Cleaning device and control method therefor

Abstract

A cleaning device and a control method therefor. The cleaning device comprises a chassis (1). The chassis (1) is recessed to form a groove (101). A first driving mechanism (2) is mounted on the chassis (1). A rotating disc (3) is nested on the groove (101), and a cleaning disc (4) is eccentrically arranged on the rotating disc (3). A transmission structure (5) is arranged on the rotating disc (3), an input end of the transmission structure (5) is in transmission connection with the first driving mechanism (2), and an output end of the transmission structure (5) is in transmission connection with the cleaning disc (4) so as to drive the cleaning disc (4) to rotate. A second driving mechanism (6) is connected to the rotating disc (3). Driven by the second driving mechanism (6), the rotating disc (3) can rotate about the axis of the rotating disc (3), so that the rotating disc (3) drives, by means of rotation, the cleaning disc (4) to perform a displacement movement.

Description

Cleaning device and control method thereof

[0001] This application claims priority to the prior application with application number 202410095413.6, filed with the State Intellectual Property Office of China on January 23, 2024, and entitled “Cleaning device and control method thereof”. The contents of the above-mentioned prior application are incorporated into this text by introduction. Technical Field

[0002] The present invention relates to the technical field of intelligent cleaning equipment, and mainly to a cleaning device and a control method thereof. Background Art

[0003] A cleaning robot is an intelligent cleaning device that can move and clean surfaces. Currently, when using a dual-cleaning turntable mopping mode, a certain width of the wall cannot be reached by the mop, requiring manual cleaning, resulting in poor cleaning results. In existing technologies, the oscillating mechanism that drives the movement of the cleaning turntable requires a displacement groove on the bottom of the robot to avoid the movement of the cleaning turntable. This causes dust, hair, and other debris to accumulate in the groove during cleaning, increasing the cleaning burden on the user.

[0004] Application Contents

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a cleaning device and a control method thereof, which can realize the efficient cleaning of the wall position by driving the cleaning disc to move, while avoiding the need to provide an air-avoidance groove at the bottom of the cleaning device to drive the swing mechanism to move, thereby greatly reducing the phenomenon of dirt and grime hiding at the bottom of the cleaning device, and improving the dust-proof performance of the cleaning device and the user experience.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The first aspect of the present application provides a cleaning device, comprising a chassis, which is recessed to form a groove; a first driving mechanism, which is installed on the chassis; a turntable and a cleaning disc, which is nested in the groove and eccentrically arranged on the turntable, and a transmission structure is provided on the turntable, wherein the input end of the transmission structure is transmission-connected to the first driving mechanism, and the output end of the transmission structure is transmission-connected to the cleaning disc to drive the cleaning disc to rotate; a second driving mechanism, which is connected to the turntable and, under the drive of the second driving mechanism, can drive the turntable to rotate around the axis of the turntable, so that the turntable drives the cleaning disc to perform displacement motion through rotation.

[0008] According to some technical solutions of the present invention, the turntable is disc-shaped, and the turntable is provided with an accommodating cavity. The transmission structure is installed in the accommodating cavity. The input end of the transmission structure is transmission-connected to the first driving mechanism to form a first connection end, and the first connection end is located at the axis of the turntable. The output end of the transmission structure is transmission-connected to the cleaning disc to form a second connection end, and the second connection end is located between the axis and the outer periphery of the turntable.

[0009] According to some technical solutions of the present invention, a first connecting hole is provided at the axis center of the turntable, and the first driving mechanism is provided with an output shaft, which passes through the first connecting hole and is transmission-connected to the input end of the transmission structure to form the first connecting end.

[0010] According to some technical solutions of the present invention, the second driving mechanism includes a driving member and a rotating member, the rotating member is nested on the outside of the output shaft, the rotating member is connected to the turntable, and the driving member is used to drive the rotating member to rotate around the output shaft to drive the turntable to rotate relative to the output shaft.

[0011] According to some technical solutions of the present invention, the rotating member includes a connecting portion, and a connecting groove is provided on the turntable. The connecting portion is nested in the connecting groove to drive the turntable to rotate.

[0012] According to some technical solutions of the present invention, the rotating member includes an engaging portion, and a first gear is provided on the output shaft of the driving member, and the first gear is engaged with the engaging portion for transmission.

[0013] According to some technical solutions of the present invention, the transmission structure includes a first transmission gear and a second transmission gear that are transmission-connected. The first transmission gear serves as the input end of the transmission structure and is transmission-connected to the output shaft. The second transmission gear serves as the output end of the transmission structure and is transmission-connected to the cleaning disc.

[0014] According to some technical solutions of the present invention, a connecting member is further included, the first transmission gear is provided with a second connecting hole, the second connecting hole is arranged opposite to the first connecting hole, the output shaft is passed through the second connecting hole, and the connecting member passes through the second connecting hole to fix the output shaft and the first transmission gear.

[0015] According to some technical solutions of the present invention, one of the second transmission gear and the cleaning disc is provided with a first magnetic portion, and the other of the second transmission gear and the cleaning disc is provided with a second magnetic portion. The first magnetic portion and the second magnetic portion are magnetically connected to each other to connect the second transmission gear to the cleaning disc. The magnetic connection between the second transmission gear and the cleaning disc facilitates replacement and maintenance of the cleaning disc.

[0016] According to some technical solutions of the present invention, the meshing portion includes a first end and a second end, and the cleaning device also includes a position sensor, which is arranged on the meshing portion. The position sensor is electrically connected to the driving member and is used to detect the position of the meshing portion to control the driving member to cut off power when the meshing portion reaches a set position between the first end and the second end.

[0017] According to some technical solutions of the present invention, the chassis includes a partition, which is used to separate and define the internal installation space of the cleaning device. The partition is recessed to form the groove, and the groove is located outside the internal installation space of the cleaning device. The partition is provided with a connecting port, and the first driving mechanism and the second driving mechanism are both installed in the internal installation space of the cleaning device. The connecting part is connected to the turntable through the connecting port.

[0018] According to some technical solutions of the present invention, the cleaning device also includes a lifting mechanism, which is connected to the first driving mechanism, and the lifting mechanism is configured to drive the first driving mechanism to rise or fall, wherein, when the first driving mechanism transmits with the transmission structure in a first direction, the lifting mechanism can drive the first driving mechanism to rise, and when the first driving mechanism transmits with the transmission structure in a second direction, the lifting mechanism can drive the cleaning disc to fall, and when the lifting mechanism drives the cleaning disc to fall to the lowest position, the turntable is located in the groove.

[0019] A second aspect of the present application provides a control method for a cleaning device, which is applicable to the cleaning device described in any of the above embodiments, comprising the following steps:

[0020] The first driving mechanism is energized according to the first mode indicated by the mode instruction, so that the transmission structure drives the cleaning disc to rotate based on the drive of the first driving mechanism.

[0021] According to some technical solutions of the present invention, the control method of the cleaning device also includes: energizing the first drive mechanism and the second drive mechanism according to the second mode indicated by the mode instruction, so that the transmission structure drives the cleaning disc to rotate based on the drive of the first drive mechanism, and the turntable drives the cleaning disc to perform displacement movement based on the drive of the second drive mechanism. Beneficial effects:

[0022] The cleaning device of the present application is provided with a transmission structure on the turntable, which is connected between the first drive mechanism and the cleaning disc, thereby driving the cleaning disc to rotate and realize the working process of cleaning the floor. At the same time, the second drive mechanism is connected to the turntable, so that the second drive mechanism can drive the turntable to rotate around the axis of the turntable, and the turntable is eccentrically provided with a cleaning disc, which is driven to move by the rotation of the turntable. In addition, the chassis is recessed to form a groove, so that the turntable can be nested in the groove. The turntable is installed in the groove and connected to the cleaning disc, so that the turntable and the cleaning disc are exposed outside the chassis for performing the cleaning function. The groove is blocked by the turntable, preventing contaminants on the surface to be cleaned from entering the cleaning device through the groove during the cleaning process, reducing the occurrence of dirt and grime accumulating at the transmission connection between the cleaning disc and the first drive mechanism of the cleaning device, and better ensuring the aesthetics of the product and the dust protection effect of the bottom surface of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic diagram of a cleaning device according to an embodiment of the present application;

[0024] FIG2 is a schematic cross-sectional view taken along line AA of FIG1 ;

[0025] FIG3 is an exploded view of a cleaning device according to an embodiment of the present application;

[0026] FIG4 is a schematic diagram of a cleaning disk driving structure according to an embodiment of the present application;

[0027] FIG5 is a cross-sectional view of a cleaning disk driving structure according to an embodiment of the present application;

[0028] FIG6 is an exploded view of a cleaning disk driving structure according to an embodiment of the present application;

[0029] FIG7 is a partial enlarged view of point A in FIG5 ;

[0030] FIG8 is a partial enlarged view of point B in FIG5 ;

[0031] FIG9 is an exploded view of a turntable according to an embodiment of the present application.

[0032] The corresponding relationship between the reference numerals and component names is as follows:

[0033] 1 chassis, 101 groove, 102 communication port, 11 partition;

[0034] 2. First driving mechanism;

[0035] 3 rotating disk, 301 accommodating cavity, 302 first connecting hole, 303 connecting groove;

[0036] 4. Clean the tray;

[0037] 5 transmission structure, 501 second connecting hole, 51 first transmission gear, 52 second transmission gear;

[0038] 6 second driving mechanism, 61 driving member, 611 driving motor, 612 first gear, 62 rotating member, 621 connecting portion, 622 meshing portion;

[0039] 71 output shaft, 72 connecting piece;

[0040] 8 position sensors;

[0041] 9 lifting mechanism, 901 limiting groove, 902 slide groove, 91 limiting assembly, 911 slider, 912 elastic member, 92 axial displacement assembly. DETAILED DESCRIPTION

[0042] The present invention provides a cleaning device and a control method thereof. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0043] In the description of the present invention, it should be understood that the terms "upper", "lower", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] As can be understood from Figures 1, 2, and 3, an embodiment of one aspect of the present invention provides a cleaning device, which can be understood as an intelligent cleaning robot that can move over a surface to be cleaned and perform cleaning operations. The cleaning device referred to in this application can be a sweeping robot, a mopping robot, or a machine that integrates multiple cleaning functions. The cleaning device includes a chassis 1, a first drive mechanism 2, a turntable 3, a cleaning disc 4, and a second drive mechanism 6.

[0046] The chassis 1 is recessed to form a groove 101. The chassis 1 serves as the bottom supporting structure of the cleaning device. The first driving mechanism 2 is mounted on the chassis 1 to prevent the first driving mechanism 2 from being directly exposed outside the cleaning device. The chassis 1 provides an installation position for the first driving mechanism and protects the first driving mechanism 2.

[0047] The turntable 3 is nested in the groove 101, and the cleaning disc 4 is eccentrically arranged on the turntable 3. A transmission structure 5 is provided on the turntable 3. The input end of the transmission structure 5 is transmission-connected to the first driving mechanism 2, and the output end of the transmission structure 5 is transmission-connected to the cleaning disc 4 to drive the cleaning disc 4 to rotate.

[0048] Among them, by providing a transmission structure 5 on the turntable 3, the transmission structure 5 is connected between the first drive mechanism 2 and the cleaning disc 4, thereby driving the cleaning disc 4 to rotate and realizing the working process of cleaning the floor. It can be understood that the turntable 3 is nested in the groove 101, so that the shape and size of the turntable 3 are adapted to the groove 101. The turntable 3 is installed on the groove 101 and connected to the cleaning disc 4, so that the turntable 3 and the cleaning disc 4 are exposed outside the chassis 1 for performing the cleaning function. The groove 101 is blocked by the turntable 3, preventing contaminants on the surface to be cleaned from entering the cleaning device through the groove 101 during the cleaning process, reducing the occurrence of dirt and grime at the transmission connection between the cleaning disc 4 and the first drive mechanism 2 of the cleaning device, and better ensuring the aesthetics of the product and the dust protection effect of the bottom surface of the product.

[0049] In order to enable the turntable 3 to drive the cleaning disc 4 to perform displacement motion, thereby expanding the cleaning range of the cleaning device, a second drive mechanism 6 is connected to the turntable 3. Driven by the second drive mechanism 6, the turntable 3 is driven to rotate about the axis of the turntable 3, so that the turntable 3 drives the cleaning disc 4 to perform displacement motion. Because the cleaning disc 4 is eccentrically arranged on the turntable 3, when the turntable 3 is rotated by the second drive mechanism 6, the cleaning disc 4 can move with the turntable 3 and form a motion trajectory that deviates from the axis of the turntable 3. This allows the cleaning disc 4 to perform displacement motion relative to the chassis 1, thereby covering a wider range of motion areas.

[0050] For example, when the cleaning device is performing cleaning tasks such as sweeping or mopping the floor, when the cleaning device moves along a wall or around a corner, the second drive mechanism 6 can be used to drive the turntable 3 to rotate and drive the cleaning disc 4 to deflect, so that the cleaning disc 4 is swung toward the wall. The cleaning disc 4 can clean against the wall, which is beneficial for the cleaning device to cover a wider area, so that it can clean the target surface more comprehensively and thoroughly. In the above working process, since the turntable 3 is nested in the groove 101 of the chassis 1, the turntable 3 can achieve the displacement movement of the cleaning disc 4 by rotating under the drive of the second drive mechanism 6, avoiding the movement trajectory of the displacement of the cleaning turntable 3 by opening an air-avoidance groove on the chassis 1 of the cleaning device, which causes dust, hair and other garbage to accumulate in the air-avoidance groove during the cleaning process, causing the user's cleaning burden to appear, greatly saving manpower cleaning time and improving the user's convenience and experience.

[0051] As shown in Figures 4, 6 and 9, the turntable 3 is disc-shaped and is provided with a accommodating cavity 301. The transmission structure 5 is installed in the accommodating cavity 301. The input end of the transmission structure 5 is transmission-connected with the first driving mechanism 2 to form a first connection end, and the first connection end is located at the axis of the turntable 3. The output end of the transmission structure 5 is transmission-connected with the cleaning disc 4 to form a second connection end, and the second connection end is located between the axis and the outer periphery of the turntable 3.

[0052] Since the cleaning disc 4 is installed outside the chassis 1, the transmission structure 5 is installed in the accommodating cavity 301 of the turntable 3. In this way, the outer shell of the turntable 3 can better protect the transmission structure 5, reduce the interference of debris on the transmission structure 5 during the cleaning process, improve the stability and life of the transmission structure 5, and at the same time make the overall transmission structure 5 more compact and reduce the occupied space.

[0053] Furthermore, the turntable 3 is designed to be disc-shaped, as shown in Figures 6 and 9. The disc shape can be understood as a cylindrical shape, which is a geometric body surrounded by two upper and lower circles of equal size and parallel to each other and a curved surface (side) connecting the two bottom surfaces. In this way, under the drive of the second driving mechanism, the turntable can still well cover the opening of the groove during the rotation around its axis, so that the assembly between the turntable and the groove is more fitting, and the disc-shaped design makes the installation structure between the turntable and the chassis of the cleaning device more compact.

[0054] The input end of the transmission structure 5 is connected to the first drive mechanism 2 to form a first connection end. By arranging the first connection end at the axis of the turntable 3, when the second drive mechanism 6 drives the turntable 3 to rotate, the transmission structure 5 arranged in the turntable 3 is maintained at the axis of the turntable 3 for transmission connection with the first drive mechanism 2, thereby providing motion support for the turntable 3 to rotate around its axis. Moreover, the output end of the transmission structure 5 is transmission-connected to the cleaning disc 4 to form a second connection end arranged between the axis of the turntable 3 and the outer periphery of the turntable 3. This ensures that when the turntable 3 rotates around its axis, it can drive the cleaning disc 4 to perform displacement motion. Compared with a complex crank or connecting rod mechanism, the transmission structure 5 of the present application greatly simplifies the motion path, reduces the complexity of the motion, and can also ensure the continuity and stability of the rotation of the cleaning disc 4 when the turntable 3 drives the cleaning disc 4 to perform displacement motion.

[0055] Specifically, a first connecting hole 302 is provided at the axis of the turntable 3. The first drive mechanism 2 is equipped with an output shaft 71, which passes through the first connecting hole 302 and is in driving connection with the input end of the transmission structure 5 to form a first connection end. The first connecting hole 302 is provided at the axis of the turntable 3. The portion of the output shaft 71 that extends into the accommodating cavity 301 of the turntable 3 through the first connecting hole 302 is in driving connection with the input end of the transmission structure 5, thereby driving the cleaning disc 4 to rotate and perform cleaning. Furthermore, the output shaft 71 serves as the center point of the turntable 3's rotation, providing stable support for the turntable 3's movement and reducing any wobble or deviation during rotation.

[0056] Furthermore, the second drive mechanism 6 includes a driving member 61 and a rotating member 62. The rotating member 62 is nested outside the output shaft 71 and connected to the turntable 3. The driving member 61 is used to drive the rotating member 62 to rotate about the output shaft 71, thereby driving the turntable 3 to rotate relative to the output shaft 71. The rotating member 62 is nested outside the output shaft 71. The rotating member 62 can be provided with a through hole, which is arranged opposite to the first connection hole 302 provided at the axis of the turntable 3, thereby allowing the output shaft 71 to pass through the through hole of the rotating member 62 and the first connection hole 302 of the turntable 3 in sequence. This makes the structure of the second drive mechanism 6 and the rotating member 62 more compact. Moreover, the driving member 61 can drive the rotating member 62 to rotate about the output shaft 71. For example, the driving member 61 includes a drive motor 611. When powered, the drive motor 611 drives the turntable 3 to move relative to the output shaft 71. This helps the cleaning device better adapt to different cleaning surfaces and corners, helps reduce blind spots in cleaning, and thus improves cleaning efficiency.

[0057] In one embodiment of the present invention, the rotating member 62 includes a connecting portion 621. The rotating disk 3 is provided with a connecting groove 303. The connecting portion 621 is nested in the connecting groove 303 to drive the rotating disk 3 to rotate. The connecting portion 621 of the rotating member 62 is a structure that is nested in the connecting groove 303 of the rotating disk 3. The arrangement of the connecting portion 621 connects the rotating member 62 to the rotating disk 3, so that the rotating member 62 drives the rotating disk 3 to rotate.

[0058] As shown in Figures 2 and 5, the connecting portion 621 extends toward the connecting groove 303 of the turntable 3, and the connecting groove 303 is arc-shaped. Correspondingly, the part of the connecting portion inserted into the connecting groove is also arc-shaped. This can increase the connection area between the connecting portion 621 and the connecting groove 303, improve the mechanical strength of the connecting portion driving the turntable 3 to rotate, and improve the reliability and durability of the mechanical transmission.

[0059] In other embodiments, a snap-fit ​​structure may be provided between the connecting portion 621 and the connecting groove 303 of the turntable 3 to fix the connection between the two, or fasteners such as bolts and screws may be used to fix the two, or the connecting portion 621 and the wall of the connecting groove 303 may be reinforced by threaded connection, thereby improving the stability and reliability of the transmission connection between the second drive mechanism 6 and the turntable 3.

[0060] In one technical solution of the present invention, the rotating member 62 includes a meshing portion 622. A first gear 612 is provided on the output shaft 71 of the driving member 61. The first gear 612 meshes with the meshing portion 622 for transmission. The rotating member 62 and the driving member 61 mesh with each other to achieve a transmission process. Specifically, the driving member 61 includes a first gear 612 and a driving motor 611. The first gear 612 is provided on the output shaft 71 of the driving motor 611. When the driving motor 611 is in operation, it drives the first gear 612 to rotate. The meshing of the first gear 612 with the meshing portion 622 ensures that the power of the driving member 61 can be accurately transmitted to the rotating member 62, thereby ensuring the stable operation of the rotating member 62 and the turntable 3.

[0061] In one technical solution of the present invention, the transmission structure 5 includes a first transmission gear 51 and a second transmission gear 52 that are transmission-connected. The first transmission gear 51 serves as the input end of the transmission structure 5 and is transmission-connected to the output shaft 71. The second transmission gear 52 serves as the output end of the transmission structure 5 and is transmission-connected to the cleaning disk 4. Specifically, referring to FIG9 , the first transmission gear 51 is connected to the output shaft 71 as the input end of the transmission structure 5, and the second transmission gear 52 is connected to the cleaning disk 4 as the output end of the transmission structure 5. By meshing the first transmission gear 51 and the second transmission gear 52, efficient and smooth gear transmission is achieved from the first drive mechanism 2 to the cleaning disk 4, ensuring accurate and continuous power transmission and reducing energy loss.

[0062] Furthermore, the ratio between the first transmission gear 51 and the second transmission gear 52 can be adjusted to achieve different speed and torque requirements, and the number of transmission gears can be designed according to the transmission motion requirements. Moreover, the gear transmission structure 5 is relatively simple and more robust than other transmission methods such as belts or chains, thereby enhancing the overall durability and stability of the cleaning device and taking up less space.

[0063] In one technical solution of the present invention, a connecting member 72 is further included. The first transmission gear 51 is provided with a second connecting hole 501. The second connecting hole 501 is arranged opposite to the first connecting hole 302. The output shaft 71 is passed through the second connecting hole 501. The connecting member 72 passes through the second connecting hole 501 to fix the output shaft 71 and the first transmission gear 51. Please refer to Figures 5 and 8. By providing a second connecting hole 501 on the first transmission gear 51, the part of the output shaft 71 that passes through the first connecting hole 302 of the turntable 3 is allowed to be inserted into the second connecting hole 501, so that a connection is formed between the output shaft 71 and the input end of the transmission structure 5. In order to further fix the connection structure between the output shaft 71 and the transmission structure 5, a connecting member 72 is provided to pass through the second connecting hole 501 to connect and fix the output shaft 71 to the first transmission gear 51, thereby reducing the displacement of the first transmission gear 51 or the output shaft 71 caused by stress or vibration generated by the cleaning device during the cleaning operation. The provision of the connecting member 72 ensures a stable connection between the first transmission gear 51 and the output shaft 71, reduces the possibility of low working efficiency or failure due to loose connection, and thus enhances the overall stability and reliability of the cleaning device.

[0064] For example, the connecting member 72 is a screw or nut. Referring to Figures 2 and 9 , the turntable 3 includes an upper cover and a lower cover disposed opposite each other. The first connecting hole 302 extends along the axis of the upper and lower covers. The first transmission gear 51 is mounted in the space enclosed by the upper and lower covers. The output shaft 71 passes through the first connecting hole 302 of the upper cover and is mounted in the second connecting hole 501 of the first transmission gear 51. A screw is installed at the connection formed between the second connecting hole 501 and the first transmission gear 51, thereby forming a fixed connection between the first transmission gear 51 and the output shaft 71.

[0065] It should be further explained that, after the present application uses a connecting member 72 to connect and fix the output shaft 71 with the first transmission gear 51, since the rotating member 62 is supported on the chassis 1 and passed through the output shaft 71, in this way, only the connecting portion 621 of the rotating member 62 is ensured to be inserted into the connecting groove 303 of the turntable 3. There is no need to add an additional fixing structure between the connecting portion 621 and the turntable 3. By relying on the connection and fixation of the output shaft 71 with the first transmission gear 51, the effect of preventing the connecting portion 621 from moving out of the connecting groove 303 can be achieved, thereby reducing the structural complexity of the transmission structure.

[0066] For example, the inner surface of the second connecting hole 501 provided in the first transmission gear 51 is formed with sharp edges, and correspondingly, the outer surface of the output shaft 71 is provided with sharp edges for matching the inner surface of the second connecting hole 501. Please refer to Figure 9. The second connecting hole 501 of the present application is designed as a hexagonal hole, and correspondingly, the output shaft 71 is set as a hexagonal column. This can effectively avoid relative movement between the output shaft 71 and the first transmission gear 51 during the process of transmitting motion, avoid abnormal noise caused by the relative movement of the two during the motion, and improve the reliability of motion transmission.

[0067] Similarly, the second transmission gear 52 and the first transmission gear 51 are also provided with a connecting hole with an angular inner surface, and a protrusion is also provided on the cleaning disk 4, which is inserted into the connecting hole of the second transmission gear 52. The outer surface of the protrusion is provided with an angular edge for matching the inner surface of the connecting hole, thereby avoiding motion deflection between the second transmission gear 52 and the cleaning disk 4 during the transmission process, thereby improving the accuracy of motion transmission.

[0068] In one embodiment of the present invention, one of the second transmission gear 52 and the cleaning disc 4 is provided with a first magnetic portion, and the other of the two is provided with a second magnetic portion. The first and second magnetic portions are magnetically connected to connect the second transmission gear 52 to the cleaning disc 4. By providing the first and second magnetic portions for magnetic connection on the second transmission gear 52 and the cleaning disc 4, respectively, assembly and disassembly of the second transmission gear 52 and the cleaning disc 4 are simplified and quick. Since the cleaning disc 4 is a consumable item that is easily damaged during cleaning, the use of a magnetically removable design greatly facilitates user convenience. If the cleaning disc 4 needs to be replaced or repaired, the magnetic connection can be simply disconnected, eliminating the need for tools or complex disassembly operations, simplifying maintenance. Furthermore, the magnetic connection can adapt to slight deviations in alignment to a certain extent, ensuring a stable connection between the second transmission gear 52 and the cleaning disc 4. This helps reduce wear or vibration caused by misalignment.

[0069] Of course, the present application does not limit the connection between the second transmission gear 52 and the cleaning disc 4 to be achieved by magnetic attraction. The second transmission gear 52 and the cleaning disc 4 can also be connected by other card-and-disconnect methods such as snap-on connection, threaded connection, etc., thereby realizing a detachable structure between the cleaning disc 4 and the turntable 3, making it convenient for users to directly replace the cleaning disc 4.

[0070] In one technical solution of the present invention, the meshing portion 622 includes a first end and a second end, and the cleaning device further includes a position sensor 8 disposed on the meshing portion 622. The position sensor 8 is electrically connected to the driving member 61 and is configured to detect the position of the meshing portion 622 so as to control the driving member 61 to be powered off when the meshing portion 622 reaches a set position between the first end and the second end. By providing the position sensor 8 on the meshing portion 622, when the meshing portion 622 reaches the set position, the position sensor 8 sends a signal to the driving member 61 to power it off, thereby ensuring that the meshing portion 622 stops at the correct position. This ensures that the rotating disk 3 driven by the transmission member also stops at the correct position due to the position sensor 8. In this way, when the cleaning disc 4 is displaced and extended out of the chassis 1 under the drive of the second driving mechanism 6, so that it can clean the position along the wall, at this time, the driving member 61 drives the engaging portion 622 to rotate to this set position, and the position sensor 8 senses the position of the engaging portion 622 to control the driving member 61 to stop driving, thereby allowing the cleaning disc 4 to remain in the position of being thrown out of the chassis 1.

[0071] The setting of the position sensor 8 can accurately detect the position of the meshing part 622, improve the movement accuracy of the cleaning disk 4, and prevent the driving member 61 from over-driving the meshing part 622. When the meshing part 622 reaches the set position, the driving member 61 will immediately cut off the power, avoiding mechanical damage or performance degradation caused by over-driving.

[0072] As shown in Figures 4 and 6, the meshing portion 622 is an annular rack, the driving member 61 is fixedly arranged on the cleaning device, the transmission member and the meshing portion 622 are meshed and transmitted, thereby driving the meshing portion 622 to move, and the position sensor 8 is arranged on one end of the meshing portion 622. In this way, when the transmission member and the meshing portion 622 are meshed near the end where the position sensor 8 is set, the position sensor 8 can sense the transmission member and thereby control the driving member 61 to cut off power as a condition for position judgment.

[0073] For example, the position sensor 8 may be a Hall sensor, an infrared sensor, a micro switch, etc. It should be understood that the driving member 61 can receive the sensing signal generated by the position sensor 8 .

[0074] In one technical solution of the present invention, the chassis 1 includes a partition 11, which is used to separate and define the internal installation space of the cleaning device. The partition 11 is recessed to form a groove 101, and the groove 101 is located outside the internal installation space of the cleaning device. The partition 11 is provided with a connecting port 102, and the first driving mechanism 2 and the second driving mechanism 6 are both installed in the internal installation space of the cleaning device. The connecting part 621 is connected to the turntable 3 through the connecting port 102.

[0075] The chassis 1 is provided with a partition 11 to separate the internal installation space of the cleaning device, so that the first drive mechanism 2 and the second drive mechanism 6 can be compactly installed within the internal installation space. The partition 11 is recessed toward the outside of the internal installation space to form a groove 101, providing additional storage or installation space for the turntable 3, so that the turntable 3 can be installed in the groove 101.

[0076] Furthermore, the partition 11 is provided with a connecting port 102. The setting of the connecting port 102 enables the output shaft 71 of the first driving mechanism 2 to pass through the internal installation space of the cleaning device and extend into the groove 101, thereby establishing a transmission connection with the transmission structure 5 arranged in the turntable 3. The transmission member of the second mechanism can also extend into the groove 101 through the connecting port 102, and is used to connect with the turntable 3 to drive the turntable 3 to rotate.

[0077] It should be noted that the shape and size of the turntable 3 are adapted to the opening shape of the groove 101. Under the drive of the second driving mechanism 6, the turntable 3 only needs to rotate around its axis to drive the cleaning disc 4 to perform displacement movement. The position of the turntable 3 installed on the partition 11 is fixed, thereby avoiding the need to open an air-avoiding groove on the partition 11 to reserve a movement trajectory for the turntable 3 to drive the cleaning disc 4 to perform displacement movement. The transmission structure 5 of the present application avoids the displacement movement of the turntable 3 that drives the cleaning disc 4 to rotate. The design of the turntable 3 can directly block the opening of the groove 101, thereby greatly reducing the occurrence of pollutants on the surface to be cleaned entering the cleaning device through the groove 101 during the cleaning process, and has a dust and anti-fouling effect on the bottom surface.

[0078] In one technical solution of the present invention, the cleaning device further includes a lifting mechanism 9, which is connected to the first drive mechanism 2 and is configured to drive the first drive mechanism 2 to rise or fall. When the first drive mechanism 2 transmits power to the transmission structure 5 in a first direction, the lifting mechanism 9 can drive the first drive mechanism 2 to rise. When the first drive mechanism 2 transmits power to the transmission structure 5 in a second direction, the lifting mechanism 9 can drive the cleaning disc 4 to fall. When the lifting mechanism 9 drives the cleaning disc 4 to fall to the lowest position, the turntable 3 is located in the groove 101. By providing the lifting mechanism 9 connected to the first drive mechanism 2, the lifting mechanism 9 can automatically adjust according to the direction of the first drive mechanism 2, thereby realizing the lifting function of the cleaning device. When the first driving mechanism 2 transmits with the transmission structure 5 in the first direction, the lifting mechanism 9 drives the first driving mechanism 2 to rise; when the first driving mechanism 2 transmits with the transmission structure 5 in the second direction, the lifting mechanism 9 drives the cleaning disc 4 to descend. In this way, when the cleaning device detects that there is a carpet on the ground to be cleaned, it can drive the first driving mechanism 2 to move in the first direction, thereby driving the lifting mechanism 9 and the cleaning tray to rise, thereby avoiding wetting or dirtying the carpet; or when the cleaning device returns to the base station after cleaning an area, the cleaning disc 4 can also be raised in the above manner to avoid the cleaning disc 4 from contaminating the ground again; when the cleaning tray needs to clean the ground, the first driving mechanism 2 transmits between the cleaning disc 4 in the second direction, thereby driving the cleaning disc 4 to descend to the cleaning surface to complete the cleaning task.

[0079] Among them, in order to adapt to the lifting mechanism 9 to drive the cleaning disc 4 to rise and fall, the depth of the groove 101 is designed according to the distance that the turntable 3 is synchronously driven to rise or fall. In this way, when the lifting mechanism 9 drives the cleaning disc 4 and the turntable 3 is lowered to the lowest position, the turntable 3 can also cover the opening of the groove 101. As shown in Figure 9, the cleaning disc 4 is driven by the lifting mechanism 9 and is in a lowered state. The turntable 3 is at least partially located in the groove 101, avoiding dirt and grime in the groove 101, or external water stains entering the internal installation space through the groove 101. Moreover, the turntable 3 only needs to be partially located in the groove 101.

[0080] For example, please refer to Figures 2, 3 and 5. The first drive mechanism 2 is a gear box, in which a drive motor is provided. The output end of the drive motor is connected to the output shaft 71 provided in the first drive mechanism 2 via a gear transmission. Among them, the lifting mechanism 9 includes a limit assembly 91 and an axial displacement assembly 92. The axial displacement assembly 92 is provided on the output shaft 71. The axial displacement assembly 92 is provided with a slide groove 902. The limit assembly 91 is at least partially embedded in the slide groove 902 and can move along the slide groove 902. When the first drive mechanism 2 transmits power to the transmission structure 5 in the first direction, that is, when the output shaft 71 transmits power to the transmission structure 5 in the first direction, the limit assembly 91 can slide along the slide groove 902 on the axial displacement assembly 92, thereby driving the output shaft 71 to rise. The turntable 3 and the cleaning disc 4 can be synchronously driven to rise by the output shaft 71. Similarly, the movement principle of the cleaning disc 4 driven by the lifting mechanism 9 is the same as above.

[0081] For example, the axial displacement component 92 is configured as a screw on the output shaft 71, and a groove 902 extending spirally along the surface of the screw is provided on its surface. The limiting component 91 engages with the groove 902 to form a sliding and locking structure.

[0082] In some embodiments, the limiting assembly 91 of the lifting mechanism 9 includes a slider 911 and an elastic member 912. An internal limiting groove 901 is defined in the installation space of the first driving mechanism 2. The slider 911 is movably arranged in the limiting groove 901. The slider 911 is connected to one end of the elastic member 912, and the other end of the elastic member 912 abuts against the top wall of the limiting groove 901. In this way, the slider 911 moves in the limiting groove 901. It should be understood that the setting of the limiting groove 901 is to limit the rising and falling movements of the slider 911.

[0083] An embodiment of the second aspect of the present application provides a control method for a cleaning device, which is applicable to the cleaning device described in any of the above embodiments. The control method includes: energizing the first drive mechanism 2 according to the first mode indicated by the mode instruction, so that the transmission structure 5 drives the cleaning disc 4 to rotate based on the drive of the first drive mechanism 2.

[0084] Specifically, the first mode refers to the process in which the cleaning disc 4 of the cleaning device cleans the floor. When the user needs cleaning, the cleaning device obtains the mode instruction and energizes the first driving mechanism 2 under the instruction of the first mode. At this time, the motor of the first driving mechanism 2, when energized, moves the transmission structure 5 and drives the cleaning disc 4 to rotate, thereby realizing the function of sweeping or mopping the floor.

[0085] Furthermore, the rotation speed and direction of the transmission structure 5 and the cleaning disc 4 can be controlled by adjusting the power-on time and intensity of the first driving mechanism 2 to achieve efficient and comprehensive cleaning.

[0086] In some embodiments, the control method further includes: energizing the first drive mechanism 2 and the second drive mechanism 6 according to the second mode indicated by the mode instruction, so that the transmission structure 5 drives the cleaning disc 4 to rotate based on the drive of the first drive mechanism 2, and the turntable 3 drives the cleaning disc 4 to perform displacement movement based on the drive of the second drive mechanism 6.

[0087] Specifically, the second mode refers to the process in which the cleaning device performs cleaning operations such as sweeping or mopping the floor. During this process, by simultaneously energizing the first drive mechanism 2 and the second drive mechanism 6, the transmission structure 5 and the turntable 3 can be driven simultaneously to achieve the rotation and displacement movement of the cleaning disc 4. In more detail, in combination with the above-mentioned embodiments, it can be seen that the second drive mechanism 6 drives the turntable 3 to rotate, thereby causing the cleaning disc 4 to deflect, so that the cleaning disc 4 swings toward the wall. The cleaning disc 4 can clean against the wall, which helps the cleaning device cover a wider area of ​​the cleaning work, enabling it to clean the target surface more comprehensively and thoroughly. At the same time, the first drive mechanism is connected through the transmission structure to drive the cleaning disc 4 to rotate, thereby cleaning the floor.

[0088] In some embodiments, a lifting mode is also included. When the cleaning device needs to pass over a carpet or in other situations where the cleaning disc needs to be prevented from contacting the cleaning surface, the first drive mechanism 2 is controlled to rotate in the opposite direction of the cleaning disc 4 in the first mode, so that the lifting mechanism 9 drives the cleaning disc 4 to rise, avoiding direct contact with the walking surface and causing contamination.

[0089] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all such changes or substitutions should fall within the scope of protection of the present invention.

Claims

1. A cleaning device, characterized in that: include: a chassis, wherein the chassis is recessed to form a groove; a first driving mechanism, wherein the first driving mechanism is mounted on the chassis; A turntable and a cleaning disc, wherein the turntable is nested in the groove, the cleaning disc is eccentrically arranged on the turntable, and a transmission structure is provided on the turntable, the input end of the transmission structure is in transmission connection with the first driving mechanism, and the output end of the transmission structure is in transmission connection with the cleaning disc to drive the cleaning disc to rotate; The second driving mechanism is connected to the turntable. When driven by the second driving mechanism, the turntable can be driven to rotate around the axis of the turntable, so that the turntable drives the cleaning disc to perform displacement motion through the rotation.

2. The cleaning device according to claim 1, characterized in that The turntable is disc-shaped and is provided with an accommodating cavity. The transmission structure is installed in the accommodating cavity. The input end of the transmission structure is transmission-connected with the first driving mechanism to form a first connection end. The first connection end is located at the axis of the turntable. The output end of the transmission structure is transmission-connected with the cleaning disc to form a second connection end. The second connection end is located between the axis and the outer periphery of the turntable.

3. The cleaning device according to claim 2, characterized in that A first connecting hole is provided at the axis center of the turntable, and the first driving mechanism is provided with an output shaft, and the output shaft passes through the first connecting hole and is transmission-connected to the input end of the transmission structure to form the first connecting end; The second driving mechanism includes a driving member and a rotating member, the rotating member is nested on the outside of the output shaft, the rotating member is connected to the turntable, and the driving member is used to drive the rotating member to rotate around the output shaft to drive the turntable to rotate relative to the output shaft.

4. The cleaning device according to claim 3, characterized in that The rotating member includes a connecting portion, the rotating disk is provided with a connecting groove, and the connecting portion is nested in the connecting groove to drive the rotating disk to rotate; The rotating member includes an engaging portion, and a first gear is provided on the output shaft of the driving member. The first gear is engaged with the engaging portion for transmission.

5. The cleaning device according to claim 3, characterized in that The transmission structure includes a first transmission gear and a second transmission gear that are transmission-connected. The first transmission gear serves as an input end of the transmission structure and is transmission-connected to the output shaft. The second transmission gear serves as an output end of the transmission structure and is transmission-connected to the cleaning disk.

6. The cleaning device according to claim 5, characterized in that The first transmission gear is provided with a second connecting hole, the second connecting hole is arranged opposite to the first connecting hole, the output shaft is passed through the second connecting hole, and the connecting member passes through the second connecting hole. The connecting hole fixedly connects the output shaft and the first transmission gear.

7. The cleaning device according to claim 5, characterized in that One of the second transmission gear and the cleaning disk is provided with a first magnetic portion, and the other of the second transmission gear and the cleaning disk is provided with a second magnetic portion. The first magnetic portion and the second magnetic portion are connected by magnetic attraction to connect the second transmission gear to the cleaning disk.

8. The cleaning device according to claim 4, characterized in that The meshing portion includes a first end and a second end, and the cleaning device further includes a position sensor disposed on the meshing portion, the position sensor being electrically connected to the driving member and configured to detect a position of the meshing portion, so as to control the driving member to be de-energized when the meshing portion reaches a set position between the first end and the second end; and / or The chassis includes a partition, which is used to separate and define the internal installation space of the cleaning device. The partition is recessed to form the groove, and the groove is located outside the internal installation space of the cleaning device. The partition is provided with a connecting port, and the first driving mechanism and the second driving mechanism are both installed in the internal installation space of the cleaning device. The connecting part is connected to the turntable through the connecting port.

9. The cleaning device according to any one of claims 1 to 8, characterized in that Also includes: A lifting mechanism is connected to the first driving mechanism, and the lifting mechanism is configured to drive the first driving mechanism to rise or fall, wherein, when the first driving mechanism transmits with the transmission structure in a first direction, the lifting mechanism can drive the first driving mechanism to rise, and when the first driving mechanism transmits with the transmission structure in a second direction, the lifting mechanism can drive the cleaning disc to fall, and when the lifting mechanism drives the cleaning disc to fall to the lowest position, the turntable is located in the groove.

10. A method for controlling a cleaning device, characterized in that: Applicable to the cleaning device according to any one of claims 1 to 9, the control method comprising: Powering the first driving mechanism according to the first mode indicated by the mode instruction, so that the transmission structure drives the cleaning disc to rotate based on the drive of the first driving mechanism; and / or The first drive mechanism and the second drive mechanism are energized according to the second mode indicated by the mode instruction, so that the transmission structure drives the cleaning disc to rotate based on the drive of the first drive mechanism, and the turntable drives the cleaning disc to perform displacement motion based on the drive of the second drive mechanism.

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