forward or reverse rotation. The drive assembly 230 also includes multiple drive wheel assemblies 233; the multiple drive wheel assemblies 233 are respectively engaged with the worm 232 and, driven by the worm 232 to rotate forward or reverse, respectively drive the first cleaning assembly 210, the second cleaning assembly 220, the water pump assembly 250, and the lifting assembly 240 to operate in the first operating mode or the second operating mode. It will be understood by those skilled in the art that the drive wheel assembly can be a single gear or a gear set consisting 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.

[0075] In some embodiments, as shown in Figure 4-1, the drive wheel assembly 233 includes a first drive wheel assembly 2331. 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, and 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 and clean in a local area, it is possible to 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, which drives the first cleaning assembly 210 to vibrate back and forth under the rotation drive of the asymmetric structure.

[0076] In some embodiments, the drive wheel assembly 233 includes a second drive wheel assembly 2332. 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 engages with the second power transmission device 23321 to transmit power to the second cleaning assembly 220. The second cleaning assembly 220, driven by the second power transmission device 23321, continuously rotates to clean a portion of the work surface. Because the second cleaning assembly 220 can continuously rotate to clean a localized area, it can focus on cleaning heavily soiled areas. Optionally, the second power transmission device 23321 can be a gear set with multiple gears meshing together, or it can be a synchronous belt drive.

[0077] In some embodiments, as shown in FIG4-2 , the drive wheel assembly 233 includes a third drive wheel assembly 2333. The drive assembly 230 also includes a third power transmission device 23331 that cooperates with the third drive wheel assembly 2333. Those skilled in the art will appreciate that the third power transmission device 23331 can be a single gear or a gear set consisting of multiple gears. The third drive wheel assembly 2333 engages with the third power transmission device 23331 to transmit power to the water pump assembly 250. Driven by the third power transmission device 23331, the water pump assembly 250 delivers water to the first cleaning assembly 210 and the second cleaning assembly 220.

[0078] In some embodiments, the drive wheel assembly 233 includes a fourth drive wheel assembly. For example, the fourth drive wheel assembly includes 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 disposed between the third power transmission device 23331 and the cable gear 241. A cable 242 is wound around the cable gear 241, and the distal end of the cable 242 is wrapped around the support platform 290. When the motor 231 rotates in the reverse direction, the clutch assembly 2334 engages with the third power transmission device 23331, and the third power transmission device 23331 provides reverse driving force. Since the clutch assembly 2334 and the third power transmission device 23331 are reversely engaged at this time, the driving force can be provided. The third power transmission device 23331 drives the cable gear 241 to rotate via the clutch assembly 2334. As the cable gear 241 rotates, it pulls the support platform 290 via the cable 242. The support platform 290, pulled by the cable 242, lifts the first cleaning assembly 210 and the second cleaning assembly 220. When the motor 231 rotates in the forward direction, the third power transmission device 23331 provides a forward driving force. The clutch assembly 2334 does not engage with the forward rotation of the third power transmission device 23331 and does not provide a driving force. Consequently, the cable gear 241 cannot pull the support platform 290 via the cable 242.

[0079] 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. The present 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. The present 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 the user experience.

[0080] In some embodiments, as shown in Figures 5-7, the water pump assembly 250 includes a water pump structure 251. The water pump structure 251 includes a connection portion connected to the third power transmission device 23331, so that the water pump structure 251 rotates, for example, peristaltically, under the power of the third power transmission device 23331 to achieve water pumping. The water pump structure 251 can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, a centrifugal pump, etc.

[0081] In some embodiments, the pumping structure 251 includes a rotating portion 2511 that compresses the pump tube to achieve peristaltic pumping. The side of the rotating portion 2511 facing the drive assembly 230 includes a connection portion, such as a coupling groove, that connects to the third power transmission device 23331. The other end of the pumping structure 251 includes a central gear 2512 that rotates at a first speed under the drive of the rotating portion 2511.

[0082] In some embodiments, the water pump assembly 250 further includes a differential 253. The differential 253 is disposed on a side of the water pump structure 251 away from the drive assembly 230. The differential 253 is configured to vary the output speed of the central gear 2512. The differential 253 can increase or decrease the rotational speed of the water distributor, thereby increasing or decreasing the amount of water flowing through the water distributor, thereby achieving precise control of the water volume.

[0083] In some embodiments, the differential 253 includes a plurality of surrounding gears 2533 . Each of the plurality of surrounding gears 2533 has a central shaft 2534 fixedly connected to the water diverter 252 . The plurality of surrounding gears 2533 each mesh 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 shaft 2534 while simultaneously revolving around the central gear 2512 . Since the central shaft 2534 is fixedly connected to the rotating portion of the water diverter 252 , the revolution of the central shaft 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.

[0084] In some embodiments, as shown in Figures 5-7, the differential 253 further includes a ring gear 2531. The ring gear 2531 is connected to the water pumping structure 251 via at least one lug. Optionally, the ring gear 2531 forms part of the housing of the water pumping assembly 250. A continuous series of gear teeth 2532 are provided on the inner sidewall of the ring gear 2531. The number of teeth on the gear teeth 2532 is determined based on the speed increase or decrease required by the differential. The plurality of surrounding gears 2533 mesh with the central gear 2512 and the ring gear 2532, respectively. In response to the rotation of the central gear 2512, the plurality of surrounding gears 2533 rotate about the central axis 2534 and along the gear teeth 2532 on the inner sidewall of the ring gear 2531, thereby driving the rotating portion of the water distributor 252 to rotate via the central axis 2534.

[0085] In some embodiments, the number of the plurality of surrounding gears 2533 is 2-5, for example 3 or 4. The provision of the plurality of surrounding gears 2533 can increase the rotational stability of the differential, making the speed increase or deceleration output more stable, and improving the stability of the water output from the water distributor.

[0086] 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.

[0087] In some embodiments, the water pumping assembly 250 further includes a water distributor 252. The water distributor 252 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 to distribute water from the water pumping assembly 250 to the first cleaning assembly 210 and / or the second cleaning assembly 220.

[0088] 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. The moving piece 2521 is configured to rotate continuously in the first working mode of the driving assembly 230. Of course, the moving piece 2521 can also rotate independently under the drive of other driving members, and this is not limited. The water divider 252 also includes a static piece 2522. The static piece 2522 is arranged on the water outlet direction side 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. The movable plate 2521 continuously rotates relative to the static plate 2522. In response to the overlap of the projection of at least one movable plate water inlet hole 25211 and the static plate water outlet hole 25221, the water distributor 252 supplies water to the first cleaning assembly 210 and / or the second cleaning assembly 220 through the static plate water outlet hole 25221 whose projection overlaps. Optionally, the movable plate 2521 and the static plate 2522 are made of at least one of the following materials: ceramic, metal, hard plastic, etc., so long as the movable plate 2521 and the static plate 2522 are in smooth rotational contact.

[0089] Optionally, the rotor 2521 has one rotor water inlet hole 25211. The surface of the static blade 2522 is evenly spaced along the circumference, with three to eight static blade water outlet holes 25221 provided; for example, six static blade water outlet holes 25221 are provided. Each static blade water outlet hole 25221 is connected to a water outlet pipe, through which water is supplied to the first cleaning assembly 210 or the second cleaning assembly 220. The rotor 2521 is in contact with the static blade 2522 and continuously rotates relative to the static blade 2522. As the rotor 2521 continuously rotates relative to the static blade 2522, the rotor water inlet hole 25211 sequentially slides over the six static blade water outlet holes 25221. When the projection of the movable plate water inlet hole 25211 overlaps with the projection of one of the static plate water outlet holes 25221, water will flow from the movable plate water inlet hole 25211 with the overlapping projection to the static plate water outlet hole 25221. The water will then flow through the static plate water outlet hole 25221 to the first cleaning assembly 210 or the second cleaning assembly 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 assembly 210 or the second cleaning assembly 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 the water distribution holes of the first cleaning assembly 210 or the second cleaning assembly 220.

[0090] In some embodiments, as shown in FIG8 , the static piece 2522 has a plurality of slots 25222 on one side close to the moving piece 2521. The angles of the slots 25222 can be the same or different. The angle of the slots refers to the size of the central angle contained in the side lines on both sides of the slots around the center of the circle or center of the static piece 2522. The angle of the slots determines the amount of water output through the slots 2522. As shown in FIG8 , the slots 25222 have a certain depth, and the bottom of the slots 25222 has a through static piece water outlet hole 25221. The size of the static piece water outlet hole 25221 in each slot 25222 can be substantially the same. When the moving piece water inlet hole 25211 slides over the slots 25222, the water will enter the slots 25222 and then flow out through the static piece water outlet hole 25221. Therefore, the water output is positively correlated with the angle of the slots.

[0091] In some embodiments, as shown in Figures 6 and 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 remains stationary relative to the rotor bracket 2523, while the surrounding gear 2533 rotates around the central gear, thereby driving differential rotation of the rotor bracket 2523. The other side of the rotor bracket 2523 engages with the rotor 2521. Driven by the differential 253, the rotor bracket 2523 is configured to rotate differentially and drive the rotor 2521. The inner edge of the rotor bracket 2523 is provided with at least one latch 25233. Once engaged with the rotor 2521 by the latch 25233, the rotor bracket 2523 is relatively fixed, allowing the rotor bracket 2523 to rotate with the rotor 2521.

[0092] In some embodiments, the rotor bracket 2523 further includes at least one bracket water inlet hole 25232. The at least one bracket water inlet hole 25232 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 fits tightly against the rotor 2521. The rotor bracket 2523 includes one bracket water inlet hole 25232, and the rotor 2521 includes one rotor water inlet hole 25211. 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.

[0093] In some embodiments, the rotor bracket 2523 and the rotor 2521 are engaged to form a cavity. The rotor 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 rotor bracket 2523 and the rotor 2521 rotate, water flows out when the rotor water inlet hole 25211 overlaps the static plate water outlet hole 25221. This cavity structure ensures continuous water supply to multiple water distribution holes, reducing the rotational speed requirements of the rotor bracket 2523.

[0094] In some embodiments, as shown in FIG5 , the water divider 252 further includes a housing 2526. The housing 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 provided on the housing 2526, and the housing has a water inlet 25262. Water flows into the housing 2526 from the water inlet 25262, then flows into the bracket water inlet 25232 from the gap between the housing 2526 and the bracket water inlet 25232, and then flows out from the at least one water outlet 25261 through the bracket water inlet 25232, the moving piece water inlet 25211, and the static piece water outlet 25221.

[0095] In some embodiments, the water divider 252 further includes a soft rubber pad. The soft rubber pad is positioned on the side of the static piece 2522 away from the moving piece 2521. The soft rubber pad includes at least one soft rubber pad hole, each corresponding to the static piece water outlet hole 25221. The soft rubber pad seals between the static piece 2522 and the housing 2526, preventing water entering the housing 2526 through the water inlet 25262 from flowing directly toward the static piece 2522.

[0096] 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.

[0097] The cleaning module provided in the above embodiment 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.

[0098] In some embodiments, the ratio of the rotational speed of the rotor to the rotational speed of the pumping structure is a non-integer. When the pumping structure utilizes a periodic pump, such as a peristaltic pump, as shown in Figure 9, region 1 represents the water output per one rotation of the pumping structure, encompassing three pumping cycles, each of which pumps water out in a pulsed manner. Because the manifold rotor rotates differentially with the pumping structure, and the ratio of the rotor's rotational speed to the pumping structure's rotational speed is a non-integer, the rotor's angle corresponds to a different point on the pumping structure's flow diagram during each rotation of the rotor. That is, the flow rate through the rotor inlet at the same angular position varies with each rotation of the rotor. For example, if the ratio of the rotor's rotational speed to the pumping structure's rotational speed is 3.7, the rotor's position at a certain angle during the first rotation corresponds to position x1 on the flow diagram, x2 during the second rotation, x3 during the third rotation, and so on. In this way, after the pumping structure continuously rotates, the rotor inlet, after a sufficient number of revolutions, will be positioned at a certain angle across all points on the flow diagram. Therefore, when adjusting the water distribution ratio of the water distributor, the pulsating characteristics of the pumping structure can be disregarded, and the average water output of the pumping structure can be used. The average is the output flow rate of the pumping structure per unit time. Therefore, the water distribution of the water distributor is independent of the output characteristics of the pumping structure, making adjustment of the water distribution ratio relatively simple. Conversely, when the ratio of the rotor rotational speed to the rotational speed of the pumping structure is an integer, after a certain number of revolutions, the rotor inlet's position at a certain angle will only cover a few points on the flow diagram, resulting in uneven water flow.

[0099] In some embodiments, the second opening angles of the n static plate water outlet holes are A1, A2, ..., An respectively, and the first opening angle of the dynamic plate water inlet hole is B. The ratio of the water output of the n static plate water outlet holes within one rotation of the water pumping structure is (B+A1): (B+A2): ... (B+An-1): (B+An). Therefore, the water distributor and the water pumping structure are rotated at a differential speed, and the flow characteristics of the water pumping structure at different angles no longer constantly correspond to the same angle of the water distributor. Therefore, when the movement time of the water distributor is long enough, it can be approximately considered that the pulsation of the water pumping structure has no effect on the water output of the water distributor, and it can be approximately considered that the water inlet characteristics of the water distributor are stable. It is only necessary to set the water outlet angle according to the above ratio according to the needs of the cleaning component.

[0100] In some other embodiments, the water divider 252 is synchronously connected to the water pump structure 2511. As shown in Figure 10, the water divider 252 includes: a rotor 2521, the rotor 2521 having at least one rotor water inlet hole 25211, and the rotor 2521 is configured to rotate continuously in the first working mode of the drive assembly 230; and a static piece 2522, the static piece 2522 is arranged on the side of the water outlet direction of the rotor 2521, the static piece 2522 having multiple static piece water outlet holes 25221, and the static piece water outlet holes 25221 are respectively connected to the multiple water outlets of the water supply assembly; wherein, the rotor 2521 continuously rotates relative to the static piece 2522, and in response to the overlap of the projection of the at least one rotor 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 holes 25221 with the overlapping projections. The structures of the moving piece 2521 and the static piece 2522 are as described above and will not be elaborated here.

[0101] In some embodiments, as shown in FIG10 , the water divider 252 further includes a rotor bracket 2523. The rotor bracket 2523 is engaged with the rotor 2521 and is configured to rotate continuously under the drive of the water pumping structure 2511 and drive the rotor 2521 to rotate continuously. The inner edge of the rotor bracket 2523 is provided with at least one latching position 25233. The rotor bracket 2523 is engaged with the rotor 2521 via the latching position 25233 to relatively fix the rotor bracket 2523, thereby enabling the rotor bracket 2523 to rotate with the rotor 2521. Optionally, the rotor bracket 2523 includes a fastening member 25231. The fastening member 25231 is disposed on the side of the rotor bracket 2523 away from the rotor 2521. The joint 25231 is engaged with the water pumping structure 2511, so that the rotor bracket 2523 can rotate synchronously with the water pumping structure 2511 under the drive of the water pumping structure 2511. The specific structure of the rotor bracket 2523 is as described in the above embodiment and will not be repeated here.

[0102] In some embodiments, as shown in FIG10 , the water divider 252 further includes a soft rubber pad 2524. The soft rubber pad 2524 is disposed on a side of the static piece 2522 away from the dynamic piece 2521. The soft rubber pad 2524 includes at least one soft rubber pad hole 25241. Each soft rubber pad hole 25241 corresponds to each of the static piece water outlet holes 25221. The soft rubber pad 2524 seals between the static piece 2522 and the housing 2526, preventing water entering the housing 2526 through the water inlet 25262 from flowing directly toward the static piece 2522.

[0103] As shown in Figure 9, the water pumping structure supplies water by squeezing the water pumping pipe through the extrusion part. Therefore, its flow characteristic diagram is periodic. For example, if the water pumping structure includes three extrusion parts, then one rotation of the water pumping structure will generate three pulsating peaks. Because the water distributor rotor bracket and the water pumping structure are connected and rotated synchronously at a fixed angle, each angle of rotation of the water pumping structure constantly corresponds to the angle of rotation of the water distributor rotor. At this time, by adjusting the opening angle of the static plate, the total flow rate of different outlets can be distributed according to the flow value at the corresponding angle obtained at different outlets in the flow characteristic diagram.

[0104] In the embodiment described above, the movable plate 2521 is fixedly connected to the water pumping structure 2511, and the movable plate rotates synchronously with the water pumping structure 2511; wherein, the number of water pumping cycles of the water pumping structure 2511 within one rotation is the same as the number n of the water outlet holes 25221 of the static plate, and the water outlet position of the water pumping structure in each of the water pumping cycles corresponds to the position of one of the water outlet holes of the static plate.

[0105] The water pump assembly of this embodiment has a simple structure, and the moving blade bracket can be directly connected to the water pump structure. The water supply demand can be met by designing static blade openings at different angles. Moreover, when the overall water supply volume is not large, the water supply volume allocated according to the static blade opening angle can basically meet the needs of the cleaning component.

[0106] 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.

[0107] 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; A driving component, connected to the cleaning component and configured to output a driving force; A water pumping component, connected to the driving component and the cleaning component and configured to supply water to the cleaning component under the drive of the driving force. The water pumping component includes: A water pumping structure, one end of which is clamped to the driving component and configured to pump water in a preset period or without a period under the drive of the driving component; A moving piece, connected to the other end of the water pumping structure, and the moving piece is provided with at least one moving piece water inlet hole; A stationary piece, arranged on the side of the moving piece in the water outlet direction, and provided with at least n stationary piece water outlet holes, where n is a natural number greater than or equal to 2; Wherein, the moving piece can rotate relative to the stationary piece, and in response to the projection overlap of the moving piece water inlet hole and at least one stationary piece water outlet hole, the water pumping component supplies water to the cleaning component through the stationary piece water outlet hole with the projection overlap.

2. The cleaning module according to claim 1, wherein, The moving piece rotates synchronously with the water pumping structure; Wherein, the number of water pumping cycles of the water pumping structure within one rotation is the same as the number of stationary piece water outlet holes, and the water outlet position of the water pumping structure within each water pumping cycle corresponds to the position of one stationary piece water outlet hole.

3. The cleaning module according to claim 1 or 2, wherein, The moving piece is connected to the water pumping structure with differential speed, and the moving piece rotates with differential speed along with the water pumping structure.

4. The cleaning module according to claim 3, wherein, The ratio of the rotation speed of the moving piece to the rotation speed of the water pumping structure is a non-integer.

5. The cleaning module according to claim 3 or 4, wherein, The n stationary piece water outlet holes respectively have second opening angles A1, A2, ……, An, the moving piece water inlet hole has a first opening angle B, and the water output ratio of the n stationary piece water outlet holes within one rotation of the water pumping structure is (B + A1): (B + A2): …… (B + An-1): (B + An).

6. The cleaning module according to claim 5, wherein, The second opening angles of the n stationary piece water outlet holes satisfy the following relationship: A1 < A2 = …… = An.

7. The cleaning module according to any one of claims 3 to 6, wherein The moving piece is connected to the water pumping structure through a differential; Wherein, the water pumping structure includes a central gear; the differential includes a plurality of surrounding gears, each having a central axis, and the central axis is connected to the moving piece; 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 moving piece to rotate with differential speed through the central axis.

8. The cleaning module according to claim 7, 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 moving piece to rotate through the central axis.

9. The cleaning module according to any one of claims 1 to 8, wherein, The water pumping component further includes: A moving piece bracket, arranged between the moving piece and the water pumping structure and configured to rotate under the drive of the water pumping structure and drive the moving piece to rotate.

10. The cleaning module according to any one of claims 1 to 9, wherein, The moving piece is connected to the driving component or other driving parts and rotates under the drive of the driving component or other driving parts.

11. A cleaning device, wherein, Comprising the cleaning module according to any one of claims 1-10.

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