Side brush mechanism, cleaning device and cleaning system

Abstract

The embodiments of the present application provide a side brush mechanism, a cleaning device and a cleaning system. The side brush mechanism comprises a drive module, a lifting module and a side brush module, wherein the drive module is in transmission connection with the side brush module via the lifting module, the drive module is configured to drive the side brush module to rotate about a preset axis of rotation, and the lifting module is configured to be in linkage with the side brush module and drive the side brush module to move in an extension direction of the axis of rotation. In the side brush mechanism provided by the present application, when the side brush mechanism of a self-moving cleaning device encounters viscous dirt, the drive module drives the side brush module to rise, enabling the side brush module to avoid the viscous dirt on the floor, thus preventing the side brush module from coming into contact with the viscous dirt and thereby reducing the likelihood of further spreading the viscous dirt.

Description

Brush mechanism, cleaning device and cleaning system

[0001] Cross-reference to Related Applications

[0002] This application claims priority to and the benefit of Chinese Patent Application No. 202410456860.X, filed on April 16, 2024, Chinese Patent Application No. 202421188038.1, filed on May 28, 2024, and Chinese Patent Application No. 202411034774.6, filed on July 30, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of cleaning devices, in particular to a brush mechanism, a cleaning device and a cleaning system. BACKGROUND

[0004] With the development of intelligent manufacturing technology and communication technology, more and more smart home devices serve people's life, bringing great convenience to people's life. Cleaning devices, such as vacuum cleaners and sweeping robots, collect garbage on the ground through the brush, and then provide air volume through the fan to suck the garbage, which can semi-automatically or automatically realize ground cleaning, dust removal and other cleaning work, providing convenience for users' life. However, when the cleaning device is used on a wet floor or a path with liquid, the brush will be wet during cleaning, causing secondary pollution and affecting the normal use of the cleaning device. SUMMARY

[0005] The present application provides a brush mechanism, a cleaning device and a cleaning system, aiming to solve the technical problem that the brush of a self-moving cleaning device cannot avoid viscous sewage. The purpose is achieved by the following technical solutions:

[0006] According to a first aspect of the present application, a brush mechanism is provided, which comprises a driving module, a lifting module and a brush module. The driving module is in transmission connection with the brush module through the lifting module. The driving module is used to drive the brush module to rotate around a preset rotation axis. The lifting module is configured to be linked with the brush module and drive the brush module to move along the extension direction of the rotation axis.

[0007] In some embodiments of the present application, the brush module comprises a brush device, which comprises a support assembly and at least one brush assembly. The brush assembly comprises a connecting arm and a first brush. The connecting arm is hinged to the support assembly. The first brush is arranged along the length direction of the connecting arm and is connected to the side of the connecting arm farther away from the support assembly.

[0008] The lifting module comprises a driving rod;

[0009] The driving module comprises a driving device connected with the edge brush device, one end of the driving rod is movable towards the connecting arm to drive the connecting arm to swing at the hinged position relative to the support assembly, and the connecting arm drives the first edge brush to rotate.

[0010] In some embodiments of the present application, the driving device comprises a first driving motor and a first transmission member provided with a first transmission hole and a first driving portion, and the first driving motor is provided with a first output shaft;

[0011] The first transmission member is sleeved on the first output shaft through the first transmission hole and is in transmission cooperation with the first output shaft, and the first driving portion is arranged to extend away from the first transmission hole, and the first driving portion is in abutment with the driving rod.

[0012] In some embodiments of the present application, the first transmission member further comprises a second driving surface, and along the rotation direction of the first transmission member, the distances between different points on the second driving surface and the center line of the first transmission hole are sequentially increased or sequentially decreased.

[0013] The driving device further comprises a limit switch electrically connected with the first driving motor, and the stroke end of the limit switch is in abutment with the second driving surface.

[0014] In some embodiments of the present application, the limit switch comprises an optical coupling switch or a Hall switch.

[0015] In some embodiments of the present application, the driving device further comprises a reset member, one end of the reset member is connected with the driving rod, and the other end is connected with the shell of the edge brush mechanism.

[0016] In some embodiments of the present application, the driving device further comprises a second driving motor and a transmission assembly, and the second driving motor is provided with a second output shaft;

[0017] The second output shaft is connected with the support assembly through the transmission assembly to drive the support assembly and the edge brush assembly to rotate together.

[0018] In some embodiments of the present application, the transmission assembly comprises a first transmission gear and a second transmission gear connected with each other, the driving end of the first transmission gear is connected with the second output shaft, and the second transmission gear is provided with a first connecting end on the end face towards the support assembly.

[0019] The first connecting end is in transmission connection with the support assembly.

[0020] In some embodiments of the present application, the driving rod is provided with a first rod segment and a second rod segment;

[0021] The second transmission gear is provided with a second transmission hole along the direction of its own rotation axis, and the first rod segment is axially movably arranged in the second transmission hole and in transmission cooperation with the second transmission hole;

[0022] The driving device further comprises a second transmission member provided with a threaded hole, and the second rod segment is arranged in the threaded hole and in threaded cooperation with the threaded hole to control the axial movement of the driving rod;

[0023] One end of the first rod segment abuts against the connecting arm.

[0024] In some embodiments of the present application, the side brush mechanism has a cleaning mode and a first side brush lifting mode, in the cleaning mode, the second transmission gear rotates in a first direction, in the first side brush lifting mode, the second transmission gear rotates in a second direction, the first direction and the second direction are opposite; wherein the spiral direction of the thread in the second transmission hole is the second direction.

[0025] In some embodiments of the present application, the support assembly further comprises a side brush cover and a side brush head, the side brush cover and the side brush head jointly form a first accommodating cavity and at least one side hole communicating with the first accommodating cavity;

[0026] Part of the body of the connecting arm extends to the first accommodating cavity through the side hole;

[0027] The side brush cover is provided with a through hole communicating with the first accommodating cavity, one end of the driving rod extends to the first accommodating cavity through the through hole and abuts against the connecting arm.

[0028] In some embodiments of the present application, the partial area is provided at one end of the connecting arm away from the first side brush, and the partial area is arranged at an angle to the length direction of the first side brush.

[0029] In some embodiments of the present application, the side brush cover and the side brush head are detachably connected.

[0030] In some embodiments of the present application, the side brush device further comprises a torsion spring, the torsion spring has a first torsion arm and a second torsion arm, the first torsion arm is connected with the side brush cover or the side brush head, and the second torsion arm is connected with the connecting arm to provide a downward rotating rotation torque to the connecting arm.

[0031] In some embodiments of the present application, the side brush mechanism comprises a shell, and the shell has a second accommodating cavity;

[0032] The brush module comprises a brush body assembly rotatably supported on the housing and comprising at least one brush arm;

[0033] The driving module comprises a rotary driving assembly at least partially accommodated in the second accommodating cavity and drivingly connected to the brush body assembly for driving the brush body assembly to rotate along a first direction and a second direction opposite to each other with a preset rotation axis as a center;

[0034] The lifting module comprises a linkage assembly accommodated in the second accommodating cavity and linked with the brush body assembly, the linkage assembly having a first position and a second position spaced along the rotation axis;

[0035] When the rotary driving assembly drives the brush body assembly to rotate along the first direction, the brush body assembly is translated along the rotation axis to the first position under the action of the linkage assembly to lower the brush arm relative to the housing; when the rotary driving assembly drives the brush body assembly to rotate along the second direction, the brush body assembly is translated along the rotation axis to the second position under the action of the linkage assembly to recover the brush arm relative to the housing.

[0036] In some embodiments of the present application, the linkage assembly comprises a threaded rod and a threaded sleeve, the threaded rod is arranged along the rotation axis, the threaded sleeve is sleeved on the outer periphery of the threaded rod and threadedly cooperates with the threaded rod, the brush body assembly is connected to the threaded sleeve and synchronously rotates with the threaded sleeve;

[0037] When the brush body assembly and the threaded sleeve rotate along the first direction, the threaded sleeve is translated to the first position under the action of the threaded rod; when the brush body assembly and the threaded sleeve rotate along the second direction, the threaded sleeve is translated to the second position under the action of the threaded rod.

[0038] In some embodiments of the present application, the linkage assembly further comprises a damping mechanism for providing rotational damping for the threaded rod to make the threaded sleeve rotate relative to the threaded rod.

[0039] In some embodiments of the present application, the damping mechanism is a one-way bearing, the one-way bearing is relatively fixed with the housing and sleeved on the outer periphery of the threaded rod;

[0040] When the threaded sleeve rotates in the first direction and the brush body assembly is in the second position, the one-way bearing provides rotational damping for the threaded rod, the threaded sleeve can rotate relative to the threaded rod and is driven by the threaded rod to translate the brush body assembly to the first position, after the brush body assembly reaches the first position, the translation of the threaded sleeve is locked, the threaded sleeve drives the threaded rod to rotate synchronously by overcoming the rotational damping of the one-way bearing; when the threaded sleeve rotates in the second direction, the threaded rod is locked by the one-way bearing.

[0041] In some embodiments of the present application, the damping mechanism is a brake mechanism, which is configured to selectively lock the threaded rod.

[0042] In some embodiments of the present application, the brush body assembly further comprises a cover, the threaded sleeve is arranged in the cover, the cover is provided with a limiting hole, one end of the brush arm is connected with the threaded sleeve and passes through the limiting hole, and the rotation driving assembly is configured to drive the cover to rotate so as to drive the brush arm and the threaded sleeve to rotate.

[0043] In some embodiments of the present application, the brush body assembly further comprises an adapter ring, one end of the brush arm is fixedly connected with the adapter ring, and the adapter ring is sleeved on the outer periphery of the threaded sleeve.

[0044] In some embodiments of the present application, the brush arm has an elastic bending part and a bristle part, two ends of the elastic bending part are connected with the adapter ring and the bristle part respectively, when the brush body assembly is in the first position, the elastic bending part extends out of the cover through the limiting hole, so that the bristle part has an extension component away from the shell along the rotation axis, when the brush body assembly is in the second position, at least part of the elastic bending part is retracted into the cover, so that the bristle part has an extension component pointing to the shell along the rotation axis.

[0045] In some embodiments of the present application, the outer periphery of the cover is provided with a tooth part, the rotation driving assembly comprises a driving motor and a transmission gear, the driving motor is transmissionally connected with the transmission gear, and the transmission gear is engaged with the tooth part of the cover to drive the cover to rotate.

[0046] In some embodiments of the present application, the edge brush module comprises an edge brush assembly, the edge brush assembly comprises at least one second edge brush.

[0047] The driving module comprises a driving assembly, the driving assembly is transmissionally connected with the edge brush assembly to drive the edge brush assembly to rotate.

[0048] The lifting module comprises a lifting assembly, which is linked with the side brush assembly and the driving assembly;

[0049] The side brush mechanism further comprises a bottom cover, which is arranged at the end of the output shaft of the driving assembly; the periphery of the bottom cover is provided with a turned-up edge facing the driving assembly, the turned-up edge has a notch, the side wall of the notch comprises an inclined surface inclined relative to the driving assembly, the side brush assembly is slidingly fitted on the inclined surface, and the driving assembly and the lifting assembly are used to control the second side brush to move along the inclined surface towards or away from the driving assembly or rotate with the driving assembly.

[0050] In some embodiments of the present application, the inclined surface is arranged to be inclined relative to the driving assembly; the inclined surface comprises a first end and a second end arranged at intervals along the direction of rotation of the side brush assembly, and the distance between the first end and the driving assembly is greater than the distance between the second end and the driving assembly.

[0051] In some embodiments of the present application, the driving assembly comprises a driving motor, a transmission module and an output shaft, one end of the transmission module is drivingly connected to the driving motor, the other end is drivingly connected to the output shaft, and the end of the output shaft away from the transmission module is fixedly connected to the side brush assembly.

[0052] In some embodiments of the present application, the side brush assembly further comprises a fixing block, the second side brush is arranged at intervals with the output shaft through the fixing block, one end of the fixing block is fixedly connected to the output shaft, and the other end is fixedly connected to the second side brush.

[0053] In some embodiments of the present application, the lifting assembly further comprises a reduction gearbox and a one-way bearing, the output end of the reduction gearbox is provided with an annular slot and a sleeve, the sleeve wall of the sleeve is the inner slot wall of the annular slot, the one-way bearing is arranged in the annular slot and sleeved on the outer periphery of the sleeve, the one-way bearing is used to stop rotation in a first direction and rotate in a second direction; the first direction and the second direction are opposite directions.

[0054] In some embodiments of the present application, the lifting assembly comprises a rotation-stopping sliding block, the rotation-stopping sliding block is slidingly sleeved on the outer periphery of the one-way bearing and slidingly connected with the one-way bearing, the second side brush is arranged between the rotation-stopping sliding block and the bottom cover, and the minimum gap between the rotation-stopping sliding block and the bottom cover is smaller than the thickness of the second side brush.

[0055] In some embodiments of the present application, the rotation-stopping slider is provided with a plurality of first protrusions on one side thereof facing the annular groove, and the bottom of the annular groove is provided with a plurality of second protrusions, in response to the second brush moving along the inclined surface towards the driving assembly, the rotation-stopping slider moves towards the driving assembly, and the first protrusions and the second protrusions are staggered; in response to the second brush moving along the inclined surface away from the driving assembly, the rotation-stopping slider moves away from the driving assembly, and the first protrusions and the second protrusions are separated.

[0056] In some embodiments of the present application, the first protrusions and / or the second protrusions have an inclined surface relative to the axial direction of the output shaft.

[0057] In some embodiments of the present application, the lifting assembly comprises a plug and a damping member, the plug is sleeved on the outer periphery of the one-way bearing; the damping member is arranged between the plug and the rotation-stopping slider.

[0058] In some embodiments of the present application, the lifting assembly comprises a bottom cover fixing block; the bottom cover fixing block is sleeved on the outer periphery of the one-way bearing and is fixedly connected with the bottom cover; the second brush is arranged between the bottom cover fixing block and the bottom cover.

[0059] In some embodiments of the present application, the rotation-stopping slider has a hollow inner ring, the inner ring is provided with a plurality of grooves, one end of the bottom cover fixing block close to the bottom cover is provided with a plurality of protrusions, the number of the protrusions matches the number of the grooves, and in response to the protrusions of the bottom cover fixing block being fitted into the grooves of the rotation-stopping slider, the protrusions and the inner walls of the grooves have a gap.

[0060] According to the second aspect of the present application, a cleaning device is also provided, comprising: a device body; a brush mechanism as any one of the first aspect, the brush mechanism being arranged on the device body.

[0061] In some embodiments of the present application, the cleaning device further comprises an identification device and a controller;

[0062] The identification device is provided with at least one detection member, the detection member faces the walking direction of the cleaning device;

[0063] The controller is electrically connected with the identification device and the driving device respectively.

[0064] According to the third aspect of the present application, a cleaning system is also provided, the cleaning system comprising the cleaning device of any one of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0065] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments with reference made to the accompanying drawings. The drawings are for purposes of illustration only and are not intended to be limiting in

[0066] Fig. 1 is a perspective view of the cleaning apparatus of the present application, showing the first side brush inclined downward in a cleaning mode;

[0067] Fig. 2 is a perspective view of the cleaning apparatus of the present application, showing the first side brush away from the ground in a first side brush lifting mode;

[0068] Fig. 3 is a structural view of the bottom of the cleaning apparatus of the present application;

[0069] Fig. 4 is a connection view of the side brush device and the driving device of the cleaning apparatus of the first embodiment of the present application, showing two side brush assemblies inclined downward;

[0070] Fig. 5 is a connection view of the side brush device and the driving device of the cleaning apparatus of the first embodiment of the present application, showing the side brush assemblies rotated upward;

[0071] Fig. 6 is a structural view of the side brush device and the driving device of the cleaning apparatus of the first embodiment of the present application, showing two side brush assemblies symmetrically arranged;

[0072] Fig. 7 is an exploded view of the side brush device and the driving device of the cleaning apparatus of the first embodiment of the present application;

[0073] Fig. 8 is a structural view of the first transmission member of the cleaning apparatus of the first embodiment of the present application;

[0074] Fig. 9 is a structural view of the side brush assembly mounted on the support assembly of the cleaning apparatus of the present application;

[0075] Fig. 10 is an exploded view of the side brush assembly and the support assembly of the cleaning apparatus of the present application;

[0076] Fig. 11 is a structural view of the connecting arm of the cleaning apparatus of the present application mounted on the support assembly from another perspective;

[0077] Fig. 12 is a structural view of the relative mounting position between the side brush head and the side brush cover of the cleaning apparatus of the present application;

[0078] Fig. 13 is a structural view of the relative mounting position between the side brush head and the side brush cover of the cleaning apparatus of the present application;

[0079] Fig. 14 is a schematic view of the connection between the brush head and the brush cover of the cleaning device of the present application, showing the first accommodating cavity and the side hole from another perspective;

[0080] Fig. 15 is a schematic view of the structure of the brush head of the cleaning device of the present application;

[0081] Fig. 16 is an exploded view of the brush assembly of an embodiment of the cleaning device of the present application;

[0082] Fig. 17 is a view of the connection between the brush device and the driving device of a second embodiment of the cleaning device of the present application;

[0083] Fig. 18 is a sectional view of the brush device and the driving device of the second embodiment of the cleaning device of the present application;

[0084] Fig. 19 is an exploded view of the driving device of the second embodiment of the cleaning device of the present application;

[0085] Fig. 20 is a view of the structure of the driving rod of an embodiment of the cleaning device of the present application;

[0086] Fig. 21 is a view of the structure of the second transmission member of an embodiment of the cleaning device of the present application;

[0087] Fig. 22 is a schematic view of the structure of an embodiment of the cleaning device of the present application;

[0088] Fig. 23 is a schematic view of the structure of the brush mechanism shown;

[0089] Fig. 24 is a schematic view of the disassembled structure of the brush mechanism shown;

[0090] Fig. 25 is a schematic view of a cross section of the brush mechanism shown along the A-A section line;

[0091] Fig. 26 is a schematic view of a cross section of the brush mechanism shown along the B-B section line;

[0092] Fig. 27 is a schematic view of the structure of the brush mechanism provided by an embodiment of the present application;

[0093] Fig. 28 is a schematic view of the cross section of the brush mechanism shown in Fig. 27;

[0094] Fig. 29 is an exploded schematic view of the brush mechanism shown in Fig. 27;

[0095] Fig. 30 is a schematic view of the structure of the bottom cover of the brush mechanism shown in Fig. 27;

[0096] Fig. 31 is a schematic view of the structure of the rotation-stopping sliding block of the brush mechanism shown in Fig. 27;

[0097] Fig. 32 is a schematic view of the structure of the speed reducer of the brush mechanism shown in Fig. 27;

[0098] Figure 33 is a cross-sectional structural schematic view of a reduction box and a rotation-stopping slider of the edge brush mechanism shown in Figure 27;

[0099] Figure 34 is a structural schematic view of a cleaning device provided by an embodiment of the present application.

[0100] The reference signs are as follows: 100, cleaning device; 101, shell; 200, side brush device; 210, side brush head; 211, buckle; 220, side brush assembly; 221, connecting arm; 2211, partial area; 2212, first arm body; 2213, second arm body; 222, first side brush; 223, rotating shaft; 230, side brush cover; 231, through hole; 232, first containing cavity; 233, side hole; 234, hole; 235, support end; 240, torsion spring; 241, first torsion arm; 242, second torsion arm; 300, driving device; 310, driving rod; 311, first rod segment; 312, second rod segment; 313, connecting shaft; 320, first driving motor; 321, first output shaft; 330, first transmission member; 331, first transmission hole; 332, first driving face; 333, second driving face; 340, limit switch; 341, stroke end; 350, reset member; 360, second driving motor; 361, second output shaft; 370, speed reduction device; 371, first transmission gear; 3711, driving end; 372, second transmission gear; 3721, end face; 3722, first connecting end; 3723, second transmission hole; 373, mounting cap; 374, upper support seat; 375, first elastic member; 376, second elastic member; 377, fastener; 380, second transmission member; 381, threaded hole; 400, detection member; 500, walking device; 600, opening; 1, side brush mechanism; 2, cleaning device; 3, device main body; 10, shell; 20, brush body assembly; 30, rotating driving assembly; 40, linkage assembly; 1010, second containing cavity; 201, limit hole; 2100, brush arm; 2110, elastic bending part; 212, brush hair part; 2201, cover body; 2210, first cover body; 2220, second cover body; 2230, tooth part; 2301, adapter ring; 3101, driving motor; 3201, transmission gear; 410, threaded rod; 420, threaded sleeve; 430, damping mechanism; 1000, side brush assembly; 110, second side brush; 120, fixed block; 2000, driving assembly; 2101, driving motor; 2202, transmission module; 2302, output shaft; 3000, lifting assembly; 3102, speed reduction box; 310a, upper cover; 310b, lower cover; 3110, annular slot; 311a, second protrusion; 3120, sleeve; 3202, one-way bearing; 3300, rotation-stopping sliding block; 330a, first protrusion; 3310, inner ring; 3400, plug; 3500, damping member; 3600, bottom cover fixed block; 3610, protruding block; 4000, bottom cover; 4100, turned edge; 411, notch; 1, side brush mechanism; 3, device main body; 100, cleaning device; 3311, groove; 4111, inclined face; 4111a, first end; 4111b, second end; d1, first direction; d2, second direction; S1, inclined face. DETAILED DESCRIPTION

[0101] The embodiments of the technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present disclosure, and therefore only serve as examples, and cannot limit the protection scope of the present disclosure.

[0102] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure; the terms "comprising" and "having," and any variations thereof, as used in the specification and claims and the aforementioned description of the drawings, are intended to cover not exclusive inclusion.

[0103] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0104] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0105] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0106] In the description of the embodiments of the present disclosure, the term "a plurality of" refers to two or more (including two), and similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0107] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present disclosure.

[0108] In the description of the embodiments of the present disclosure, unless otherwise explicitly specified and limited, the technical terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0109] With the development of intelligent manufacturing technology and communication technology, more and more smart home devices serve people's life, bringing great convenience to people's life. Cleaning devices, such as vacuum cleaners, sweeping robots, etc., collect garbage objects on the ground through the side brush, and then provide air volume through the fan to suck the garbage objects, which can semi-automatically or automatically realize ground cleaning, dust removal and other cleaning work, providing convenience for users' life.

[0110] The applicant found through long-term research that the current cleaning device usually collects and sweeps the debris and hair around the cleaning device through the rotating side brush, and then adsorbs the dust through the dust suction port of the cleaning device. However, when using the cleaning device to clean the surface to be cleaned, there may be not only solid garbage objects, dust, etc. on the surface to be cleaned, but also liquid sewage, accumulated liquid, etc. that need to be cleaned by a cloth or mop. The rotating side brush will increase the area of the sewage and even splash, resulting in further increase in cleaning difficulty. To this end, the present application proposes the following embodiments to solve the above technical problems.

[0111] The application provides a side brush mechanism, which comprises a driving module, a lifting module and a side brush module, the driving module is in transmission connection with the side brush module through the lifting module, the driving module is used for driving the side brush module to rotate around a preset rotation axis, the lifting module is configured to be linked with the side brush module and drive the side brush module to move along the extension direction of the rotation axis, so that the side brush module is lifted or dropped relative to a surface to be cleaned. When the wet ground or liquid exists on the cleaning path, the arrangement of the side brush mechanism of the application is beneficial to improve the use adaptability of the cleaning equipment.

[0112] Specifically, the driving module, the lifting module and the side brush module in the application will be described in detail in combination with specific embodiments as follows:

[0113] In some embodiments, the side brush mechanism provided by the application comprises a side brush device, the lifting module comprises a driving rod, and the driving module comprises a driving device. In detail, the driving device is connected to the side brush device to provide power for the side brush device to perform cleaning work.

[0114] The side brush device comprises a support assembly and a side brush assembly, the side brush assembly is rotatably connected to the support assembly, and the driving device is in transmission connection with the side brush assembly. When the cleaning equipment is in a cleaning mode, the side brush assembly is arranged to be downwardly inclined and in contact with the ground, the driving device drives the side brush assembly to rotate, and the side brush assembly cleans the area passed by the cleaning equipment.

[0115] When the side brush mechanism encounters viscous dirt, the driving device drives the side brush assembly to rotate upward relative to the support assembly, so that the side brush assembly can avoid the viscous dirt on the ground, prevent the side brush assembly from contacting the viscous dirt, and reduce the possibility of further expanding the area of the viscous dirt by the side brush assembly.

[0116] The side brush mechanism of the application solves the problem of further expansion of the area of the viscous dirt caused by the contact between the side brush assembly and the viscous dirt by adopting the technical means that the side brush assembly rotates upward relative to the support assembly. The advantages of such arrangement are as follows: on the one hand, the position movement of other components in the side brush device except the side brush assembly can be reduced, and other components do not need to be in transmission connection, thereby reducing the complexity of transmission; the relative positions of other components of the side brush device do not change, and the limited space of the cleaning equipment can be saved, so that the internal components of the cleaning equipment are more compact, and the appearance of the cleaning equipment is more compact; on the other hand, the first side brush in the side brush assembly can be quickly moved away from the ground, and the lifting height of one end of the side brush assembly can also be adjusted by adjusting the rotation fulcrum of the side brush assembly, so that the lifting height of the side brush assembly can be more conveniently set.

[0117] Therefore, the cleaning device of the present application, in solving the technical problem of how the side brush assembly avoids the viscous dirt, creatively proposes the technical solution of rotating the side brush assembly relative to the support assembly, abandoning the conventional design idea in the field, and not mechanically lifting the side brush device to make the side brush assembly away from the viscous dirt on the ground; the cleaning device provided by the present application adopts a unique design idea and more specifically solves the above technical problem.

[0118] Specific embodiments are as follows:

[0119] The side brush mechanism of the present application, wherein the side brush device is provided with at least one side brush assembly, each side brush assembly comprising a connecting arm and a first side brush, the first side brush being arranged along the length direction of the connecting arm, the connecting arm being rotatably connected with the support assembly, and the connecting arm drives the first side brush to be downwardly inclined, which has the advantage that the first side brush is downwardly inclined, which can more conveniently clean the dirt on the ground; the connecting arm can drive the first side brush to rotate upward relative to the support assembly, so that the side brush device avoids the first side brush from contacting the viscous dirt on the ground with the least action.

[0120] It should be noted that when the side brush mechanism of the present application is in the cleaning mode, the side brush assembly makes a rotating motion under the action of the driving device, and the first side brush arranged downwardly inclines to clean the area passed by the cleaning device.

[0121] When the cleaning device of the present application is in the cleaning mode, the side brush device including the support assembly and the side brush assembly can also make a rotating motion as a whole under the action of the driving device to clean the area passed by the cleaning device.

[0122] In order to enable the side brush assembly to make a rotating motion relative to the support assembly to avoid the viscous dirt, the driving device is provided with a driving rod, one end of the driving rod can extend to part of the area of the connecting arm along a predetermined motion track, and by driving part of the area of the connecting arm, the first side brush arranged along the length direction of the connecting arm can rotate upward relative to the support assembly together with the connecting arm.

[0123] It should be further explained that the part of the area of the connecting arm is the position where the driving rod exerts force on the connecting arm, and by exerting force on the specific position of the connecting arm, the connecting arm is driven to make a rotating motion around the support assembly, so that the first side brush connected with the connecting arm can be lifted to separate from the ground, thereby avoiding the first side brush making a rotating motion to contact the viscous dirt on the ground to increase the area of the dirt.

[0124] The side brush mechanism of the present application will be described in detail below in combination with the drawings, and the drawings and embodiments are only used to explain the present application and cannot be understood as limiting the present application.

[0125] Fig. 1 is a perspective view of the cleaning device of the present application, showing the state of the first side brush being inclined downward in the cleaning mode; as shown in Fig. 1, the cleaning device 100 of the present application comprises a side brush device 200, which is provided with two side brush assemblies 220, both of which are inclined downward, so that the side brush assemblies 220 can be in contact with the ground to clean the ground.

[0126] The cleaning device in the present embodiment is described by taking two side brush assemblies as an example. It can be understood that the side brush device 200 can be provided with any number of side brush assemblies 220, such as one side brush assembly 220, three side brush assemblies 220, four side brush assemblies 220, etc. When the number of side brush assemblies 220 is greater than one, they should be evenly distributed on the support assembly, which is conducive to maintaining high stability when the side brush assemblies 220 rotate.

[0127] Fig. 2 is a perspective view of the cleaning device of the present application, showing the state of the first side brush being lifted away from the ground in the first side brush lifting mode; as shown in Fig. 2, the cleaning device 100 is in the first side brush lifting mode, and the side brush assemblies 220 are rotated upward to move away from the ground, so that the side brush assemblies 220 can avoid contact with the viscous dirt on the ground during the movement of the cleaning device 100, reducing the possibility of further expanding the area of the viscous dirt.

[0128] Fig. 3 is a structural state diagram of the bottom of the cleaning device of the present application; as shown in Fig. 3, at the bottom of the cleaning device 100, there is provided with a side brush device 200 and a walking device 500, under the action of the walking device 500, the cleaning device 100 moves on the ground according to a predetermined trajectory, while the side brush device 200 cleans the dirt on the ground; when the cleaning device 100 is in the cleaning mode, the side brush device 200 cleans the dirt on the ground, completes the cleaning work, and can free the user's hands from manual cleaning.

[0129] As shown in Fig. 3, the bottom of the cleaning device 100 is also provided with an opening 600, and a roller brush assembly is arranged at the position of the opening 600, which can collect the dirt cleaned by the side brush assemblies 220 into a dust cup. The cleaning device 100 in the present embodiment is provided with a dirt collecting device to centrally store the dirt on the ground cleaned by the side brush assemblies 220, and its processing mode is to process the dirt in a suction manner, which can not only centrally collect the dirt in a large area, but also reduce the generation of more suspended dust around the rotating side brush assemblies 220, providing a better experience for customers.

[0130] As shown in FIG. 3, the cleaning device 100 is further provided with a detection member 400, when the detection member 400 detects that there is sticky dirt or other dirt which is not suitable for the brush assembly 220 to clean in front of the cleaning device 100, the cleaning device 100 starts the first brush 222 lifting mode, in the first brush 222 lifting mode, the brush assembly 220 rotates upward, away from the ground, so that the brush assembly 220 can avoid the sticky dirt in the process of walking of the cleaning device 100.

[0131] In an embodiment of the present application, the cleaning device 100 further comprises an identification device and a controller, the identification device is provided with at least one detection member 400, the detection member 400 is towards the walking direction of the cleaning device 100; the controller is electrically connected with the identification device and the driving device 300 respectively, in the cleaning device 100 in the embodiment, when the detection member 400 in the identification device detects that there is sticky dirt in front in the process of walking, the identification device sends a signal to the controller, the controller sends an instruction to the driving device 300 according to the signal sent by the identification device, and drives the brush assembly 220 to rotate upward relative to the support assembly through the driving device 300, so that the brush assembly 220 is away from the ground.

[0132] The brush device can also be symmetrically arranged at the bottom of the cleaning device, and the two brush devices are symmetrically arranged on the left and right sides to clean the ground, which can improve the cleaning efficiency.

[0133] FIG. 4 is a connection state diagram of the brush device and the driving device of the cleaning device of the first embodiment of the present application, wherein two brush assemblies 220 which are downwardly inclined are shown, as shown in FIG. 4, the driving device 300 comprises a first driving motor 320 and a second driving motor 360, wherein the first driving motor 320 is used to provide power for the rotation of the brush assembly 220 relative to the support assembly, and the second driving motor 360 provides power for the brush assembly 220 to perform cleaning work in the cleaning mode.

[0134] In the cleaning device in the embodiment, the driving device 300 is arranged above the brush device 200, it can be understood that the driving device 300 can also be arranged at other positions of the brush device 200, for example, the driving device 300 is arranged on one side of the brush device 200, or the driving device 300 is arranged in the support assembly, and the designer can arrange it in combination with the limited space in the cleaning device 100, the cleaning device, the walking mechanism and the shell 101.

[0135] As shown in FIG. 4, the second driving motor 360 can drive the whole brush device 200 to rotate, under the action of the second driving motor 360, the brush assembly 220 and the support assembly of the brush device 200 jointly rotate, the connecting arm 221 drives the first brush 222 to be downwardly inclined, and the first brush 222 contacts the ground to perform cleaning work.

[0136] Figure 5 is a connection state diagram of the brush device and the driving device of the cleaning equipment of the first embodiment of the present application, which shows the state of upward rotation of the brush assembly. As shown in Figure 5, under the action of the first driving motor 320, the brush assembly 220 rotates upward relative to the support assembly, so that the connecting arm 221 in the brush assembly 220 can drive the first brush 222 to tilt upward and away from the ground, thereby avoiding contact with the viscous dirt on the ground.

[0137] It should be noted that in the cleaning mode of the cleaning equipment 100, the brush assembly 220 and the support assembly rotate around the rotation axis 223. When the cleaning equipment 100 starts the first brush 222 lifting mode, the brush assembly 220 rotates around the rotation axis 223, and at the same time, the first driving motor 320 directly or indirectly drives the brush assembly 220 to rotate upward relative to the support assembly.

[0138] During the upward rotation of the brush assembly 220 relative to the support assembly, the brush assembly 220 does not interfere with the driving device 300, nor does it interfere with other devices or the shell 101 of the cleaning equipment 100.

[0139] Figure 6 is a structure state diagram of the brush device and the driving device of the cleaning equipment of the first embodiment of the cleaning equipment of the present application, which shows two brush assemblies 220 arranged symmetrically. As shown in Figure 6, the brush device 200 is arranged below the driving device 300, and the brush device 200 is in transmission connection with the driving device 300. The two brush assemblies 220 of the brush device 200 are symmetrically arranged on both sides of the support assembly. During the rotation of the brush assembly 220 around the rotation axis 223, the overall stability of the brush device 200 and the cleaning equipment 100 can be maintained.

[0140] It can be understood that the rotation axis 223 of the brush device 200 should be perpendicular to the ground to be cleaned. When the ground to be cleaned is an inclined surface, the rotation axis 223 of the brush device 200 should be perpendicular to the inclined surface. Such arrangement is beneficial to maintaining high stability of the brush assembly 220 during rotation, because the first brush 222 relies on the friction force with the ground to clean the ground. The reaction force received by the first brush 222 is transmitted to the support assembly and even the entire cleaning equipment 100. When the multiple reaction forces received by the first brush 222 reach mutual balance, the cleaning equipment 100 has higher stability.

[0141] In combination with FIG. 4, FIG. 5 and FIG. 6, it can be seen that the first brush 222 is arranged along the length direction C of the connecting arm 221, that is, each brush assembly 220 is in the shape of a rod, the connecting arm 221 drives the first brush 222 to rotate around the rotation shaft 223 of the brush device 200 for performing cleaning work, and the connecting arm 221 can also drive the first brush 222 to rotate upward relative to the support assembly for avoiding the first brush 222 from contacting the viscous dirt on the ground.

[0142] Further in combination with FIG. 16, which is an exploded view of the brush assembly of an embodiment of the cleaning device of the present application, as shown in FIG. 16, the connecting arm 221 comprises a first arm body 2212 and a second arm body 2213, which are connected in a plug-in manner and integrated together, wherein, for the convenience of replacement and maintenance, the first arm body 2212 and the second arm body 2213 should be detachably connected.

[0143] As shown in FIG. 16, the second arm body 2213 is slightly raised at the end connected with the first brush 222, that is, the second arm body 2213 is arranged at an angle, which is arranged for adjusting the inclination angle between the first brush 222 and the ground, expanding or reducing the cleaning area of the first brush 222, and adjusting the height of the end of the first brush 222 or the entire first brush 222 rotating upward.

[0144] As can also be seen from FIG. 16, the connecting arm 221 has a partial area 2211 at one end of the first arm body 2212, when the driving rod 310 exerts force on the partial area 2211, the connecting arm 221 can drive the first brush 222 to rotate upward together around the rotation shaft 223, and since the first brush 222 is arranged at the end of the connecting arm 221 away from the partial area 2211, the first brush 222 can be raised to a higher height.

[0145] In an embodiment of the present application, the driving device 300 comprises a first driving motor 320 and a first transmission member 330, the first driving motor 320 can be arranged as a stepping motor, the output shaft of the stepping motor is connected with one end of the first transmission member 330, under the driving action of the stepping motor, the other end of the first transmission member 330 rotates around the output shaft of the stepping motor by a certain radian, the other end of the first transmission member 330 is connected with the driving rod 310, which can make the driving rod 310 move along a predetermined trajectory, and at the same time, the driving rod 310 moves towards the partial area 2211 of the connecting arm 221, and drives the connecting arm 221 to rotate upward around the support assembly;

[0146] In the embodiment, the first transmission member 330 has an eccentric structure, a first end of which is in abutment with the connecting arm 221, the first transmission member 330 is in transmission connection with the first driving motor 320, and the first transmission member 330 is provided with a driving end on one side of the eccentric structure, which is in abutment with part of the structure of the connecting arm 221.

[0147] Fig. 7 is an exploded view of the side brush device and the driving device of the cleaning equipment of the first embodiment of the application, and Fig. 8 is a structural state view of the first transmission member of the cleaning equipment of the first embodiment of the application. As shown in Figs. 7 and 8, the driving device 300 comprises a first driving motor 320 and a first transmission member 330, the first transmission member 330 is provided with a first transmission hole 331 and a first driving surface 332, and the first driving motor 320 is provided with a first output shaft 321; the first driving motor 320 is in cooperation with the first transmission hole 331 of the first transmission member 330 through the first output shaft 321, for driving the first transmission member 330 to move along a predetermined track, and in turn driving the driving rod 310 connected with the first transmission member 330 to move along a predetermined track.

[0148] As shown in Fig. 7, the first transmission member 330 is further provided with the first driving surface 332, which extends away from the first transmission hole 331, and the first driving surface 332 is in abutment with the driving rod 310, so that the first driving motor 320 can drive the driving rod 310 to move to the partial area 2211 of the connecting arm 221 and apply a force to the partial area 2211 of the connecting arm 221 through the first driving surface 332 of the first transmission member 330, so that the connecting arm 221 can form a certain bending moment relative to the support assembly, and in turn drive the first side brush 222 to rotate upward.

[0149] As shown in Fig. 8, the first transmission member 330 further comprises a second driving surface 333, the distance between different points on the second driving surface 333 and the center line of the first transmission hole 331 along the rotation direction of the first transmission member 330 is sequentially increased or decreased, and the second driving surface 333 is provided on the first transmission member 330 for driving the limit switch 340 electrically connected with the first driving motor 320.

[0150] When the first transmission member 330 rotates, the second driving surface 333 drives the stroke end 341 of the limit switch 340 to control the first driving motor 320 connected with the limit switch 340. The relative movement between the second driving surface 333 of the first transmission member 330 and the limit switch 340 controls the start and stop of the first driving motor 320.

[0151] The limit switch 340 can be any one of a position sensor, an optical coupling switch, or a Hall switch.

[0152] In combination with FIG. 7, the driving device 300 further comprises a reset member 350, one end of the reset member 350 is connected with the driving rod 310, and the other end is connected with the shell 101 of the cleaning device 100. In the embodiment of the driving device 300, when the driving rod 310 moves towards the connecting arm 221 and exerts force on the partial area 2211 of the connecting arm 221, the driving rod 310 can return to the initial position, and at the same time, the connecting arm 221 and the first side brush 222 return to the downwardly inclined position under the action of gravity. Therefore, in the cleaning mode, the cleaning device 100 can start or stop the first side brush 222 lifting mode according to the actual situation. When the first side brush 222 lifting mode is started, the first side brush 222 rotates upward to move away from the ground. When the first side brush 222 lifting mode is stopped, the first side brush 222 returns to the state of contacting the ground, so that the ground can be continuously cleaned.

[0153] In the embodiment of the cleaning device 100, the specific structure of the reset member 350 is not limited, which can be a spring. The initial state of the spring can be a compressed state, or the initial state of the spring can be a stretched state, that is, the force of the spring on the driving rod 310 can be provided by the compressed spring or the stretched spring.

[0154] The reset member 350 in the driving device 300 can also reset the driving rod 310 by electromagnetic force. The designer can arrange the application environment of the robot cleaner and the limited space inside the cleaning device 100.

[0155] In an embodiment of the present application, as shown in FIG. 7, the driving device 300 further comprises a second driving motor 360 and a speed reduction device 370. The second driving motor 360 is provided with a second output shaft 361. The second output shaft 361 is connected with the support assembly through the speed reduction device 370 to drive the support assembly and the side brush assembly 220 to rotate together.

[0156] In the cleaning device 100, the driving force and the rotating speed of the first side brush 222 in the side brush device 200 can be set by arranging a separate second driving motor 360 and a speed reduction device 370. The driving force of the first side brush 222 and the rotating speed of the first side brush 222 will affect the cleaning effect of the first side brush 222 on the ground. Different impurities or dirt on the ground require different cleaning forces. In order to improve the cleaning efficiency, different rotating speeds of the first side brush 222 need to be set according to different dirt on the ground.

[0157] In one embodiment of the present application, continuing to combine with Figure 7, the speed reducer 370 comprises a first transmission gear 371 and a second transmission gear 372 connected with each other, the driving end 3711 of the first transmission gear 371 is connected to the second output shaft 361, and the second transmission gear 372 is provided with a first connecting end 3722 at the end face 3721 towards the support assembly; wherein the first connecting end 3722 is in transmission connection with the support assembly; in the cleaning equipment 100 in the embodiment, the speed reducer 370 adopts two transmission gears connected with each other, which are the first transmission gear 371 and the second transmission gear 372, and through the transmission ratio between the first transmission gear 371 and the second transmission gear 372, the driving force in the support assembly of the brush device 200 and the rotation speed of the support assembly can be set.

[0158] In the cleaning equipment in the embodiment, the second driving motor 360 indirectly drives the support assembly through the speed reducer 370, and the rotation speed of the brush assembly 220 connected with the support assembly can be further set by setting the gear of the first transmission gear 371 and the second transmission gear 372 and the transmission ratio of the first transmission gear 371 and the second transmission gear 372.

[0159] It should be noted that in the cleaning equipment 100 in the embodiment, the second driving motor 360 drives the brush device 200 as a whole to rotate through the speed reducer 370, one or more brush assemblies 220 are connected to the support assembly, and the brush assembly 220 rotates together with the support assembly around the rotation shaft 223 to clean the ground.

[0160] Figure 17 is a connection state diagram of the brush device and the driving device of the second embodiment of the cleaning equipment of the present application, as shown in Figure 17, the driving device 300 in the cleaning equipment 100 in the embodiment only has the second driving motor 360, the second driving motor 360 can drive the brush assembly 220 to rotate to clean the ground, and can also provide power for the upward rotation of the brush assembly 220 relative to the support assembly, so that the brush assembly 220 can be away from the ground to avoid contacting the viscous dirt on the ground.

[0161] Specifically, when the second output shaft 361 of the second driving motor 360 rotates in one direction, it is used to provide power for driving the brush assembly 220 to clean the ground, and when the second output shaft 361 of the second driving motor 360 rotates in the other direction, it is used to provide power for driving the upward rotation of the brush assembly 220 relative to the support assembly.

[0162] It can be understood that the cleaning device 100 in the embodiment includes a speed reducer 370, and the second driving motor 360 is connected to the brush assembly 220 through the speed reducer 370, or the second driving motor 360 is connected to the support assembly and the brush assembly 220 through the speed reducer 370, so that the rotating speed of the brush assembly 220 and the driving force applied to the brush assembly 220 can be set according to the speed reducer 370.

[0163] In the embodiment, the speed reducer 370 is the same as the speed reducer 370 in the above-mentioned embodiment, and includes a first transmission gear 371 and a second transmission gear 372. The difference from the speed reducer 370 in the above-mentioned embodiment is explained in detail as follows.

[0164] In an embodiment of the present application, the driving rod 310 is provided with a first rod segment 311 and a second rod segment 312; the second transmission gear 372 is provided with a second transmission hole 3723 in the central region thereof along the rotating shaft 223, and the first rod segment 311 is axially movably arranged in the second transmission hole 3723 and in transmission cooperation with the second transmission hole 3723.

[0165] In the embodiment, the first rod segment 311 and the second rod segment 312 of the driving rod 310 can be arranged adjacently, or can be arranged at intervals according to the actual structure design requirement.

[0166] The first rod segment 311 is axially movably arranged in the second transmission hole 3723, so that the first transmission rod can move axially and move to the partial region 2211 of the connecting arm 221 and apply a force to the connecting arm 221. Meanwhile, the first rod segment 311 is in transmission cooperation with the second transmission hole 3723, so that the driving rod 310 can move rotationally together with the second transmission gear 372 when the second transmission gear 372 rotates.

[0167] In the embodiment, the driving device 300 of the cleaning device 100 further includes a second transmission member 380 arranged in the housing 101 of the speed reducer 370, and the second transmission member 380 is provided with a threaded hole 381, and the second rod segment 312 is arranged in the threaded hole 381 and in transmission cooperation with the threaded hole 381 to control the axial movement of the driving rod 310. In the embodiment, one end of the first rod segment 311 abuts against the partial region 2211 of the connecting arm 221. The second rod segment 312 of the driving rod 310 is a threaded rod and can be in transmission cooperation with the threaded hole 381 of the second transmission member 380. When the second transmission member 380 is arranged in the housing 101 of the speed reducer 370 and the second rod segment 312 of the driving rod 310 is in transmission cooperation with the threaded hole 381 of the second transmission member 380, the driving rod 310 can move axially, so as to move to the partial region 2211 of the connecting arm 221 and apply a force to the connecting arm 221.

[0168] Figure 18 is a sectional view of the brush device and the driving device of the second embodiment of the cleaning apparatus of the present application. As shown in Figure 18, when the second transmission shaft of the second driving motor 360 rotates in one direction, the second transmission shaft transmits power to the support assembly through the first transmission gear 371 and the second transmission gear 372 which are engaged with each other in the speed reducer 370, so as to drive the support assembly and the brush assembly 220 to rotate around the rotation shaft 223, thereby cleaning the ground.

[0169] When the second transmission shaft of the second driving motor 360 rotates in the other direction, the second transmission gear 372 drives the driving rod 310 to rotate in the other direction, and the threads on the second rod segment 312 of the driving rod 310 are engaged with the threaded holes 381 on the second transmission member 380. Since the second transmission member 380 is located on the housing 101 of the speed reducer 370, the second rod segment 312 can be driven to move axially relative to the second transmission member 380, and the driving rod 310 moves axially, so that one end of the first rod segment 311 of the driving rod 310 applies a force to the partial area 2211 of the connecting arm 221, thereby driving the connecting arm 221 to rotate upward relative to the support assembly.

[0170] In one embodiment of the present application, the cleaning apparatus 100 has a cleaning mode and a first brush 222 lifting mode. When the cleaning apparatus 100 is in the cleaning mode, the second transmission gear 372 of the driving device 300 rotates in the first direction A around the rotation shaft 223 under the action of the second driving motor 360. When the cleaning apparatus 100 is in the first brush 222 lifting mode, the second transmission gear 372 of the driving device 300 rotates in the second direction B around the rotation shaft 223 under the action of the second driving motor 360.

[0171] The first direction A and the second direction B are opposite to each other, and the helical direction of the threads in the second transmission hole 3723 is the second direction B.

[0172] The thread screw direction in the thread hole 381 of the second transmission member 380, the thread screw direction on the second rod segment 312 of the driving rod 310, and the rotation direction of the second transmission gear 372 in the first brush 222 lifting mode in the cleaning equipment 100 in this embodiment are all the same and are along the second direction B. When the second transmission gear 372 rotates along the second direction B around its rotation axis 223, the second rod segment 312 of the driving rod 310 is engaged with the thread hole 381 on the second transmission member 380 under the transmission of the second transmission gear 372 and rotates relative to the second transmission member 380 along the second direction B. An end of the first rod segment 311 of the driving rod 310 applies a force to the partial area 2211 of the connecting arm 221, drives the connecting arm 221 to rotate upward relative to the support assembly, and drives the brush assembly 220 to move away from the ground.

[0173] The thread in the second transmission hole 3723 can be a right-hand thread or a left-hand thread according to the requirement.

[0174] In one embodiment of the present application, as shown in FIG. 20, the axial length of the thread on the second rod segment 312 of the driving rod 310 is L1. In combination with FIG. 18, the movable distance of the end of the first rod segment 311 of the driving rod 310 is L3, that is, the axial movable distance of the driving rod 310 is L3, wherein L1≥L3. When the thread on the second rod segment 312 of the driving rod 310 is engaged with the thread hole 381 of the second transmission member 380 for transmission, it can ensure that the end of the first rod segment 311 of the driving rod 310 has sufficient axial stroke to drive the partial area 2211 of the connecting arm 221.

[0175] As shown in FIG. 20, the length of the first rod segment 311 of the driving rod 310 is L2, and L2>L1. The length of the first rod segment 311 is set to be relatively long so that the first rod segment 311 of the driving rod 310 can be arranged in the second transmission hole 3723 of the second transmission gear 372 and the end thereof can extend to the partial area 2211 of the connecting arm 221.

[0176] Figure 19 is an exploded view of the driving device of the second embodiment of the cleaning device of the present application, in combination with Figures 18 and 19, the reduction device 370 of the cleaning device 100 is provided with a mounting cap 373, which is formed with a receiving space inside, the mounting cap 373 is arranged on the housing 101 of the reduction device 370, the end of the driving rod 310 away from the connecting arm 221 is arranged in the receiving space of the mounting cap 373, the parts cooperating with the driving rod 310 in the receiving space of the mounting cap 373 further include an upper support seat 374 and a first elastic member 375, when it is necessary to detect and overhaul the driving rod 310 and the parts cooperating with the driving rod 310, the mounting cap 373 can be simply detached from the housing 101 of the reduction device 370, so that the parts in the receiving space of the mounting cap 373 can be detected and overhauled, without the need to disassemble other parts of the reduction device 370.

[0177] As shown in Figure 19, the second rod section 312 of the driving rod 310 is provided with a connecting shaft 313 at one end, the connecting shaft 313 is connected with the upper support seat 374 and can rotate relative to the upper support seat 374, the first elastic member 375 is further arranged outside the upper support seat 374, one end of the first elastic member 375 is connected with the inner wall of the mounting cap 373, and the other end is connected with the upper support seat 374, the first elastic member 375 can exert an elastic force on the upper support seat 374 and the driving rod 310, which is conducive to the engagement connection between the threads on the second rod section 312 of the driving rod 310 and the threaded holes 381 of the second transmission member 380.

[0178] wherein the second rod section 312 of the driving rod 310 is located on one side of the second transmission member 380, and most of the area 2211 of the first rod section 311 of the driving rod 310 is located on the other side of the second transmission member 380,

[0179] wherein the first receiving cavity 232 suitable for the first rod section 311 of the driving rod 310 to pass through is formed in the second transmission gear 372, and the second elastic member 376 is arranged in the first receiving cavity 232, when the driving rod 310 moves upward, the second elastic member 376 can exert an elastic force on the first rod section 311 of the driving rod 310, which is conducive to the engagement connection between the threads on the second rod section 312 of the driving rod 310 and the threaded holes 381 of the second transmission member 380.

[0180] Specifically, the first rod segment 311 of the driving rod 310 is provided with a connecting end matched with the second elastic member 376, and the second elastic member 376 is also connected to the inner wall of the first accommodating cavity 232. When the driving rod 310 moves downward to drive the partial area 2211 of the connecting arm 221, and the connecting arm 221 and the brush assembly 220 rotate upward relative to the support assembly, the second elastic member 376 is in a compressed state. When it is needed to restore the brush assembly 220 to contact the ground to clean the ground, the driving rod 310 is driven to rotate in the first direction A by the second transmission gear 372, and the driving rod 310 has a upward movement trend under the elastic force of the second elastic member 376, which is beneficial to engage with the threads in the threaded hole 381 of the second transmission member 380.

[0181] In combination with FIGS. 17 and 19, the two sides of the mounting cap 373 are connected to the housing 101 of the speed reducer 370 by the fasteners 377. Specifically, connecting ears can be provided on the two sides of the mounting cap 373, and the fasteners 377 are arranged in the connecting ears to fix the mounting cap 373.

[0182] FIG. 20 is a structural state diagram of a driving rod of an embodiment of the cleaning device of the application. As shown in FIG. 20, the first rod segment 311 of the driving rod 310 is provided with a connecting surface matched with the second transmission hole 3723 of the second transmission gear 372. The connecting surface can be a flat surface, or one flat surface or multiple flat surfaces arranged at intervals with a cylindrical surface, which is beneficial to apply force to the driving rod 310.

[0183] FIG. 21 is a structural state diagram of a second transmission member of an embodiment of the cleaning device of the application. As shown in FIG. 21, the second transmission member 380 can be a nut capable of matching with the threads on the second rod segment 312 of the driving rod 310. The nut can be a hexagonal nut.

[0184] FIGS. 9 to 15 schematically show a brush device of the cleaning device of the application and a support assembly and a brush assembly therein from different perspectives. The brush assembly 220 is installed on the support assembly, and the brush assembly 220 and the support assembly jointly rotate under the action of the driving device 300 of the cleaning device 100 to clean the ground. The following will be described in detail through different embodiments in combination with various drawings.

[0185] Figure 9 is a diagram of the structure of the side brush assembly of the cleaning device of the present application installed on the support assembly, and Figure 10 is an exploded view of the side brush assembly 220 and the support assembly of the cleaning device 100 of the present application. As shown in Figures 9 and 10, the support assembly includes a side brush head 210 and a side brush cover 230, the side brush head 210 and the side brush cover 230 are connected to each other to form a side hole 233, and the side hole 233 is provided with a mounting structure, and the side brush assembly 220 is pivotally connected to the mounting structure, and the side brush assembly 220 can rotate upward relative to the side brush head 210 and the side brush cover 230, so that the first side brush 222 in the side brush assembly 220 is away from the ground.

[0186] Specifically, the side brush assembly 220 includes a connecting arm 221 and a first side brush 222, the first side brush 222 is arranged along the length direction C of the connecting arm 221, and the connecting arm 221 is inclined downward with the first side brush 222, and the side brush assembly 220 further includes a rotating shaft 223, the rotating shaft 223 is arranged on the mounting structure of the side brush assembly 220, and the connecting arm 221 is rotated relative to the side brush head 210 and the side brush cover 230 through the rotating shaft 223, and the first side brush 222 connected to the connecting arm 221 is rotated upward under the action of the connecting arm 221.

[0187] As shown in Figure 10, in an embodiment of the present application, the side brush device 200 further includes a torsion spring 240, the torsion spring 240 is installed on the mounting structure together with the rotating shaft 223, wherein the torsion spring 240 has a first torsion arm 241 and a second torsion arm 242, the first torsion arm 241 is connected to the side brush cover 230 or the side brush head 210, and the second torsion arm 242 is connected to the connecting arm 221, and the torsion spring 240 provides a downward rotating torque to the connecting arm 221, so that the first side brush 222 connected to the connecting arm 221 can be in good contact with the ground, and the connecting arm 221 and the ground form an interaction force, which is beneficial to the first side brush 222 to clean the dirt and debris on the ground.

[0188] By adjusting the rotating torque provided by the torsion spring 240, the pressure of the first side brush 222 on the ground can be set, and appropriate pressure can make the ground cleaner; setting too much pressure between the first side brush 222 and the ground will cause the first side brush 222 to wear seriously.

[0189] As shown in Figure 10, one end of the connecting arm 221 is provided with a partial area 2211, and the partial area 2211 and the first side brush 222 are arranged on both sides of the rotating shaft 223 of the side brush assembly 220, so that when the driving rod 310 applies a force to the partial area 2211 of the connecting arm 221, the first side brush 222 at the other end of the connecting arm 221 can be lifted away from the ground by using the principle of leverage.

[0190] In the embodiment, the lifting height and the lifting speed of the first brush 222 connected with the connecting arm 221 can be adjusted by setting the length between the connecting arm 221 and the first brush 222 and the position of the rotating shaft 223 on the connecting arm 221.

[0191] In one of the embodiments, the partial area 2211 of the connecting arm 221 is arranged at the end of the connecting arm 221 away from the first brush 222 and is arranged at an angle with the length direction of the first brush 222. Such arrangement can adjust the lifting height of the first brush 222 and is also beneficial for arranging the partial area 2211 as a planar area to expand the contact area with the driving rod 310.

[0192] In actual application, the applicant arranges the brush device 200 in the cleaning equipment 100 in the embodiment and the height of one end of the first brush 222 from the ground can reach 43 mm, which can meet the requirement of avoiding the viscous debris on the ground.

[0193] In one of the embodiments of the application, the brush head 210 of the supporting assembly and the brush cover 230 jointly form a first accommodating cavity 232 for accommodating the partial area 2211 of the connecting arm 221. The brush cover 230 is further provided with a through hole 231 in communication with the first accommodating cavity 232, so that one end of the driving rod 310 can extend to the first accommodating cavity 232 through the through hole 231 and abut against the partial area 2211 of the connecting arm 221.

[0194] The brush head 210 of the supporting assembly and the brush cover 230 are further connected in cooperation and form a side hole 233 in communication with the first accommodating cavity 232. The connecting arm 221 is pivotally connected to the mounting structure in the side hole 233, and the partial area 2211 of the connecting arm 221 is arranged in the first accommodating cavity 232.

[0195] It can be understood that the supporting assembly can be provided with a plurality of side holes 233, the brush device 200 can be provided with a plurality of brush assemblies 220, each brush assembly 220 corresponds to a side hole 233, the partial areas 2211 of the plurality of connecting arms 221 in the brush assembly 220 are arranged in the first accommodating cavity 232, and the driving rod 310 can simultaneously apply a force to the partial areas 2211 of the plurality of connecting arms 221 to drive the connecting arm 221 to rotate upward relative to the supporting assembly.

[0196] The plurality of side holes 233 can be evenly arranged on the side of the brush head 210 and the brush cover 230, so that the plurality of brush assemblies 220 passing through the different side holes 233 can be evenly distributed, and when the brush assembly 220 rotates at a high speed, the brush device 200 and the cleaning equipment 100 can have high stability. Figure 11 schematically shows the structure of the connecting arm 221 of the cleaning equipment 100 of the present application installed on the support assembly from another perspective.

[0197] Fig. 12 is a schematic view of the relative installation position between the brush head and the brush cover of the cleaning equipment of the present application, and Fig. 13 is a schematic view of the relative installation position between the brush head and the brush cover of the cleaning equipment of the present application. As shown in Figs. 12 and 13, the brush head 210 and the brush cover 230 are connected together through the buckle 211, realizing detachable connection between the brush head 210 and the brush cover 230. It can be understood that the brush head 210 and the brush cover 230 can also be connected through the fastener 377 to realize detachable connection, such as using screws and the like.

[0198] As shown in Figs. 12 and 13, the hole 234 and the support end 235 corresponding to the hole 234 are arranged on the brush cover 230, and the hole 234 and the support end 235 together support the rotating shaft 223. When the rotating shaft 223 is installed in the hole 234 and the support end 235, it can rotate around the rotating shaft 223.

[0199] Among them, the hole 234 can be arranged as a through hole 231 or a blind hole 234, and the support end is arranged as a groove structure, which is conducive to the installation and disassembly of the rotating shaft 223;

[0200] Among them, Figs. 12 and 13 respectively show the relative position relationship between the brush head and the brush cover from different perspectives. After the brush head 210 and the brush cover 230 are connected in cooperation, as shown in Fig. 14, a schematic view of the connection between the brush head 210 and the brush cover 230 of the cleaning equipment 100 of the present application is shown from another perspective, wherein the first accommodating cavity 232 and the side hole 233 are shown.

[0201] Fig. 15 is a schematic view of the brush head of the cleaning equipment of the present application. As shown in Fig. 15, the lower part of the brush head 210 is annular, wherein two notches are symmetrically arranged on the annular structure, the two notches are used to form the side hole 233 for accommodating part of the connecting arm 221, and part of the buckle 211 structure is arranged upward on one side of each notch, used to cooperate with part of the buckle 211 structure on the brush cover 230.

[0202] The third aspect of the present application also provides a cleaning system, which comprises the cleaning equipment in any of the above embodiments, and further comprises a cleaning base station for cleaning the cleaning equipment.

[0203] In some embodiments, as shown in FIG. 22, the cleaning device 2 can include a device body 3 and a side brush mechanism 1.

[0204] The cleaning device 2 is used to perform cleaning work. The cleaning device 2, for example, is a sweeping robot, a cleaning robot, or a vacuum cleaner, etc., which can have one or more cleaning functions such as dusting, sweeping, mopping, and washing, etc. Optionally, the cleaning device 2 can be a self-walking cleaning device, which can walk autonomously or under instruction control, and thus perform cleaning work.

[0205] The device body 3 is used to walk on a surface to be cleaned, so as to collect, suck, and store garbage objects. Specifically, the device body 3 can have a sweeping function or a dusting function, and of course can have both sweeping and dusting functions, and can also have other cleaning functions. The device body 3 is used to suck and store garbage objects.

[0206] A fan can be provided in the device body 3, which is used to provide an air volume, for example, the amount of air flowing through the fan per unit time. The larger the air volume, the more air containing garbage objects is sucked into the cleaning device 2 per unit time. Under the action of the air volume provided by the fan and directed to the inside of the device body 3, the cleaning device 2 will suck in the air containing garbage objects, thereby achieving the purpose of cleaning. The device body 3 can also include a dust box, which can be installed in the device body 3 by insertion, assembly, combination, etc. The dust box can be used to store dust, debris, and other garbage objects. The device body 3 can also include a walking assembly, which can enable the cleaning device 2 to have a movable function. The walking assembly can include a driving mechanism and a rolling wheel mechanism. The driving mechanism is used to drive the rolling wheel mechanism to rotate, which can enable the cleaning device 2 to walk on the working surface. The driving mechanism is, for example, a motor. The device body 3 can also include a sensing assembly, which is used to realize one or more corresponding functions, such as infrared function, collision sensing function, etc., which can be used to realize functions such as obstacle avoidance, navigation, and recharging, etc. The device body 3 can also include a control circuit, which can be coupled to the walking assembly, the side brush mechanism 1, the fan, and the sensing assembly, etc. respectively, and can be used to control the work of the above-mentioned assemblies to realize corresponding operations. The control circuit can be an MCU, or a circuit board including an MCU, which serves as the processing hub of the cleaning device 2.

[0207] The side brush mechanism 1 is provided on the device body 3, and is used to contact the surface to be cleaned, so as to gather and sweep garbage objects on the surface to be cleaned by rotating.

[0208] As shown in FIG. 23 and FIG. 24, the side brush mechanism 1 comprises a side brush module, a driving module and a lifting module, wherein the side brush module comprises the brush body assembly 20, the driving module comprises the rotating driving assembly 30, the lifting module comprises the linkage assembly 40, and the side brush mechanism 1 further comprises the housing 10. The housing 10 has a second accommodating cavity 1010. The brush body assembly 20 is rotationally supported on the housing 10 and comprises at least one brush arm 2100, and the number of the brush arm 2100 can be one, two, three, etc., and of course can also be other numbers. The rotating driving assembly 30 is at least partially accommodated in the second accommodating cavity 1010 and is transmissionally connected with the brush body assembly 20, for driving the brush body assembly 20 to rotate around the preset rotation axis L1 in the first direction F1 and the second direction F2 which are opposite to each other. The linkage assembly 40 is accommodated in the second accommodating cavity 1010 and is linked with the brush body assembly 20, and the linkage assembly 40 has a first position and a second position which are spaced along the rotation axis L1.

[0209] When the rotating driving assembly 30 drives the brush body assembly 20 to rotate in the first direction F1, the brush body assembly 20 is translated to the first position along the rotation axis L1 under the action of the linkage assembly 40, so as to lower the brush arm 2100 relative to the housing 10, and the brush arm 2100 can be in contact with the surface to be cleaned, so as to gather and clean the garbage objects on the surface to be cleaned by rotation. When the rotating driving assembly 30 drives the brush body assembly 20 to rotate in the second direction F2, the brush body assembly 20 is translated to the second position along the rotation axis L1 under the action of the linkage assembly 40, so as to recover the brush arm 2100 relative to the housing 10, i.e. the brush arm 2100 is lifted to be away from the surface to be cleaned, so as to avoid the brush arm 2100 from touching the sewage and liquid accumulation on the surface to be cleaned, reduce the possibility of the rotating side brush to increase the area of the sewage or even splash, effectively improve the adaptability of the side brush mechanism 1 to different cleaning environments, and be beneficial to improve the reliability of the cleaning work of the cleaning equipment 2. In addition, the position of the brush body assembly 20 can be moved by changing the direction of the rotating driving assembly 30 driving the brush body assembly 20 to rotate, which is simple and effective, and the linkage assembly 40 is separately provided to move the position, and the rotating driving assembly 30 directly drives the brush body assembly 20 to rotate, so that the rotation of the brush body assembly 20 is more controllable, which is beneficial to improve the reliability and stability of the work of the brush body assembly.

[0210] Optionally, as shown in FIGS. 24-26, the linkage assembly 40 includes a threaded rod 410 and a threaded sleeve 420. The threaded rod 410 is arranged along the rotation axis L1, and the threaded sleeve 420 is sleeved on the outer periphery of the threaded rod 410 and threadedly cooperates with the threaded rod 410. The brush body assembly 20 is connected to the threaded sleeve 420 and rotates synchronously with the threaded sleeve 420. The threads on the threaded rod 410 and the threaded sleeve 420 can be triangular threads, trapezoidal threads, rectangular threads, etc., and of course can also be other types of threads. The brush body assembly 20 can be connected to the threaded sleeve 420 by welding, riveting, bonding, screw connection, etc., and of course can also be other connection methods.

[0211] When the brush body assembly 20 and the threaded sleeve 420 rotate in the first direction F1, the threaded sleeve 420 and the threaded rod 410 rotate relatively in the first direction F1, and the threaded rod 410 converts the rotational motion of the threaded sleeve 420 in the first direction F1 into linear motion toward the first position, so as to realize the translation of the threaded sleeve 420 to the first position under the action of the threaded rod 410, thereby gradually lowering the brush arm 2100 relative to the housing 10 until the brush body assembly 20 and the threaded sleeve 420 are translated to the first position, at which time the brush arm 2100 can contact the surface to be cleaned to gather and clean the garbage objects on the surface to be cleaned by rotation. When the brush body assembly 20 and the threaded sleeve 420 rotate in the second direction F2, the threaded sleeve 420 and the threaded rod 410 rotate relatively in the second direction F2, and the threaded rod 410 converts the rotational motion of the threaded sleeve 420 in the second direction F2 into linear motion toward the second position, so as to realize the translation of the threaded sleeve 420 to the second position under the action of the threaded rod 410, thereby gradually recovering the brush arm 2100 relative to the housing 10 until the brush body assembly 20 and the threaded sleeve 420 are translated to the second position, i.e., the brush arm 2100 is lifted away from the surface to be cleaned, thereby avoiding the brush arm 2100 from touching the sewage and accumulated liquid on the surface to be cleaned, reducing the possibility of the rotating side brush increasing the area of the sewage or even splashing, effectively improving the adaptability of the side brush mechanism 1 to different cleaning environments, and improving the reliability of the cleaning work of the cleaning equipment 2. By the threaded cooperation of the threaded sleeve 420 and the threaded rod 410, the rotational motion of the brush body assembly 20 relative to the threaded rod 410 is converted into linear motion, which is simple in structure and convenient to operate. The lowering and recovery of the brush arm 2100 can be switched by only changing the rotation direction of the rotational driving assembly 30 driving the brush body assembly 20, which is high in structural effectiveness, convenient and fast to switch, and improves the adaptability and cleaning efficiency of the side brush mechanism 1 to different cleaning environments.

[0212] Further, as shown in FIGS. 24-26, the linkage assembly 40 further comprises a damping mechanism 430 for providing rotational damping to the threaded rod 410 to enable the threaded sleeve 420 to rotate relative to the threaded rod 410. Optionally, when the brush body assembly 20 and the threaded sleeve 420 are translated relative to the threaded rod 410 towards the first position, the threaded sleeve 420 rotates relative to the threaded rod 410 in the first direction F1; after the brush body assembly 20 and the threaded sleeve 420 are translated to the first position, the threaded sleeve 420 and the threaded rod 410 rotate synchronously in the first direction F1; when the brush body assembly 20 and the threaded sleeve 420 are translated relative to the threaded rod 410 towards the second position, the threaded sleeve 420 rotates relative to the threaded rod 410 in the second direction F2.

[0213] In some embodiments, the damping mechanism 430 is a brake mechanism configured to selectively lock the threaded rod 410. Wherein, when the brush body assembly 20 and the threaded sleeve 420 are rotated in the first direction F1 from the second position, the brake mechanism first applies rotational damping to the threaded rod 410 to lock the threaded rod 410, so that the threaded sleeve 420 and the threaded rod 410 rotate relatively in the first direction F1, the threaded rod 410 converts the rotational movement of the threaded sleeve 420 in the first direction F1 into linear movement towards the first position, to enable the threaded sleeve 420 to be translated to the first position under the action of the threaded rod 410, so that the brush arm 2100 gradually lowers relative to the housing 10 until the brush body assembly 20 and the threaded sleeve 420 are translated to the first position. After the brush body assembly 20 and the threaded sleeve 420 are translated to the first position, the brake mechanism no longer applies rotational damping to the threaded rod 410, and the threaded rod 410 rotates synchronously with the threaded sleeve 420 in the first direction F1. When the brush body assembly 20 and the threaded sleeve 420 are rotated in the second direction F2 from the first position, the brake mechanism applies rotational damping to the threaded rod 410 to lock the threaded rod 410, so that the threaded sleeve 420 and the threaded rod 410 rotate relatively in the second direction F2, the threaded rod 410 converts the rotational movement of the threaded sleeve 420 in the second direction F2 into linear movement towards the second position, to enable the threaded sleeve 420 to be translated to the second position under the action of the threaded rod 410, so that the brush arm 2100 gradually recovers relative to the housing 10 until the brush body assembly 20 and the threaded sleeve 420 are translated to the second position. By providing rotational damping through the brake mechanism, the size of the rotational damping can be effectively controlled, which is conducive to improving the effectiveness and stability of the side brush mechanism 1.

[0214] In some embodiments, the damping mechanism 430 is a one-way bearing, which is relatively fixed to the housing 10 and is sleeved on the outer periphery of the threaded rod 410. The one-way bearing is a bearing that can rotate freely or provide a certain rotational damping in one direction, and is locked in the other direction. Specifically, when the threaded sleeve 420 rotates along the first direction F1 and the brush body assembly 20 is in the second position, the threaded rod 410 also rotates along the first direction F1 driven by the threaded sleeve 420, but the one-way bearing provides rotational damping for the threaded rod 410. Then, under the action of the rotational damping, the threaded rod 410 has a certain rotational speed difference with the threaded sleeve 420, that is, the threaded sleeve 420 can rotate relative to the threaded rod 410, so that the threaded rod 410 converts the rotational motion of the threaded sleeve 420 into translational motion, and the threaded sleeve 420 drives the brush body assembly 20 to translate toward the first position under the action of the threaded rod 410. After the brush assembly 20 reaches the first position, the translation of the threaded sleeve 420 is locked, and the brush assembly 20 drives the threaded sleeve 420 to continue to rotate synchronously. The threaded sleeve 420 drives the threaded rod 410 to rotate synchronously, overcoming the rotational damping of the one-way bearing. When the threaded sleeve 420 rotates in the second direction F2 from the first position, the one-way bearing is locked in this direction, and the threaded rod 410 is locked by the one-way bearing and remains stationary. The brush assembly 20 drives the threaded sleeve 420 to rotate in the second direction F2 relative to the threaded rod 410. The threaded rod 410 converts the rotational motion of the threaded sleeve 420 into translational motion. Under the action of the threaded rod 410, the threaded sleeve 420 drives the brush assembly 20 to translate toward the second position. Providing rotational damping through the one-way bearing helps reduce the cost of the damping mechanism 430, and eliminates the need for an additional control system to control the provision of rotational damping. The structure is simple, which helps reduce the production cost of the side brush mechanism 1, simplifies the assembly process of the side brush mechanism 1, and improves the assembly efficiency of the side brush mechanism 1.

[0215] Optionally, as shown in FIG. 24, the brush body assembly 20 further comprises a cover body 2201, the threaded sleeve 420 is arranged in the cover body 2201, the cover body 2201 is provided with limiting holes 201, the brush arms 2100 are connected with the threaded sleeve 420 at one end and pass through the limiting holes 201, and the rotation driving assembly 30 is used to drive the cover body 2201 to rotate, so as to drive the brush arms 2100 and the threaded sleeve 420 to rotate. The limiting holes 201 are equal in number to the brush arms 2100 and one-to-one corresponding. Optionally, the cover body 2201 comprises a first cover body 2210 and a second cover body 2220 fixedly connected, the first cover body 2210 is provided with limiting holes 201, the brush arms 2100 pass through the limiting holes 201 and are arranged in the first cover body 2210, and the rotation driving assembly 30 is in transmission connection with the second cover body 2220, so as to drive the second cover body 2220 to rotate, the second cover body 2220 drives the first cover body 2210 to rotate, and the first cover body 2210 drives the brush arms 2100 and the threaded sleeve 420 to rotate. The cover body 2201 and the brush arms 2100 are connected through the limiting holes 201, which is conducive to improving the stability and integration of the structure.

[0216] Optionally, as shown in FIG. 24, the brush body assembly 20 further comprises an adapter ring 2301, the brush arms 2100 are fixedly connected with the adapter ring 2301 at one end, and the adapter ring 2301 is sleeved on the outer periphery of the threaded sleeve 420. The structure is simple and convenient to assemble.

[0217] Optionally, as shown in FIG. 24, the brush arms 2100 have elastic bending parts 2110 and bristle parts 212, and the elastic bending parts 2110 are connected with the adapter ring 2301 and the bristle parts 212 at both ends respectively. The elastic bending parts 2110 can be elastic bodies made of elastic materials such as silica gel and rubber.

[0218] As shown in FIG. 25, when the brush body assembly 20 is in the first position, the elastic bending parts 2110 extend out of the cover body 2201 through the limiting holes 201, so that the bristle parts 212 have an extension component away from the shell 10 along the rotation axis L1, and the bristle parts 212 are closer to the surface to be cleaned, so as to gather and clean the garbage objects on the surface to be cleaned by rotating. As shown in FIG. 26, when the brush body assembly 20 is in the second position, at least part of the elastic bending parts 2110 are retracted into the cover body 2201, so that the bristle parts 212 have an extension component pointing to the shell 10 along the rotation axis L1, and the elastic bending parts 2110 are limited by the limiting holes 201 to bend, so as to lift the bristle parts 212 to be away from the surface to be cleaned, avoiding the bristle parts 212 from contacting the sewage on the surface to be cleaned, effectively improving the adaptability of the side brush mechanism 1 to different cleaning environments, and being conducive to improving the reliability of the cleaning work of the cleaning equipment 2.

[0219] Optionally, as shown in FIGS. 24 and 25, the outer circumferential surface of the cover 2201 is provided with a tooth portion 2230, and the rotating driving assembly 30 comprises a driving motor 3101 and a transmission gear 3201, the driving motor 3101 is drivingly connected to the transmission gear 3201, and the transmission gear 3201 is engaged with the tooth portion 2230 of the cover 2201 to drive the cover 2201 to rotate. The driving motor 3101 can be a stepper motor or a servo motor, and of course can also be other types of motors. The number of transmission gears 3201 can be one, two, three, etc., and of course can also be other numbers. Optionally, when the number of transmission gears 3201 is multiple, the multiple transmission gears 3201 are all arranged perpendicular to the rotation axis L1 to make full use of the lateral space of the brush mechanism 1 without occupying too much longitudinal space of the brush mechanism 1, which is conducive to improving the structural compactness of the brush mechanism 1, reducing the longitudinal volume of the brush mechanism 1, facilitating the extension of the brush arm 2100 outside the housing 10, and improving the cleaning effect of the cleaning device 2.

[0220] Optionally, as shown in FIG. 25, the tooth portion 2230 is arranged on the outer circumferential surface of the second cover 2220, and the transmission gear 3201 is engaged with the tooth portion 2230 of the second cover 2220 to drive the second cover 2220 to rotate, thereby driving the first cover 2210 and the brush arm 2100 to rotate. By arranging the tooth portion 2230 on the cover 2201 and achieving transmission through the engagement of the gears, it is conducive to improving the structural compactness of the brush mechanism 1, improving the integration of the brush mechanism 1, facilitating the extension of the brush arm 2100 outside the housing 10, and improving the cleaning effect of the cleaning device 2.

[0221] In some embodiments, the cleaning device 2 comprises a power supply battery arranged on the device main body 3, which supplies power to the cleaning device 2 to realize wireless use of the cleaning device 2 and improve the convenience and applicability of the cleaning device 2. The power supply battery includes but is not limited to lithium ion battery, sodium ion battery, sodium lithium ion battery, lithium metal battery, sodium metal battery, lithium-sulfur battery, magnesium ion battery, nickel-hydrogen battery, nickel-cadmium battery, lead-acid battery, etc. The power supply battery can be in the shape of a cylinder, a flat body, a cuboid or other shapes, etc. The power supply battery can be single or multiple batteries, and the multiple batteries can be connected in series, parallel or mixed. Mixed connection means that there are both series and parallel connections among the multiple batteries, and the multiple batteries can be directly connected in series, parallel or mixed. Of course, the power supply battery can also be in the form of a battery module composed of multiple batteries connected in series, parallel or mixed, and multiple battery modules connected in series, parallel or mixed to form a whole. The power supply battery can also include other structures, for example, the power supply battery can also include a current combing component for realizing electrical connection between the multiple batteries.

[0222] In some embodiments, the cleaning device 2 can be further provided with a wiping mechanism for cleaning the surface to be cleaned, which can be arranged on the device body 3. In some embodiments, the wiping mechanism can replace the brush mechanism 1, and then wipe and clean the corresponding surface to be cleaned. During the cleaning process of the surface to be cleaned, the wiping mechanism can contact the surface to be cleaned to wipe the working surface and achieve cleaning. The wiping mechanism can have a wiping piece arranged in a circular or circular-like shape, which can be a mop, a wet wipe, or a sponge, etc.

[0223] The movement process of the brush assembly 20 between the first position and the second position is described in detail below.

[0224] When the cleaning device 2 cleans the surface to be cleaned, the brush assembly 20 and the threaded sleeve 420 are located at the first position of the linkage assembly 40, the rotating drive assembly 30 drives the brush assembly 20 to rotate around the preset rotation axis L1 in the first direction F1, and the cover body 2201, the brush arm 2100, the adapter ring 2301, the threaded sleeve 420, and the threaded rod 410 are all synchronously rotated.

[0225] When the cleaning device 2 detects that there is sewage in front and the brush arm 2100 needs to be lifted, the rotating drive assembly 30 drives the brush assembly 20 to rotate around the preset rotation axis L1 in the second direction F2, the damping mechanism 430 locks the threaded rod 410, the brush assembly 20 drives the threaded sleeve 420 to rotate relative to the threaded rod 410 in the second direction F2, and the threaded rod 410 converts the rotational movement of the threaded sleeve 420 in the second direction F2 into linear movement towards the second position, so as to realize the translation of the threaded sleeve 420 under the action of the threaded rod 410 to the second position, thereby making the brush arm 2100 gradually retract relative to the housing 10 until the brush assembly 20 and the threaded sleeve 420 are translated to the second position, i.e., the brush arm 2100 is lifted to be away from the surface to be cleaned. At this time, the cover body 2201, the brush arm 2100, the adapter ring 2301, and the threaded sleeve 420 are all synchronously rotated, and the threaded rod 410 is locked and stationary.

[0226] When the cleaning device 2 needs to lower the brush arm 2100 to re-contact the surface to be cleaned, the rotating driving assembly 30 drives the brush body assembly 20 to rotate around the preset rotation axis L1 in the first direction F1, the brush body assembly 20 drives the threaded sleeve 420 to rotate around the preset rotation axis L1 in the first direction F1, the damping mechanism 430 provides rotation damping to cause the relative rotation between the threaded rod 410 and the threaded sleeve 420, the threaded rod 410 converts the rotational movement of the threaded sleeve 420 in the first direction F1 into linear movement to the first position, so as to realize the translation of the threaded sleeve 420 to the first position under the action of the threaded rod 410, thereby gradually lowering the brush arm 2100 relative to the shell 10 until the brush body assembly 20 and the threaded sleeve 420 are translated to the first position. At this time, the cover body 2201, the brush arm 2100, the adapter ring 2301, and the threaded sleeve 420 are synchronously rotated, and the threaded rod 410 is locked and stationary or rotates in the first direction F1 at a lower speed than the threaded sleeve 420.

[0227] In summary, by providing the edge brush mechanism 1 including the shell 10, the brush body assembly 20, the rotating driving assembly 30, and the linkage assembly 40, the brush body assembly 20 includes at least one brush arm 2100, the rotating driving assembly 30 is drivingly connected to the brush body assembly 20, the rotating driving assembly 30 can drive the brush body assembly 20 to rotate around the preset rotation axis L1 in the first direction F1 and the second direction F2 opposite to each other, the brush body assembly 20 is linked to the linkage assembly 40, and then is translated between the first position and the second position under the action of the linkage assembly 40 to realize the lowering and lifting of the brush arm 2100. When the brush body assembly 20 is translated to the first position along the rotation axis L1 under the action of the linkage assembly 40, the brush arm 2100 is lowered relative to the shell 10, so that the brush arm 2100 can be used to collect and clean the garbage objects on the surface to be cleaned. When the brush body assembly 20 is translated to the second position along the rotation axis L1 under the action of the linkage assembly 40, the brush arm 2100 is lifted relative to the shell 10, so that the brush arm 2100 is lifted away from the surface to be cleaned, thereby avoiding the brush arm 2100 from touching the sewage and liquid accumulation on the surface to be cleaned, reducing the possibility of increasing the area of the rotating edge brush or even splashing, effectively improving the adaptability of the edge brush mechanism 1 to different cleaning environments, and being beneficial to improving the reliability of the cleaning work of the cleaning device 2.

[0228] In some embodiments, please refer to FIGS. 27-30, FIG. 27 is a structural schematic diagram of an edge brush mechanism according to an embodiment of the present application, FIG. 28 is a cross-sectional structural schematic diagram of the edge brush mechanism shown in FIG. 27, FIG. 29 is an exploded schematic diagram of the edge brush mechanism shown in FIG. 27, and FIG. 30 is a structural schematic diagram of a bottom cover of the edge brush mechanism shown in FIG. 27.

[0229] Referring to FIGS. 27-30, in the present application, the side brush module includes a side brush assembly 1000, the driving module includes a driving assembly 2000, the lifting module includes a lifting assembly 3000, and the side brush mechanism further includes a bottom cover 4000. The side brush assembly 1000 includes at least one second side brush 110. The driving assembly 2000 is drivingly connected to the side brush assembly 1000 to drive the side brush assembly 1000 to rotate. The lifting assembly 3000 is linked with the side brush assembly 1000 and the driving assembly 2000. The bottom cover 4000 is arranged at the end of the output shaft 2302 of the driving assembly 2000. The bottom cover 4000 is provided with a flange 4100 at the periphery thereof, the flange 4100 has a notch 411, the side wall of the notch 411 includes an inclined surface 4111 inclined with respect to the driving assembly 2000, and the side brush assembly 1000 is slidingly fitted on the inclined surface 4111. The driving assembly 2000 and the lifting assembly 3000 are used to control the second side brush 110 to move towards or away from the driving assembly 2000 along the inclined surface 4111 or to rotate with the driving assembly 2000.

[0230] In some embodiments, the second side brush 110 includes a second side brush body and a second side brush cleaning part, and the second side brush cleaning part is arranged to be spaced apart from the driving assembly 2000 by the second side brush body. In some embodiments, the second side brush body and the second side brush cleaning part are detachably connected, so as to facilitate replacement of one or both of the second side brush body and the second side brush cleaning part, and improve the utilization rate of parts. In some embodiments, the second side brush cleaning part is made of a flexible material, such as rubber and / or silica gel, so as to facilitate protection of the surface to be cleaned when cleaning the surface to be cleaned.

[0231] In some embodiments, referring to FIG. 30, the first end 4111a and the second end 4111b of the inclined surface 4111 are spaced apart along the direction in which the brush assembly 1000 rotates, and the distance between the first end 4111a and the driving assembly 2000 is greater than the distance between the second end 4111b and the driving assembly 2000. When the driving assembly 2000 drives the brush assembly 1000 to rotate in the first direction d1, the second brush 110 rotates in the first direction d1 relative to the bottom cover 4000 under the action of the lifting assembly 3000, the second brush 110 moves along the first end 4111a of the inclined surface 4111 towards the second end 4111b of the inclined surface 4111, i.e., the second brush 110 is displaced in the axial direction in which the brush assembly 1000 rotates, i.e., the second brush 110 is lifted relative to the surface to be cleaned and moves away from the surface to be cleaned, so as to reduce the possibility that the second brush 110 touches the liquid on the surface to be cleaned, reduce the possibility that the liquid area increases or even splashes due to the rotation of the second brush 110, and improve the adaptability of the brush mechanism 1 to different cleaning environments. When the driving assembly 2000 drives the brush assembly 1000 to rotate in the second direction d2, the second brush 110 rotates in the second direction d2 relative to the bottom cover 4000 under the action of the lifting assembly 3000, the second brush 110 moves along the second end 4111b of the inclined surface 4111 towards the first end 4111a of the inclined surface 4111, i.e., the second brush 110 is displaced in the axial direction in which the brush assembly 1000 rotates, i.e., the second brush 110 falls relative to the driving assembly 2000 and approaches or even contacts the surface to be cleaned, so that the second brush 110 can contact the surface to be cleaned, so as to facilitate the normal cleaning of the surface to be cleaned by the second brush 110. When the driving assembly 2000 drives the brush assembly 1000 to rotate in the second direction d2, the second brush 110 rotates with the driving assembly 2000, and the garbage objects on the surface to be cleaned are gathered and cleaned by the rotation. When the surface to be cleaned is wet or there is liquid on the cleaning path, the brush mechanism 1 of the present application is beneficial to improve the use adaptability of the cleaning device.

[0232] In some embodiments, referring to FIGS. 27-29, the driving assembly 2000 includes a driving motor 2101, a transmission module 2202, and an output shaft 2302. One end of the transmission module 2202 is drivingly connected to the driving motor 2101, and the other end is drivingly connected to the output shaft 2302. The end of the output shaft 2302 away from the transmission module 2202 is fixedly connected to the brush assembly 1000.

[0233] The driving motor 2101 serves as a power source and is configured to provide driving force to drive the brush assembly 1000 to operate. The transmission module 2202 is configured to transmit the driving force generated by the driving motor 2101 to the output shaft 2302. The output shaft 2302 is configured to receive the rotary driving force from the driving motor 2101 and transmit it to the brush assembly 1000.

[0234] The driving motor 2101 drives the output shaft 2302 to rotate in the first direction d1 or the second direction d2 through the transmission module 2202. In some embodiments, the first direction d1 and the second direction d2 are opposite directions. When the driving motor 2101 drives the output shaft 2302 to rotate in the first direction d1, the bristle assembly 1000 is driven to rotate in the first direction d1 due to the fixed connection between the output shaft 2302 and the bristle assembly 1000. When the driving motor 2101 drives the output shaft 2302 to rotate in the second direction d2, the bristle assembly 1000 is driven to rotate in the second direction d2 due to the fixed connection between the output shaft 2302 and the bristle assembly 1000.

[0235] In some embodiments, please continue to refer to FIGS. 27-29, the bristle assembly 1000 further comprises a fixing block 120. The second bristle 110 is spaced apart from the output shaft 2302 through the fixing block 120. One end of the fixing block 120 is fixedly connected with the output shaft 2302, and the other end is fixedly connected with the second bristle 110.

[0236] The fixing block 120 is used to fix the second bristle 110, so that the second bristle 110 can be assembled to the fixing block 120, and the assembly of the second bristle 110 with the output shaft 2302 is realized through the assembly of the fixing block 120 with the output shaft 2302, which reduces the complexity of part assembly and is conducive to the protection of the output shaft 2302, thereby improving the service life of the driving assembly 2000.

[0237] In some embodiments, please continue to refer to FIGS. 27-29, the lifting assembly 3000 further comprises a reduction gearbox 3102 and a one-way bearing 3202. The output end of the reduction gearbox 3102 is provided with an annular slot 3110 and a sleeve 3120. The sleeve wall of the sleeve 3120 is the inner slot wall of the annular slot 3110. The one-way bearing 3202 is arranged in the annular slot 3110 and is sleeved on the outer periphery of the sleeve 3120. The one-way bearing 3202 is used to rotate in the first direction d1 and rotate in the second direction d2; the first direction d1 and the second direction d2 are opposite directions.

[0238] The reduction gearbox 3102 can reduce the high input rotational speed to a low output rotational speed to regulate the rotational speed of the output shaft 2302. The annular slot 3110 of the reduction gearbox 3102 is used to accommodate the one-way bearing 3202 and other components to facilitate the miniaturization of the brush mechanism 1. The sleeve 3120 provides the necessary radial support and guidance for the output shaft 2302, reduces the axial movement of the output shaft 2302, thereby reducing wear and tear and improving efficiency, and enhances the reliability and stability of the normal rotation of the output shaft 2302. In some embodiments, the one-way bearing 3202 is fixedly arranged in the annular slot 3110. Since the one-way bearing 3202 is sleeved on the outer periphery of the sleeve 3120, the rotation of the one-way bearing 3202 and the rotation of the output shaft 2302 do not affect each other. The one-way bearing 3202 is used to constrain the rotation and / or movement of other parts of the lifting assembly 3000, so that the lifting assembly 3000 and the brush assembly 1000 can operate respectively, so that they can move relatively, thereby realizing the lifting or falling of the brush assembly 1000 relative to the driving assembly 2000.

[0239] In some embodiments, the transmission module 2202 is arranged in the reduction gearbox 3102. In some embodiments, the reduction gearbox 3102 includes an upper cover 310a and a lower cover 310b; the surface of the upper cover 310a is provided with a first through hole, so that the transmission shaft of the driving motor 2101 extends into the upper cover 310a and is in transmission connection with one end of the transmission module 2202; the surface of the lower cover 310b is provided with a second through hole, so that the output shaft 2302 extends into the lower cover 310b and is in transmission connection with the other end of the transmission module 2202; the surface of the lower cover 310b away from the upper cover 310a is provided with an annular slot 3110, and the part of the lower cover 310b surrounded by the annular slot 3110 is provided with a second through hole to form a sleeve 3120, so that the output shaft 2302 extends out of the sleeve 3120 to drive the brush assembly 1000 to rotate. In some embodiments, the upper cover 310a is provided with a copper ring, and the output shaft 2302 is arranged in the copper ring.

[0240] In some embodiments, please continue to refer to FIGS. 27-29, the lifting assembly 3000 includes a rotation-stopping sliding block 3300, which is sleeved on the outer periphery of the one-way bearing 3202 and is in sliding connection with the one-way bearing 3202, the second brush 110 is arranged between the rotation-stopping sliding block 3300 and the bottom cover 4000, and the minimum gap between the rotation-stopping sliding block 3300 and the bottom cover 4000 is smaller than the thickness of the second brush 110.

[0241] The rotation-stopping sliding block 3300 can rotate or stop rotating with the one-way bearing 3202. Since the second brush 110 is arranged between the rotation-stopping sliding block 3300 and the bottom cover 4000, and the minimum gap between the rotation-stopping sliding block 3300 and the bottom cover 4000 is smaller than the thickness of the second brush 110, when the second brush 110 is located in the minimum gap between the rotation-stopping sliding block 3300 and the bottom cover 4000, the second brush 110 is warped, and an acting force is generated on the rotation-stopping sliding block 3300. Since the rotation-stopping sliding block 3300 is in sliding connection with the one-way bearing 3202, the acting force generated on the rotation-stopping sliding block 3300 pushes the rotation-stopping sliding block 3300 to move in the axial direction of the brush assembly 1000 towards the driving assembly 2000. For example, when the second brush 110 rotates relative to the bottom cover 4000 in the first direction d1 under the action of the lifting assembly 3000, the second brush 110 moves along the first end 4111a of the inclined surface 4111 towards the second end 4111b of the inclined surface 4111, i.e., the second brush 110 is lifted relative to the surface to be cleaned, and the rotation-stopping sliding block 3300 also moves in the axial direction of the brush assembly 1000 towards the driving assembly 2000.

[0242] When the second brush 110 moves out of the minimum gap between the rotation-stopping sliding block 3300 and the bottom cover 4000, the acting force of the second brush 110 on the rotation-stopping sliding block 3300 decreases, and the rotation-stopping sliding block 3300 moves in the axial direction of the brush assembly 1000 away from the driving assembly 2000, i.e., the rotation-stopping sliding block 3300 falls relative to the driving assembly 2000. For example, when the second brush 110 rotates relative to the bottom cover 4000 in the second direction d2 under the action of the lifting assembly 3000, the second brush 110 moves along the second end 4111b of the inclined surface 4111 towards the first end 4111a of the inclined surface 4111, i.e., the second brush 110 falls relative to the driving assembly 2000, and the rotation-stopping sliding block 3300 also moves in the axial direction of the brush assembly 1000 away from the driving assembly 2000.

[0243] Please refer to FIGS. 31-32, FIG. 5 is a structural schematic view of a rotation-stopping sliding block of the brush mechanism shown in FIG. 1, and FIG. 32 is a structural schematic view of a speed reducer of the brush mechanism shown in FIG. 27.

[0244] In some embodiments, referring to FIGS. 29-30, the rotation-stopping slider 3300 is provided with a plurality of first protrusions 330a on one side thereof facing the annular slot 3110, and the annular slot 3110 is provided with a plurality of second protrusions 311a on the bottom thereof, in response to the second brush 110 moving along the inclined surface 4111 toward the driving assembly 2000, the rotation-stopping slider 3300 moves toward the driving assembly 2000, and the first protrusions 330a and the second protrusions 311a are interlaced; in response to the second brush 110 moving along the inclined surface 4111 away from the driving assembly 2000, the rotation-stopping slider 3300 moves away from the driving assembly 2000, and the first protrusions 330a and the second protrusions 311a are separated.

[0245] When the second brush 110 rotates relative to the bottom cover 4000 in the first direction d1 under the action of the lifting assembly 3000, the second brush 110 moves along the first end 4111a of the inclined surface 4111 toward the second end 4111b thereof, i.e., the second brush 110 is lifted relative to the surface to be cleaned, the rotation-stopping slider 3300 also moves in the axial direction of the rotation of the brush assembly 1000 toward the driving assembly 2000, the first protrusions 330a of the rotation-stopping slider 3300 and the second protrusions 311a of the annular slot 3110 are interlaced, and the rotation-stopping slider 3300 is "locked" to the speed reducer 3102.

[0246] When the second brush 110 rotates relative to the bottom cover 4000 in the second direction d2 under the action of the lifting assembly 3000, the second brush 110 moves along the second end 4111b of the inclined surface 4111 toward the first end 4111a thereof, i.e., the second brush 110 falls relative to the driving assembly 2000, the rotation-stopping slider 3300 also moves in the axial direction of the rotation of the brush assembly 1000 away from the driving assembly 2000, the first protrusions 330a of the rotation-stopping slider 3300 and the second protrusions 311a of the annular slot 3110 are separated, the rotation-stopping slider 3300 is "unlocked" from the speed reducer 3102, the freedom of the one-way bearing 3202 is released, and the bottom cover 4000 and the brush assembly 1000 are driven to rotate synchronously, thereby gathering and sweeping the garbage objects on the surface to be cleaned.

[0247] Referring to FIG. 33, FIG. 33 is a sectional view of the speed reducer and the rotation-stopping slider of the brush mechanism shown in FIG. 27.

[0248] In some embodiments, referring to FIG. 33, the first protrusion 330a and / or the second protrusion 311a has a slope S1 relative to the axial direction of the output shaft 2302. In the case where the first protrusion 330a and the second protrusion 311a abut and extrude each other, the slope S1 facilitates the relative movement of the first protrusion 330a and the second protrusion 311a, i.e., the transition from the state of abutting and extruding each other to the state of dislocation, when the rotation-stopping slider 3300 and the annular slot 3110 move relative to each other, so as to reduce the damage to the components of the brush mechanism 1. In some embodiments, the slope S1 can be a straight slope or a curved slope.

[0249] In some embodiments, referring to FIGS. 27-29, the lifting assembly 3000 includes a plug 3400 and a damping member 3500. The plug 3400 is sleeved on the outer periphery of the one-way bearing 3202. The damping member 3500 is arranged between the plug 3400 and the rotation-stopping slider 3300.

[0250] The plug 3400 is configured to limit and constrain the damping member 3500, so as to facilitate the normal operation of the damping member 3500. The damping member 3500 is configured to accumulate and release stress, so that the rotation-stopping slider 3300 can maintain the state of pressing the second brush 110 downward, thereby improving the cleaning ability of the brush assembly 1000. In some embodiments, the damping member 3500 is a spring.

[0251] When the second brush 110 rotates relative to the bottom cover 4000 along the first direction d1 under the action of the lifting assembly 3000, the second brush 110 moves along the first end 4111a of the inclined surface 4111 toward the second end 4111b thereof, i.e., the second brush 110 is lifted relative to the surface to be cleaned, the rotation-stopping slider 3300 also moves along the axial direction of the rotation of the brush assembly 1000 toward the driving assembly 2000, and the damping member 3500 is compressed.

[0252] When the second brush 110 rotates relative to the bottom cover 4000 along the second direction d2 under the action of the lifting assembly 3000, the second brush 110 moves along the second end 4111b of the inclined surface 4111 toward the first end 4111a thereof, i.e., the second brush 110 falls relative to the driving assembly 2000, the rotation-stopping slider 3300 also moves along the axial direction of the rotation of the brush assembly 1000 away from the driving assembly 2000, the damping member 3500 releases stress and pushes the rotation-stopping slider 3300 to move along the axial direction of the rotation of the brush assembly 1000 away from the driving assembly 2000, thereby maintaining the state of pressing the second brush 110 downward.

[0253] In some embodiments, please continue to refer to FIGS. 27-29, the lifting assembly 3000 comprises a bottom cover fixing block 3600. The bottom cover fixing block 3600 is sleeved on the outer periphery of the one-way bearing 3202 and is fixedly connected with the bottom cover 4000. The second side brush 110 is arranged between the bottom cover fixing block 3600 and the bottom cover 4000.

[0254] The bottom cover fixing block 3600 is used for fixing the bottom cover 4000. The bottom cover fixing block 3600 rotates with the rotation of the one-way bearing 3202, thereby driving the bottom cover 4000 to rotate with the rotation of the one-way bearing 3202.

[0255] In some embodiments, please continue to refer to FIGS. 27-31, the rotation-stopping sliding block 3300 has a hollow inner ring 3310, the inner ring 3310 is provided with a plurality of grooves 3311, the bottom cover fixing block 3600 is provided with a plurality of protrusions 3610 at one end close to the bottom cover 4000, the number of the protrusions 3610 matches the number of the grooves 3311, and the protrusions 3610 are assembled into the grooves 3311 of the rotation-stopping sliding block 3300 in response to the bottom cover fixing block 3600, the protrusions 3610 and the inner walls of the grooves 3311 have a gap.

[0256] The protrusions 3610 of the bottom cover fixing block 3600 are inserted into the grooves 3311 of the rotation-stopping sliding block 3300 to realize the assembly of the bottom cover fixing block 3600 and the rotation-stopping sliding block 3300. The protrusions 3610 and the inner walls of the grooves 3311 have a gap, which provides a certain fault tolerance space for the bottom cover fixing block 3600 and the rotation-stopping sliding block 3300. In the case that the first protrusion 330a and the second protrusion 311a abut and extrude each other, due to the existence of the gap, the one-way bearing 3202 and the bottom cover fixing block 3600 can relatively move to a certain extent relative to the rotation-stopping sliding block 3300, that is, the rotation-stopping sliding block 3300 relatively moves to a certain extent relative to the speed reducer 3102, so that the first protrusion 330a and the second protrusion 311a relatively move from the state of abutting and extruding each other to the state of dislocation, so as to reduce the damage to the parts of the side brush mechanism 1.

[0257] Please refer to FIG. 34, which is a structural schematic diagram of a cleaning device provided by an embodiment of the present application.

[0258] Referring to FIG. 34, an embodiment of the present application provides a cleaning device 100. The cleaning device 100 comprises a device main body 3 and any side brush mechanism 1 provided in the first aspect. The side brush mechanism 1 is arranged on the device main body 3.

[0259] The cleaning device 100 is used to perform cleaning work. The cleaning device 100 is, for example, a sweeping robot, a cleaning robot, or a vacuum cleaner, and can have one or more cleaning functions such as dust collection, sweeping, mopping, and floor washing. Alternatively, the cleaning device 100 can be a self-walking cleaning device 100 that can walk autonomously or under instruction control to perform cleaning work.

[0260] The device body 3 is used to walk on a surface to be cleaned to collect, suck, and store garbage objects. Specifically, the device body 3 can have a sweeping function or a dust collection function, and of course can have both sweeping and dust collection functions, and can also have other cleaning functions. The device body 3 is used to suck and store garbage objects.

[0261] A fan can be provided in the device body 3, which is used to provide an air volume, for example, the amount of air flowing through the fan per unit time. The larger the air volume, the more air containing garbage objects is sucked into the cleaning device 100 per unit time. Under the action of the air volume provided by the fan pointing to the inside of the device body 3, the cleaning device 100 will suck in air containing garbage objects, thereby achieving the purpose of cleaning. The device body 3 can also include a dust box, which can be installed in the device body 3 by insertion, assembly, combination, or the like. The dust box can be used to store dust, debris, and other garbage objects. The device body 3 can also include a walking assembly that can make the cleaning device 100 movable. The walking assembly can include a driving mechanism and a rolling wheel mechanism. The driving mechanism is used to drive the rolling wheel mechanism to rotate, which can realize walking on the working surface of the cleaning device 100. The driving mechanism is, for example, a motor. The device body 3 can also include a sensing assembly that is used to realize one or more corresponding functions, such as infrared function, collision sensing function, etc., which can be used to realize obstacle avoidance, navigation, and recharging functions. The device body 3 can also include a control circuit that can be coupled to the walking assembly, the side brush mechanism 1, the fan, and the sensing assembly, etc., and can be used to control the operation of the above-mentioned assemblies to realize corresponding operations. The control circuit can be an MCU, or a circuit board including an MCU, which serves as the processing hub of the cleaning device 100.

[0262] The side brush mechanism 1 is provided on the device body 3 and is used to contact the surface to be cleaned to collect and sweep garbage objects on the surface to be cleaned by rotating.

[0263] The lifting, falling, and normal operation of the side brush assembly 1000 are described in detail below.

[0264] When the cleaning device 100 cleans the surface to be cleaned, the driving assembly 2000 drives the brush assembly 1000 to rotate along the second direction d2, the second brush 110 rotates along the second direction d2 with the driving assembly 2000, and the bottom cover 4000 rotates synchronously with the second brush 110, the brush assembly 1000 and the lifting assembly 3000 rotate synchronously, and the garbage objects on the surface to be cleaned are gathered and cleaned by rotation.

[0265] When the cleaning device 100 detects that there is liquid in front of it and the second brush 110 of the brush arm needs to be lifted, the driving assembly 2000 drives the brush assembly 1000 to rotate along the first direction d1. Since the one-way bearing 3202 is rotationally stopped along the first direction d1, the bottom cover 4000 is also rotationally stopped along the first direction d1, and the second brush 110 rotates relative to the bottom cover 4000. Since the bottom cover 4000 includes an inclined surface 4111, the second brush 110 moves along the inclined surface 4111 towards the driving assembly 2000, that is, the second brush 110 is lifted relative to the surface to be cleaned. Since the minimum gap between the rotation-stopping sliding block 3300 and the bottom cover 4000 is smaller than the thickness of the second brush 110, when the second brush 110 is located in the minimum gap between the rotation-stopping sliding block 3300 and the bottom cover 4000, the second brush 110 is warped and generates a force acting on the rotation-stopping sliding block 3300. Since the rotation-stopping sliding block 3300 is slidingly connected to the one-way bearing 3202, the force acting on the rotation-stopping sliding block 3300 pushes the rotation-stopping sliding block 3300 to displace along the axial direction of the brush assembly 1000 towards the driving assembly 2000, the first protrusion 330a of the rotation-stopping sliding block 3300 and the second protrusion 311a of the annular slot 3110 of the reduction box 3102 are staggered, and the rotation-stopping sliding block 3300 is "locked" to the reduction box 3102, that is, the lifting assembly 3000 is "locked" to the reduction box 3102.

[0266] When the cleaning device 100 needs the second side brush 110 to fall to re-contact the surface to be cleaned, the driving assembly 2000 drives the side brush assembly 1000 to rotate in the second direction d2, due to the one-way bearing 3202 rotating in the second direction d2, the bottom cover 4000 should also rotate in the second direction d2, but due to the one-way bearing 3202 being "locked" to the speed reducer 3102 when the second side brush 110 is lifted, rotation cannot occur, and the bottom cover 4000 also does not rotate, so at the stage when the one-way bearing 3202 is "locked" to the speed reducer 3102, the second side brush 110 can rotate in the second direction d2, the bottom cover 4000 is locked in the second direction d2, and the second side brush 110 rotates relative to the bottom cover 4000 in the second direction d2, so that the second side brush 110 moves along the second end 4111b of the inclined surface 4111 towards the first end 4111a thereof, that is, the second side brush 110 is displaced in the axial direction of the rotation of the side brush assembly 1000, that is, the second side brush 110 falls relative to the driving assembly 2000.

[0267] Due to the falling of the second side brush 110 relative to the driving assembly 2000, the rotation-stopping sliding block 3300 also moves in the axial direction of the rotation of the side brush assembly 1000 away from the driving assembly 2000, the damping member 3500 releases stress, pushes the rotation-stopping sliding block 3300 to move in the axial direction of the rotation of the side brush assembly 1000 away from the driving assembly 2000, maintains the state of pressing the second side brush 110, and then the first protrusion 330a of the rotation-stopping sliding block 3300 is separated from the second protrusion 311a of the annular slot 3110, the rotation-stopping sliding block 3300 is "unlocked" to the speed reducer 3102, the freedom of the one-way bearing 3202 is released, the bottom cover 4000 is driven to rotate synchronously with the side brush assembly 1000, and garbage objects on the surface to be cleaned are gathered and swept through rotation.

[0268] In summary, by providing the side brush mechanism 1 with the side brush assembly 1000, the driving assembly 2000, the lifting assembly 3000 and the bottom cover 4000, the bottom cover 4000 includes the inclined surface 4111, the side brush assembly 1000 is slidingly fitted to the inclined surface 4111, the inclined surface 4111 has the first end 4111a towards the bottom cover 4000 and the second end 4111b towards the driving assembly 2000, the driving assembly 2000 and the lifting assembly 3000 are used to control the second side brush 110 to move along the inclined surface 4111 towards or away from the driving assembly 2000, so that the second side brush 110 is lifted or falls relative to the surface to be cleaned, or rotates with the driving assembly 2000, so that the side brush assembly 1000 normally operates. When the ground is wet or there is liquid on the cleaning path, the provision of the side brush mechanism 1 of the present application is beneficial to improve the use adaptability of the cleaning device 100.

[0269] The above merely describes preferred specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A side brush mechanism, wherein, The side brush mechanism comprises a driving module, a lifting module and a side brush module, the driving module is in transmission connection with the lifting module and the side brush module, the driving module is used for driving the side brush module to rotate around a preset rotation axis, and the lifting module is configured to be linked with the side brush module and move the side brush module along the extension direction of the rotation axis.

2. The side brush mechanism according to claim 1, wherein, The side brush module comprises a side brush device, the side brush device comprises a support assembly and at least one side brush assembly, the side brush assembly comprises a connecting arm and a first side brush, the connecting arm is hinged to the support assembly, the first side brush is arranged along the length direction of the connecting arm, and the first side brush is connected to the side of the connecting arm far away from the support assembly; The lifting module comprises a driving rod; The driving module comprises a driving device, the driving device is connected to the side brush device, one end of the driving rod can move towards the connecting arm to drive the connecting arm to swing at the hinged position relative to the support assembly, and the connecting arm drives the first side brush to rotate.

3. The side brush mechanism of claim 2, wherein, The driving device comprises a first driving motor and a first transmission member, the first transmission member is provided with a first transmission hole and a first driving part, and the first driving motor is provided with a first output shaft; The first transmission member is sleeved on the first output shaft through the first transmission hole and is in transmission cooperation with the first output shaft, the first driving part is arranged in the direction away from the first transmission hole from the first transmission hole, and the first driving part abuts against the driving rod.

4. The side brush mechanism of claim 3, wherein, The first transmission member further comprises a second driving surface, and along the rotation direction of the first transmission member, the distances between different points on the second driving surface and the center line of the first transmission hole are sequentially increased or sequentially decreased. The driving device further comprises a limit switch, the limit switch is electrically connected to the first driving motor, and the stroke end of the limit switch can abut against the second driving surface.

5. The side brush mechanism of claim 4, wherein, The limit switch comprises an optical coupling switch or a Hall switch.

6. The side brush mechanism of claim 2, wherein, The driving device further comprises a reset member, one end of the reset member is connected to the driving rod, and the other end of the reset member is connected to the shell of the side brush mechanism.

7. The side brush mechanism of claim 2, wherein, The driving device further comprises a second driving motor and a transmission assembly, the second driving motor is provided with a second output shaft; The second output shaft is connected to the support assembly through the transmission assembly to drive the support assembly and the side brush assembly to rotate together.

8. The side brush mechanism of claim 7, wherein, The transmission assembly comprises a first transmission gear and a second transmission gear which are connected to each other, the driving end of the first transmission gear is connected to the second output shaft, and the second transmission gear is provided with a first connecting end on the end face towards the support assembly; The first connecting end is in transmission connection with the support assembly.

9. The side brush mechanism of claim 8, wherein, The driving rod is provided with a first rod segment and a second rod segment; The second transmission gear is provided with a second transmission hole along the direction of the rotation axis thereof, the first rod segment is axially movably arranged in the second transmission hole and is in transmission cooperation with the second transmission hole; The driving device further comprises a second transmission member provided with a threaded hole, the second rod segment is arranged in the threaded hole and is screwed with the threaded hole to control the axial movement of the driving rod. One end of the first rod segment abuts against the connecting arm.

10. The side brush mechanism of claim 9, wherein, The side brush mechanism has a cleaning mode and a first side brush lifting mode, in the cleaning mode, the second transmission gear rotates in a first direction, in the first side brush lifting mode, the second transmission gear rotates in a second direction, the first direction and the second direction are opposite; wherein the spiral direction of the thread in the second transmission hole is the second direction.

11. The side brush mechanism of any of claims 2-10, wherein, The support assembly further comprises a side brush cover and a side brush head, the side brush cover and the side brush head jointly form a first accommodating cavity and at least one side hole communicating with the first accommodating cavity; Part of the body of the connecting arm extends to the first accommodating cavity through the side hole; The side brush cover is provided with a through hole communicating with the first accommodating cavity, one end of the driving rod extends to the first accommodating cavity through the through hole and abuts against the connecting arm.

12. The side brush mechanism of claim 11, wherein, The partial area is arranged at one end of the connecting arm away from the first side brush, and the partial area is arranged at an angle with the length direction of the first side brush.

13. The side brush mechanism of claim 11, wherein, The side brush cover and the side brush head are detachably connected.

14. The side brush mechanism of claim 11, wherein, The side brush device further comprises a torsion spring, the torsion spring has a first torsion arm and a second torsion arm, the first torsion arm is connected with the side brush cover or the side brush head, and the second torsion arm is connected with the connecting arm, for providing a downward rotating torque to the connecting arm.

15. The side brush mechanism according to claim 1, wherein, The side brush mechanism comprises a housing, the housing has a second accommodating cavity; The side brush module comprises a brush body assembly, the brush body assembly is rotationally supported on the housing and comprises at least one brush arm; The driving module comprises a rotary driving assembly, at least part of the rotary driving assembly is accommodated in the second accommodating cavity and is in transmission connection with the brush body assembly, for driving the brush body assembly to rotate around a preset rotary axis in a first direction and a second direction opposite to each other; The lifting module comprises a linkage assembly, the linkage assembly is accommodated in the second accommodating cavity and is in linkage with the brush body assembly, the linkage assembly has a first position and a second position arranged at intervals along the rotary axis; When the rotary driving assembly drives the brush body assembly to rotate in the first direction, the brush body assembly is translated along the rotary axis to the first position under the action of the linkage assembly, so as to lower the brush arm relative to the housing; when the rotary driving assembly drives the brush body assembly to rotate in the second direction, the brush body assembly is translated along the rotary axis to the second position under the action of the linkage assembly, so as to recover the brush arm relative to the housing.

16. The side brush mechanism according to claim 15, wherein, The linkage assembly comprises a threaded rod and a threaded sleeve, the threaded rod is arranged along the rotation axis, the threaded sleeve is sleeved on the outer periphery of the threaded rod and threadedly cooperates with the threaded rod, and the brush body assembly is connected to the threaded sleeve and rotates synchronously with the threaded sleeve; When the brush body assembly and the threaded sleeve rotate in the first direction, the threaded sleeve is translated to the first position under the action of the threaded rod; when the brush body assembly and the threaded sleeve rotate in the second direction, the threaded sleeve is translated to the second position under the action of the threaded rod.

17. The side brush mechanism according to claim 16, wherein, The linkage assembly further comprises a damping mechanism for providing rotational damping for the threaded rod so that the threaded sleeve rotates relative to the threaded rod.

18. The side brush mechanism according to claim 17, wherein, The damping mechanism is a one-way bearing which is fixed relative to the housing and sleeved on the outer periphery of the threaded rod; When the threaded sleeve rotates in the first direction and the brush body assembly is in the second position, the one-way bearing provides rotational damping for the threaded rod, the threaded sleeve can rotate relative to the threaded rod and drive the brush body assembly to be translated to the first position under the action of the threaded rod, after the brush body assembly reaches the first position, the translation of the threaded sleeve is locked, the threaded sleeve drives the threaded rod to rotate synchronously by overcoming the rotational damping of the one-way bearing, and when the threaded sleeve rotates in the second direction, the threaded rod is locked by the one-way bearing.

19. The side brush mechanism according to claim 17, wherein, The damping mechanism is a brake mechanism which is arranged to selectively lock the threaded rod.

20. The side brush mechanism according to claim 17, wherein, The brush body assembly further comprises a cover, the threaded sleeve is arranged in the cover, the cover is provided with a limiting hole, one end of the brush arm is connected to the threaded sleeve and passes through the limiting hole, and the rotation driving assembly is used to drive the cover to rotate so as to drive the brush arm and the threaded sleeve to rotate.

21. The side brush mechanism according to claim 20, wherein, The brush body assembly further comprises an adapter ring, one end of the brush arm is fixedly connected to the adapter ring, and the adapter ring is sleeved on the outer periphery of the threaded sleeve.

22. The side brush mechanism according to claim 21, wherein, The brush arm has an elastic bending part and a bristle part, two ends of the elastic bending part are connected to the adapter ring and the bristle part respectively, when the brush body assembly is in the first position, the elastic bending part extends out of the cover through the limiting hole so that the bristle part has an extension component which is away from the housing along the rotation axis, and when the brush body assembly is in the second position, at least part of the elastic bending part is retracted into the cover so that the bristle part has an extension component which is directed to the housing along the rotation axis.

23. The side brush mechanism according to claim 20, wherein, The outer circumferential surface of the cover is provided with a tooth portion, the rotating driving assembly comprises a driving motor and a transmission gear, the driving motor is in transmission connection with the transmission gear, and the transmission gear is in meshing connection with the tooth portion of the cover to drive the cover to rotate.

24. The side brush mechanism according to claim 1, wherein, the side brush module comprises a side brush assembly, the side brush assembly comprises at least one second side brush; the driving module comprises a driving assembly, the driving assembly is in transmission connection with the side brush assembly to drive the side brush assembly to rotate; the lifting module comprises a lifting assembly, the lifting assembly is linked with the side brush assembly and the driving assembly; the side brush mechanism further comprises a bottom cover, the bottom cover is arranged at the end of the output shaft of the driving assembly; the periphery of the bottom cover is provided with a turned-up edge facing the driving assembly, the turned-up edge has a notch, the side wall of the notch comprises an inclined surface inclined relative to the driving assembly, the side brush assembly is in sliding fit with the inclined surface, and the driving assembly and the lifting assembly are used for controlling the second side brush to move towards or away from the driving assembly along the inclined surface or to rotate with the driving assembly.

25. The side brush mechanism of claim 24, wherein, The inclined surface is arranged to be inclined relative to the driving assembly; the inclined surface comprises a first end and a second end arranged at intervals along the rotating direction of the side brush assembly, and the distance between the first end and the driving assembly is greater than the distance between the second end and the driving assembly.

26. The side brush mechanism of claim 25, wherein, The driving assembly comprises a driving motor, a transmission module and an output shaft, one end of the transmission module is in transmission connection with the driving motor, the other end is in transmission connection with the output shaft, and the end of the output shaft away from the transmission module is fixedly connected with the side brush assembly.

27. The side brush mechanism of claim 26, wherein, The side brush assembly further comprises a fixing block, the second side brush is arranged at intervals with the output shaft through the fixing block, one end of the fixing block is fixedly connected with the output shaft, and the other end is fixedly connected with the second side brush.

28. The side brush mechanism of claim 27, wherein, The lifting assembly further comprises a speed reducer and a one-way bearing, the output end of the speed reducer is provided with an annular slot and a sleeve, the sleeve wall of the sleeve is the inner slot wall of the annular slot, the one-way bearing is arranged in the annular slot and sleeved on the outer circumference of the sleeve, the one-way bearing is used for rotation stopping in a first direction and rotating in a second direction, and the first direction and the second direction are opposite directions.

29. The side brush mechanism of claim 28, wherein, The lifting assembly comprises a rotation-stopping sliding block, the rotation-stopping sliding block is sleeved on the outer circumference of the one-way bearing and is in sliding connection with the one-way bearing, the second side brush is arranged between the rotation-stopping sliding block and the bottom cover, and the minimum gap between the rotation-stopping sliding block and the bottom cover is smaller than the thickness of the second side brush.

30. The side brush mechanism of claim 29, wherein, The rotation-stopping slider is provided with a plurality of first protrusions on a side thereof facing the annular groove, and the bottom of the annular groove is provided with a plurality of second protrusions; in response to the second brush moving along the inclined surface towards the driving assembly, the rotation-stopping slider moves towards the driving assembly, and the first protrusions and the second protrusions are staggered; in response to the second brush moving along the inclined surface away from the driving assembly, the rotation-stopping slider moves away from the driving assembly, and the first protrusions and the second protrusions are separated.

31. The side brush mechanism of claim 30, wherein, The first protrusions and / or the second protrusions have an inclined surface relative to the axial direction of the output shaft.

32. The side brush mechanism of claim 30 or 31, wherein, The lifting assembly comprises a plug and a damping member, the plug is sleeved on the outer periphery of the one-way bearing; the damping member is arranged between the plug and the rotation-stopping slider.

33. The side brush mechanism of claim 32, wherein, The lifting assembly comprises a bottom cover fixing block; the bottom cover fixing block is sleeved on the outer periphery of the one-way bearing and is fixedly connected with the bottom cover; the second brush is arranged between the bottom cover fixing block and the bottom cover.

34. The side brush mechanism of claim 33, wherein, The rotation-stopping slider has a hollow inner ring, the inner ring is provided with a plurality of grooves, one end of the bottom cover fixing block close to the bottom cover is provided with a plurality of protrusions, the number of the protrusions matches the number of the grooves, and in response to the protrusions of the bottom cover fixing block being fitted into the grooves of the rotation-stopping slider, the protrusions and the inner walls of the grooves have a gap.

35. A cleaning apparatus wherein, Comprising: a device body; the brush mechanism according to any one of claims 1-34, the brush mechanism being arranged on the device body.

36. The cleaning apparatus of claim 35, wherein, The cleaning device further comprises an identification device and a controller. The identification device is provided with at least one probe, the probe faces the walking direction of the cleaning device; The controller is electrically connected with the identification device and the driving device respectively.

37. A cleaning system wherein, The cleaning system comprises the cleaning device according to any one of claims 35-36. The cleaning system comprises the cleaning device according to any one of claims 35-36.

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