Cleaning module and cleaning device

Abstract

Provided are a cleaning module (1000) and a cleaning device. The cleaning module (1000) comprises a cleaning member (100), an actuating member (200) and a first driving assembly (400). The actuating member (200) is in transmission connection with the cleaning member (100). The first driving assembly (400) is configured to drive the actuating member (200) to rise and lower to make the cleaning member (100) switch between a raised state, a first cleaning state and a second cleaning state. When the cleaning member (100) is in the raised state, the cleaning member (100) is lifted off the floor (A). When the cleaning member (100) is in the first cleaning state, the cleaning member (100) comes into contact with the floor (A). When the cleaning member (100) is in the second cleaning state, the cleaning member (100) comes into contact with the floor (A) and applies a greater downward pressure on the floor (A) than in the first cleaning state.

Description

Cleaning module and cleaning device Cross-reference to related applications

[0001] The present application claims priority to the Chinese Patent Application No. 2024110356035, filed on July 30, 2024, entitled "Cleaning Module and Cleaning Device", and the Chinese Patent Application No. 2024218291388, filed on July 30, 2024, entitled "Cleaning Module and Cleaning Device", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning devices, in particular to a cleaning module and a cleaning device. BACKGROUND

[0003] A cleaning device is a common intelligent cleaning appliance, such as a robot vacuum cleaner, an automatic sweeper, etc., which can automatically travel and clean the ground. SUMMARY

[0004] The present application provides a cleaning module and a cleaning device.

[0005] In a first aspect of the present application, a cleaning module is provided, comprising:

[0006] a cleaning member;

[0007] an execution member in driving connection with the cleaning member;

[0008] a first driving assembly for driving the execution member to lift and lower, so as to switch the cleaning member between a lifted state, a first cleaning state and a second cleaning state; when the cleaning member is in the lifted state, the cleaning member is separated from the ground; when the cleaning member is in the first cleaning state, the cleaning member is in contact with the ground; when the cleaning member is in the second cleaning state, the cleaning member is in contact with the ground and has a greater downward pressure on the ground than in the first cleaning state.

[0009] In some embodiments, during the process of switching from the lifted state to the first cleaning state and the second cleaning state by lowering the cleaning member driven by the first driving assembly, the height of the output end of the first driving assembly relative to the ground gradually decreases.

[0010] In some embodiments, the first driving assembly comprises a first power element and a screw lifting mechanism, the first power element is configured to output torque, an input component of the screw lifting mechanism is configured to transmit the torque output by the first power element, and an output component of the screw lifting mechanism is configured to move together with the execution member in the lifting direction.

[0011] In the process of switching from the lifting state to the first cleaning state and the second cleaning state under the driving of the output component to lower the cleaning member, the height of the output component relative to the input component gradually decreases.

[0012] In some embodiments, the output component is an output screw sleeve sleeved on the execution member; and the input component is an input screw sleeve sleeved on the output screw sleeve.

[0013] In some embodiments, the cleaning module further comprises a housing, and the screw lifting mechanism and the execution member are both installed in an inner cavity of the housing; and the output component is arranged to move relative to the housing in the lifting direction and to be relatively stationary with the housing in the rotating direction.

[0014] In some embodiments, the output component is provided with a first rotation-stopping part; and the housing is provided with a second rotation-stopping part which is in contact with the first rotation-stopping part in the rotating direction.

[0015] In some embodiments, the first driving assembly further comprises a first transmission assembly for transmitting the torque output by the first power element to the input component of the screw lifting mechanism.

[0016] In some embodiments, the first transmission assembly comprises a plurality of transmission gears, and an output gear in the first transmission assembly for outputting torque is sleeved on the input component of the screw lifting mechanism.

[0017] In some embodiments, the first power element is arranged below the first transmission assembly and is arranged side by side with the execution member; and the output shaft of the first power element is parallel to the rotation axes of the execution member and the cleaning member.

[0018] In some embodiments, the cleaning module further comprises a second driving assembly for driving the cleaning member to rotate, and an output end of the second driving assembly is arranged to move relative to the execution member in the lifting direction and to rotate together with the execution member in the rotating direction; and an output end of the first driving assembly is arranged to rotate relative to the execution member in the rotating direction and to move together with the execution member in the lifting direction.

[0019] In some embodiments, the second driving assembly comprises a second power element and a rotation transmission member driven by the second power element, and the rotation transmission member is arranged to move relative to the execution member in the lifting direction and to rotate together with the execution member in the rotating direction.

[0020] In some embodiments, the execution member or the rotation transmission member is provided with a relative convex structure which limits the relative rotation of the rotation transmission member and the execution member.

[0021] In some embodiments, the relative convex structure is a structure that is convex outward and / or concave inward relative to the part body; there is more than one relative convex structure; when there are more than two relative convex structures, the more than two relative convex structures are spaced apart along the rotation direction.

[0022] In some embodiments, the execution member is provided with a first prism, the rotation transmission member is provided with a first prism-shaped inner cavity, the rotation transmission member is slidably sleeved on the first prism, and the edges of the first prism constitute the relative convex structure.

[0023] In some embodiments, the first prism and the rest of the execution member form a limiting shaft shoulder, the rotation transmission member is a gear provided with the prism-shaped inner cavity, the gear is slidably sleeved on the first prism and limited by the limiting shaft shoulder.

[0024] In some embodiments, the second driving assembly further comprises a second transmission assembly for transmitting the torque output by the second power element to the rotation transmission member.

[0025] In some embodiments, the second transmission assembly comprises a reversing transmission mechanism, and the output shaft of the second power element is connected to the reversing transmission mechanism so that the output shaft of the second power element is perpendicular to the rotation axes of the execution member and the cleaning member.

[0026] In some embodiments, the cleaning module further comprises a housing, at least part of the first driving assembly, at least part of the second driving assembly, and the execution member are all installed in the inner cavity of the housing.

[0027] In some embodiments, the inner cavity of the housing is divided into a first chamber and a second chamber; the execution member penetrates through the bottom wall of the first chamber and extends into the second chamber; the output end of the second driving assembly is arranged in the first chamber; and the output end of the first driving assembly is arranged in the second chamber.

[0028] In some embodiments, the first housing comprises an upper cover, a middle housing, and a bottom housing connected in sequence, the upper cover and the middle housing jointly define the first chamber, and the middle housing and the bottom housing jointly define the second chamber; and the output end of the first driving assembly is rotationally limited by the middle housing.

[0029] In some embodiments, the cleaning module further comprises a first housing, a second housing, a third housing, and a swing assembly installed on the third housing; at least part of the first driving assembly and the execution member are installed on the first housing to form a cleaning assembly; the second housing is sleeved on the first housing; the cleaning assembly is driven by the swing assembly to swing in the second housing.

[0030] In some embodiments, the swing assembly comprises:

[0031] a first cam connected with the first housing, and the connection between the first cam and the first housing is arranged in a staggered manner relative to the rotation axis of the execution member and the cleaning member;

[0032] a third power element installed on the third housing;

[0033] a second cam for transmitting the power of the third power element, the second cam interacts with the first cam under the drive of the third power element to switch the first housing between the first position and the second position.

[0034] In some embodiments, the execution member and the cleaning member are detachably connected.

[0035] In some embodiments, the execution member is arranged to move relative to the cleaning member in the lifting direction and is relatively stationary to the cleaning member in the rotating direction; an elastic member is arranged in the execution member and / or the cleaning member, and the elastic member is compressed when the relative distance between the execution member and the cleaning member is reduced.

[0036] In some embodiments, the execution member comprises a sleeve part with a prismatic inner cavity; the cleaning member is provided with a second prism which is liftable into the sleeve part.

[0037] In some embodiments, a mounting cover, a first magnetic attraction member, and a second magnetic attraction member are arranged between the execution member and the cleaning member; the second prism is a hollow structure, the mounting cover and the elastic member are arranged in the cavity of the second prism, the first magnetic attraction member is installed in the mounting cover and above the elastic member, and the second magnetic attraction member is arranged in the sleeve part and is attracted to the first magnetic attraction member.

[0038] In some embodiments, the cleaning member is provided with an avoiding cavity, and the sleeve part extends into the avoiding cavity.

[0039] In the second aspect of the present application, a cleaning device is provided, comprising the cleaning module of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application. Those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0041] Fig. 1 shows a structural schematic diagram of a cleaning module according to one or more embodiments of the present application.

[0042] Fig. 2A shows a structural schematic diagram of the cleaning module in a lifting state according to one or more embodiments of the present application.

[0043] Fig. 2B shows a structural schematic diagram of the cleaning module in a first cleaning state according to one or more embodiments of the present application.

[0044] Fig. 2C shows a structural schematic diagram of the cleaning module in a second cleaning state according to one or more embodiments of the present application.

[0045] Fig. 3 shows a structural schematic diagram of a cleaning assembly of the cleaning module according to one or more embodiments of the present application.

[0046] Fig. 4 shows a front view of the cleaning module of Fig. 3.

[0047] Fig. 5 shows an A-A sectional view of the cleaning module of Fig. 4.

[0048] Fig. 6 shows an assembly structure diagram of an executing member, a first driving assembly and a second driving assembly in the cleaning module of Fig. 1.

[0049] Fig. 7 shows an assembly structure diagram of the first driving assembly in the cleaning module of Fig. 1.

[0050] Fig. 8A shows a structural schematic diagram of the executing member in the cleaning module of Fig. 1.

[0051] Fig. 8B shows a full sectional structure diagram of the executing member of Fig. 8A.

[0052] Fig. 9A shows a structural schematic diagram of an output screw sleeve in the cleaning module of Fig. 1.

[0053] Fig. 9B shows a front view of the output screw sleeve of Fig. 9A.

[0054] Fig. 9C shows a top view of the output screw sleeve of Fig. 9A.

[0055] Fig. 10 shows an assembly structure diagram of the output screw sleeve and a middle shell in the cleaning module of Fig. 1.

[0056] Fig. 11A shows a structural schematic diagram of a cleaning member in the cleaning module of Fig. 1.

[0057] FIG. 11B shows a top view of the cleaning member of FIG. 11A.

[0058] FIG. 11C shows a B-B sectional view of the cleaning member of FIG. 11B.

[0059] FIG. 11D shows an enlarged view of C of FIG. 11C.

[0060] FIG. 12 shows a structural schematic view of a cleaning module according to some embodiments of the present application.

[0061] FIG. 13 shows an exploded view of the cleaning module of FIG. 12.

[0062] FIG. 14 shows a structural schematic view of a swing assembly in the cleaning module of FIG. 12.

[0063] FIG. 15 shows a swing position schematic view of the cleaning module of FIG. 12.

[0064] BRIEF DESCRIPTION OF THE DRAWINGS: 1000 - cleaning module; 1100 - cleaning assembly; 100 - cleaning member; 110 - skeleton; 111 - second prism; 112 - avoiding cavity; 113 - limiting groove; 120 - cleaning part; 130 - elastic member; 140 - mounting cover; 141 - limiting protrusion; 150 - first magnetic attraction member; 160 - second magnetic attraction member; 200 - execution member; 210 - first prism; 211 - limiting shaft shoulder; 220 - sleeve part; 221 - second prism-shaped inner cavity; 300 - second driving assembly; 310 - second power element; 320 - rotation transmission member; 321 - first prism-shaped inner cavity; 330 - second transmission assembly; 331 - worm; 332 - worm wheel; 400 - first driving assembly; 410 - first power element; 420 - screw lifting mechanism; 421 - input screw sleeve; 421a - input component; 422 - output screw sleeve; 422a - output component; 4221 - first rotation-stopping part; 4222 - outer protrusion; 4223 - helical tooth; 430 - first transmission assembly; 431 - output gear; 500 - housing; 501 - first cavity; 502 - second cavity; 510 - first housing; 511 - upper cover; 512 - middle housing; 513 - bottom housing; 514 - second rotation-stopping part; 520 - second housing; 530 - third housing; 600 - swing assembly; 610 - third power element; 620 - third transmission assembly; 621 - first cam; 6211 - swing arm; 622 - second cam; 630 - return spring. DETAILED DESCRIPTION

[0065] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0066] In addition, reference numbers and / or reference letters can be repeated in different examples in the present application, and such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can realize the application of other processes and / or the use of other materials.

[0067] The cleaning device in the related art is generally suitable for a set cleaning scene, for example, a household mop can only clean ordinary stains: dust, spilled liquid, etc., but it is difficult to clean dry stains, heavy oil stains, etc., and usually needs to be cleaned again with manual work. The reason is that the cleaning device in the related art usually only has two working modes: a lifting state and a cleaning state, and the cleaning device has a constant down pressure in the cleaning state, so it can only clean ordinary stains, and cannot remove stubborn stains that require greater cleaning down pressure.

[0068] Therefore, according to the cleaning module and the cleaning device according to one or more embodiments of the present application, the down pressure during cleaning can be automatically adjusted, at least to some extent, to clean stubborn stains and meet different cleaning needs. The present application will be described in detail below with reference to specific embodiments and drawings.

[0069] In the first aspect of the present application, a cleaning module 1000 is provided. Please refer to FIG. 1, FIG. 2A, FIG. 2B and FIG. 2C, which respectively show the overall structure diagram of the cleaning module 1000 and the structure schematic diagram in different working states. The cleaning module 1000 comprises a cleaning piece 110, an executing piece 200 and a first driving assembly 400, the executing piece 200 is in transmission connection with the cleaning piece 110, and the first driving assembly 400 acts on the cleaning piece 110 through the executing piece 200 to realize the lifting of the cleaning piece 110. The cleaning piece 110 can be a mop, a sweeping roller brush, a rotating sweeping brush, etc., which is not limited by the present application. The first driving assembly 400 can drive the cleaning piece 110 to vertically lift or obliquely lift, which can realize the height change of the cleaning piece 110 relative to the ground A, and the first driving assembly 400 can adopt any device providing lifting movement in the prior art, and the specific structure is not limited by the present application.

[0070] The cleaning piece 100 is lifted to different heights, and the downward pressure on the ground is different, corresponding to different working states: a lifting state, a first cleaning state, and a second cleaning state. When the cleaning piece 100 is in the lifting state, as shown in FIG. 2A, the cleaning piece 100 is separated from the ground A, and the lifting state is suitable for the movement of the cleaning equipment provided with the cleaning module in a non-cleaning demand (for example, the movement of returning to the post for self-cleaning after cleaning is completed), so that the cleaning piece 100 can avoid obstacles on the ground A. When the cleaning piece 100 is in the first cleaning state, as shown in FIG. 2B, the cleaning piece 100 is in contact with the ground A, and at this time, the cleaning piece 100 normally cleans the ground A. When the cleaning piece 100 is switched from the first cleaning state to the second cleaning state, the cleaning piece 100 is in contact with the ground A and has a tendency to move further towards the ground A. When the cleaning piece 100 is in the second cleaning state, as shown in FIG. 2C, the cleaning piece 100 can still normally clean the ground A in the second cleaning state, but the downward pressure on the ground A is greater than that in the first cleaning state, which can clean stubborn stains such as dried stains and heavy oil stains, and improve the cleaning effect.

[0071] It can be understood that when the cleaning piece 100 is in the first cleaning state and the second cleaning state, the cleaning piece 100 is in contact with the ground A, and the height of the cleaning piece 110 relative to the ground A does not change, and the difference lies in that the downward pressure of the cleaning piece 100 on the ground A is different. Specifically, when the cleaning piece 100 is in the second cleaning state, the cleaning piece 100 has a tendency to move further towards the ground A, but is blocked by the ground A and cannot continue to descend, so that the cleaning piece 100 forms a greater downward pressure on the ground A, and when the cleaning piece 100 moves relative to the ground A, a greater friction force is formed between the cleaning piece 100 and the ground A, which can clean stubborn stains such as dried stains and heavy oil stains, thereby achieving a better cleaning effect.

[0072] It should be noted that the height of the cleaning piece 110 relative to the ground A in the present application refers to the ground clearance H of the cleaning piece 100 as a whole, rather than the height of the cleaning piece 100 relative to the ground A. After the cleaning piece 110 is in contact with the ground A, the ground clearance H thereof is zero. In some embodiments, the cleaning piece 100 is a compressible article such as a mop or a sponge, and when the cleaning piece 100 is in the first cleaning state and the second cleaning state, the compression degree of the compressible article is different, and the height h of the upper surface of the cleaning piece 100 relative to the ground A is also different. Specifically, the height h1 of the upper surface of the cleaning piece 100 relative to the ground A when the cleaning piece 100 is in the first cleaning state is greater than the height h2 of the upper surface of the cleaning piece 100 relative to the ground A when the cleaning piece 100 is in the second cleaning state, as shown in FIGS. 2B and 2C.

[0073] In the present application, the ground clearance H and the ground pressure of the cleaning member 110 in the lifted state, the first cleaning state and the second cleaning state can be determined according to actual needs, and can be a fixed value, a numerical interval or a numerical set, which is not limited in the present application.

[0074] In some embodiments, the ground clearance H and the ground pressure of the cleaning member 110 in the lifted state and the first cleaning state are determined values, and the ground pressure of the cleaning member 110 in the second cleaning state can be infinitely adjusted, that is, the ground pressure F of the cleaning member 110 in the second cleaning state is a numerical interval, F0≤F≤Fmax, wherein F0 is the ground pressure of the cleaning member 110 in the first cleaning state, and Fmax is the ground pressure of the cleaning member 110 in the maximum downward stroke. In some embodiments, the ground pressure of the cleaning member 110 in the second cleaning state is a numerical set, that is, the cleaning member 110 has multiple powerful cleaning gears in the second cleaning state, and different powerful cleaning gears correspond to different ground pressures.

[0075] In some embodiments, during the process of the cleaning member 100 being driven by the first driving assembly 400 to descend from the lifted state to the first cleaning state and then to the second cleaning state, the height of the output end of the first driving assembly 400 relative to the ground A gradually decreases. That is, the output of the first driving assembly 400 is continuous descent or ascent, so that the consumer can stop the cleaning member 110 from lifting at any position according to actual needs, thereby realizing the infinitely adjustable ground pressure of the cleaning member 110 from zero to the maximum ground pressure. The conventional cylinder, electric telescopic rod and other linear motion mechanisms can realize this function, so the specific structure of the first driving assembly 400 is not limited in the present application.

[0076] Please refer to FIG. 3 and FIG. 4, in some embodiments, the first driving assembly 400 includes a first power element 410, which can output torque to drive the execution member 200 to rotate and lift; in some embodiments, the first power element 410 can output force to drive the execution member 200 to move linearly to realize lifting. The output end of the first driving assembly 400 is rotationally connected with the execution member 200, for example, a bearing or a sliding block and slot structure is used to form a rotary pair, so that the execution member 200 can still rotate when the first driving assembly 400 drives the execution member 200 to lift.

[0077] Please refer to FIG. 3, FIG. 4 and FIG. 5, in some embodiments, the first driving assembly 400 comprises a first power element 410 and a screw lifting mechanism 420, the first power element 410 is used to output torque to drive the lifting of the execution member 200. The screw lifting mechanism 420 has an input component 421a and an output component 422a, the input component 421a is used to transmit the torque output by the first power element 410, the input component 421a is screw-fitted with the output component 422a in the process of transmitting power, when the input component 421a and the output component 422a rotate relative to each other, the input component 421a and the output component 422a will also form a relative movement in the direction of the rotation axis a at the same time, thereby converting the torque into lifting movement. The output component 422a moves together with the execution member 200 in the lifting direction, which can be that the output component 422a and the execution member 200 are limit set (such as abutting limit) or fixedly connected in the lifting direction, the output component 422a lifts and moves together with the execution member 200 and the cleaning member 100. When the input component 421a is limit set in the axial direction of the rotation axis a, the input component 421a only rotates, and the output component 422a only moves axially. In some embodiments, the output component 422a and the execution member 200 are limit set in the lifting direction, so that the output component 422a can drive the execution member 200 to lift together. The output component 422a and the execution member 200 are screw-fitted in the rotation direction, when the execution member 200 rotates, the output component 422a will not rotate with it. In short, the input component 421a only rotates, the output component 422a only lifts and moves, and the execution member 200 can rotate and lift.

[0078] The screw-fitting can realize high stepless adjustment, in the process that the cleaning member 100 is gradually lowered from the highest position by the output component 422a, the cleaning member 100 is switched from the lifting state to the first cleaning state, and from the first cleaning state to the second cleaning state, the height of the output component 422a relative to the input component 421a is gradually lowered. That is to say, when the cleaning member 100 is in different working states, the height of the output component 422a relative to the input component 421a is different.

[0079] Referring to FIG. 5, the specific structure of the screw lifting mechanism 420 in some embodiments is shown, which includes an input screw sleeve 421 and an output screw sleeve 422. The input screw sleeve 421 serves as an input component 421a; the output screw sleeve 422 is rotatably sleeved on the execution member 200 and serves as an output component 422a. The outer surface of the output screw sleeve 422 is provided with a helical protrusion, and the cavity wall of the inner cavity of the input screw sleeve 421 is provided with a helical groove. The output screw sleeve 422 is arranged in the inner cavity of the input screw sleeve 421, and the helical protrusion of the output screw sleeve 422 is embedded in the helical groove of the input screw sleeve 421 to form a helical rotation pair. The total lift of the helical groove of the input screw sleeve 421 should be greater than the maximum lifting stroke required by the execution member 200 to meet the lifting requirements of the cleaning member 110.

[0080] In some embodiments, the cleaning module 1000 further includes a housing 500, and the execution member 200 and the first driving assembly 400 are both fixedly installed through the housing 500. The screw lifting mechanism 420 and the execution member 200 can be both installed in the inner cavity of the housing 500, and the first power element 410 is installed outside the housing 500, as shown in FIGS. 1 and 6.

[0081] In some embodiments, the output component 422a is arranged to move relative to the housing 500 in the lifting direction and is relatively stationary with the housing 500 in the rotation direction. The output component 422a is rotationally limited by the housing 500, which limits the rotation of the output component 422a, so that the input component 421a and the output component 422a of the screw lifting mechanism 420 can relatively rotate. The output component 422a and the housing 500 can be rotationally limited by a snap structure, a threaded fastener, a pin shaft, etc., and the specific structure is not limited by the present application.

[0082] Referring to FIG. 5, in some embodiments, the output screw sleeve 422 is provided with a first rotation stopping portion 4221, and the housing 500 is provided with a second rotation stopping portion 514. The first rotation stopping portion 4221 and the second rotation stopping portion 514 abut in the rotation direction to rotationally limit the output screw sleeve 422. To improve the rotation limiting effect, multiple first rotation stopping portions 4221 and second rotation stopping portions 514 can be provided, and the multiple first rotation stopping portions 4221 and second rotation stopping portions 514 are distributed along the rotation direction.

[0083] In some embodiments, the first rotation-stopping part 4221 can be a hole formed on the output sleeve 422, and the second rotation-stopping part 514 can be a rod inserted into the hole. In other embodiments, as shown in FIGS. 9A, 9B and 9C, the outer surface of the output sleeve 422 is provided with three or more outer convex parts 4222 distributed along the circumference, and the outer convex parts 4222 are provided with outer convex helical teeth 4223, and the helical teeth 4223 of each outer convex part 4222 are located on the same helical curve, which is also the helical curve of the helical groove of the sleeve. The first rotation-stopping part 4221 is formed between two adjacent outer convex parts 4222. Referring to FIG. 10, the housing 500 is provided with three or more second rotation-stopping parts 514 distributed along the circumference, and the second rotation-stopping parts 514 are in the form of circular-arc pipe pieces, the circular-arc angle of the second rotation-stopping parts 514 is the same as the included angle between two adjacent outer convex parts 4222, and the second rotation-stopping parts 514 are embedded between two adjacent outer convex parts 4222 to limit the rotation of the housing 500 and the output sleeve 422.

[0084] In some embodiments, the first driving assembly 400 further comprises a first transmission assembly 430 for transmitting the torque output by the first power element 410 to the input member 421a of the helical lifting mechanism 420. The first transmission assembly 430 can be used only for transmitting torque, such as a spur gear; or can convert linear motion into torque for transmission, such as a gear and rack, and the specific structure is not limited by the present application.

[0085] Referring to FIG. 7, in some embodiments, the first transmission assembly 430 comprises a plurality of transmission gears, and the first transmission assembly 430 can realize the functions of speed increasing, speed reducing, reversing or torque increasing during the transmission of torque. The output gear 431 for outputting torque in the first transmission assembly 430 is sleeved on the input member 421a of the helical lifting mechanism 420, and the two can be connected by a key or interference fit to realize torque transmission.

[0086] Referring to FIGS. 5 and 7, in some embodiments, the first power element 410 is arranged below the first transmission assembly 430, which reasonably utilizes the idle area below the space where the first transmission assembly 430 is located, so that the structure of the entire cleaning module 1000 is more compact and smaller in size. Referring to FIGS. 5 and 7, in some embodiments, the first power element 410 is arranged side by side with the actuator 200, and the output shaft of the first power element 410 is parallel to the rotation axis a of the actuator 200 and the cleaning element 110.

[0087] In some embodiments, the cleaning member 110 needs to rotate in cooperation with cleaning, referring to FIG. 1, FIG. 3, FIG. 4 and FIG. 5, the cleaning module 1000 comprises the cleaning member 110, the execution member 200, the first driving assembly 400 and the second driving assembly 300, the execution member 200 is in transmission connection with the cleaning member 110, and the first driving assembly 400 and the second driving assembly 300 both act on the cleaning member 110 through the execution member 200 to realize the lifting and / or rotation of the cleaning member 110.

[0088] The output end of the first driving assembly 400 rotates relative to the execution member 200 in the rotation direction and moves together with the execution member 200 in the lifting direction. For example, the output sleeve 422 can be in rotation connection with the execution member 200 and is limited in the lifting direction, so that the execution member 200 can still rotate when the first driving assembly 400 drives the execution member 200 to lift. The output end of the second driving assembly 300 moves relative to the execution member 200 in the lifting direction and rotates together with the execution member 200 in the rotation direction. For example, the output end of the second driving assembly 300 can be in sliding connection with the execution member 200 in the lifting direction and is limited in the rotation direction. In the lifting direction of the execution member 200 and the cleaning member 100, the output end of the second driving assembly 300 can move relative to the execution member 200, but the output end of the second driving assembly 300 cannot move relative to the execution member 200 in the rotation direction but rotates together with the execution member 200. When the second driving assembly 300 drives the execution member 200 and the cleaning member 100 to rotate, since the output end (for example, the output sleeve 422 in some embodiments) of the first driving assembly 400 is in rotation connection with the execution member 200, the first driving assembly 400 will not interfere with the rotation of the execution member 200, so that the lifting movement and the rotation movement of the cleaning member 110 do not interfere with each other.

[0089] Referring to FIG. 5, the rotation axis a of the cleaning member 110 is the central axis of the cleaning member 110, and the lifting direction of the cleaning member 110 can be parallel to the rotation axis a of the rotation movement of the cleaning member 110. In some embodiments, the lifting direction of the cleaning member 110 can also be arranged at an angle to the rotation axis a of the cleaning member 110, for example, the lifting direction of the cleaning member 110 is perpendicular to the rotation axis a of the cleaning member 110. The specific movement direction of the cleaning member 110 is not limited in the application.

[0090] Please refer to FIG. 5, FIG. 6 and FIG. 7, in some embodiments, the second driving assembly 300 comprises a second power element 310 and a rotating transmission member 320, the second power element 310 outputs torque, which acts on the rotating transmission member 320 to drive the rotating transmission member 320 to rotate. The rotating transmission member 320 is in sliding fit with the execution member 200 in the lifting direction of the execution member 200 and the cleaning member 110, that is, along the lifting direction of the execution member 200 and the cleaning member 110, the rotating transmission member 320 and the execution member 200 can be relatively displaced. At the same time, the rotating transmission member 320 is limitingly arranged with the execution member 200 in the rotating direction of the execution member 200 and the cleaning member 110, that is, along the rotating direction of the execution member 200 and the cleaning member 110, the rotating transmission member 320 and the execution member 200 cannot relatively move but jointly rotate, so that the second power element 310 can drive the execution member 200 and the cleaning member 110 to rotate through the rotating transmission member 320.

[0091] Thus, the execution member 200 and the cleaning member 110 have the following three motion states.

[0092] a) Only lifting: the first power element 410 drives the execution member 200 to ascend or descend, and in the lifting process of the execution member 200, the rotating transmission member 320 does not move in the lifting direction. When the execution member 200 drives the cleaning member 110 to descend, the pressing force of the cleaning member 110 can be adjusted, so as to increase the cleaning strength of the cleaning member 110 on the ground A, and stubborn stains can be cleaned to a certain extent, and the use scenario is expanded. When the execution member 200 drives the cleaning member 110 to ascend, the height of the cleaning member 110 can be adjusted, so that the cleaning member 110 avoids the obstacles on the ground A, and the obstacle crossing ability of the cleaning equipment provided with the cleaning module 1000 can be improved to a certain extent.

[0093] b) Only rotating: the second power element 310 drives the execution member 200 and the cleaning member 110 to rotate through the rotating transmission member 320, and the output end of the first driving assembly 400 is rotationally connected with the execution member 200, so that the execution member 200 can rotate relative to the first driving assembly 400, and in turn drives the cleaning member 110 to rotate, so as to clean the ground A, for example, mop the ground. The cleaning equipment provided with the cleaning module 1000 can realize point cleaning, and for the case that heavy stains appear locally on the ground A, the cleaning equipment only needs to travel above the heavy stains, and then the cleaning member 110 is driven to rotate by the second power element 310, so as to clean the heavy stains, without the need of the cleaning equipment to travel back and forth to clean.

[0094] c) Simultaneous rotation and lifting: during the rotation of the cleaning member 110 of the cleaning module 1000 to clean the ground A, the first power element 410 can simultaneously drive the execution member 200 to descend, so as to adjust the pressing force of the cleaning member 110; or when encountering an obstacle or an object that needs to be avoided (for example, when walking on a carpet, the mop needs to be avoided from staining the carpet), the first power element 410 can simultaneously drive the execution member 200 to ascend, so as to increase the ground clearance of the execution member 200.

[0095] Since the cleaning member 110 can achieve a better cleaning effect during rotation, the cleaning member 100 rotates in the first cleaning state and the second cleaning state. Since the cleaning member 100 is separated from the ground A and cannot clean the ground in the lifting state, the cleaning member 100 does not rotate in this state. The cleaning member 100 can also be set not to rotate during the process of switching from the lifting state to the first cleaning state and the process of switching from the first cleaning state to the lifting state. In addition, the cleaning member 100 can also be set not to rotate during the obstacle crossing process. The cleaning member 100 not rotating not only reduces energy consumption, but also avoids the sewage in the cleaning member 100 from being thrown out under the action of centrifugal force and staining the ground A.

[0096] The rotation transmission member 320 rotates together with the execution member 200, and the rotation transmission member 320 and the execution member 200 need to be limited in the rotation direction. In some embodiments, the execution member 200 or the rotation transmission member 320 is provided with a relative outer convex structure, which limits the relative rotation of the rotation transmission member 320 and the execution member 200 and allows the relative rotation of the rotation transmission member 320 and the execution member 200 in the lifting direction. The relative outer convex structure can be a structure such as a sliding block, a key, an edge of a prism, which is convex relative to the part body, or a structure such as a limiting groove, a local recess, which is concave relative to the part body, and the specific structure is not limited in the present application. The number of relative outer convex structures is more than one. When the number of relative outer convex structures is more than two, the two or more relative outer convex structures are distributed along the rotation direction, so that the force between the rotation transmission member 320 and the execution member 200 is uniform, and the rotation stability of the execution member 200 is improved.

[0097] Please refer to FIG. 8A and FIG. 8B. In some embodiments, one of the execution member 200 and the rotation transmission member 320 is provided with a prism, and the other is provided with a sliding sleeve, the inner cavity of the sliding sleeve is prism-shaped and has the same shape as the prism. The sliding sleeve is sleeved on the prism, and the edges of the prism constitute the outer convex structure. Since the inner cavity of the sliding sleeve has the same shape as the prism, the sliding sleeve and the prism can slide relative to each other in the lifting direction. The sliding sleeve can be a sleeve structure with both ends penetrating through, or a sliding groove structure with one end closed, and the present application is not limited thereto.

[0098] In some embodiments, as shown in FIGS. 8A and 8B, the execution member 200 is provided with a first prism 210, which can be a three-prism, a four-prism, a six-prism, etc. The rotation transmission member 320 is a gear provided with a prism-shaped inner cavity 221, which penetrates the gear, and the gear is slidably sleeved on the first prism 210. The height of the first prism 210 should be greater than the designed maximum lifting stroke of the cleaning member 110. In some embodiments, the rest of the execution member 200 except the first prism 210 is greater than the outer contour of the first prism 210, so that the first prism 210 and the rest of the execution member 200 form a limiting shaft shoulder 211, as shown in FIG. 8A. The rotation transmission member 320 is slidably sleeved on the first prism 210 and limited by the limiting shaft shoulder 211, which limits the lowest position of the rotation transmission member 320 relative to the first prism 210, corresponding to the maximum upward position of the cleaning member 100.

[0099] In other embodiments, one of the execution member 200 and the rotation transmission member 320 is provided with a sliding block, and the other is provided with a sliding groove, the sliding block is slidably embedded in the sliding groove in the lifting direction, and the sliding block constitutes an outward convex structure. The sliding block can slide in the sliding groove in the lifting direction, and when the rotation transmission member 320 rotates, the groove wall of the sliding groove contacts the sliding block, and the entire execution member 200 is pushed to rotate by the sliding block. To ensure uniform stress, multiple sliding blocks can be provided, and the multiple sliding blocks are distributed in the rotation direction.

[0100] In some embodiments, the second driving assembly 300 further comprises a second transmission assembly 330 for transmitting the torque output by the second power element 310 to the rotation transmission member 320, and the second transmission assembly 330 can realize functions such as speed increasing, speed reducing, reversing, torque increasing, etc. during torque transmission. The second transmission assembly 330 comprises a reversing transmission mechanism, which can be any mechanism capable of realizing power direction conversion in the prior art, such as a worm gear mechanism, a bevel gear transmission mechanism, a belt transmission mechanism, etc. The output shaft of the second power element 310 is connected to the reversing transmission mechanism, which can make the axial direction of the output shaft of the second power element 310 be arranged at an angle with the axial direction of the rotation axis a of the execution member 200 and the cleaning member 110, facilitating the arrangement of the second power element 310.

[0101] Referring to FIG. 6, a structural diagram of the second driving assembly 300 employing a worm and gear mechanism to realize reversing in some embodiments is shown. The worm 331 of the worm and gear mechanism is fixedly connected or integrally formed with the output shaft of the second power element 310. Torque is transmitted from the worm 331 to the worm gear 332, and then transmitted to the second power element 310 through a plurality of intermediate transmission gears. Since the rotation axis a of the worm gear 332 is perpendicular to that of the worm 331, and the intermediate transmission gears are all straight gears, the output shaft of the second power element 310 is perpendicular to the rotation axis a of the execution element 200 and the cleaning element 110. Therefore, the second power element 310 can be arranged at a position away from the execution element 200, avoiding the movement space of the cleaning element 110.

[0102] In some embodiments, the cleaning module 1000 further comprises a housing 500, and the execution element 200, the first driving assembly 400 and the second driving assembly 300 are fixedly installed through the housing 500. At least part of the first driving assembly 400, at least part of the second driving assembly 300 and the execution element 200 are all installed in the inner cavity of the housing 500.

[0103] Referring to FIG. 5, the housing 500 is provided with a first chamber 501 and a second chamber 502. The execution element 200 penetrates through the bottom wall of the first chamber 501 and extends into the second chamber 502. The output end of the second driving assembly 300 is arranged in the first chamber 501 and in transmission connection with the part of the execution element 200 located in the first chamber 501, so as to transmit torque. The output end (for example, the screw lifting mechanism 420 in some embodiments) of the first driving assembly 400 is arranged in the second chamber 502 and is arranged in the lifting direction with the part of the execution element 200 located in the second chamber 502, so as to transmit lifting power.

[0104] The shell 500 of the cleaning module 1000 can be a one-piece structure or a split structure, and the specific form is not limited by the present application. Referring to FIG. 1, in some embodiments, the shell 500 of the cleaning module 1000 includes a first shell 510 and a second shell 520, and the first shell 510 is provided with a first cavity 501 and a second cavity 502. The execution member 200, the first driving assembly 400, and the rotary transmission member 320 are all mounted to the first shell 510, and the second power element 310 is mounted to the second shell 520. The second power element 310 needs to output a large torque because it needs to drive the execution member 200 and the cleaning member 110 to rotate to clean the ground A, while the first power element 410 only works when the height of the cleaning member 110 needs to be adjusted, so the output power is relatively small compared with the second power element 310, and the volume of the first power element 410 is relatively small, which can be mounted together with the execution member 200 and the rotary transmission member 320 to the first shell 510. The volume of the second power element 310 is relatively large, and it is mounted to the second shell 520 so as not to interfere with the assembly and movement of the first shell 510 and the parts mounted thereon.

[0105] In the case where the second driving assembly 300 further includes a second transmission assembly 330, the second transmission assembly 330 is also mounted to the second shell 520. Referring to FIG. 1, in some embodiments, the second shell 520 is sleeved outside the first shell 510, and the second transmission assembly 330 is encapsulated inside the second shell 520 and located outside the first shell 510.

[0106] The first shell 510 can be provided as a one-piece structure or a split structure, and the present application does not limit it. Referring to FIGS. 4 and 5, in some embodiments, the first shell 510 includes an upper cover 511, a middle shell 512, and a bottom shell 513 connected in sequence, and a second rotation-stopping part 514 is arranged on the middle shell 512. The rotary transmission member 320 is encapsulated in the first cavity 501 formed by the upper cover 511 and the middle shell 512, the execution member 200 penetrates through the middle shell 512 and is located in the cavity enclosed by the upper cover 511, the middle shell 512, and the bottom shell 513. In the case where the first driving assembly 400 further includes a first transmission assembly 430, the first transmission assembly 430 is encapsulated in the second cavity 502 enclosed by the inside of the bottom shell 513 and the middle shell 512. The middle shell 512 is provided with a second rotation-stopping part 514 for rotation limiting of the output member 422a of the spiral lifting mechanism 420, as shown in FIG. 10.

[0107] The execution member 200 and the cleaning member 110 can be fixedly connected to transmit power, for example, fixedly connected by welding, threaded fastener connection, key connection, interference fit, etc. The execution member 200 and the cleaning member 110 can also be detachably connected, as long as power can be transmitted, and the specific connection manner is not limited by the present application. Please refer to FIG. 2B and FIG. 2C, in some embodiments, the execution member 200 and the cleaning member 110 are detachably connected, the execution member 200 and the cleaning member 110 can be detached, and after being connected, they can rotate and lift together. The execution member 200 and the cleaning member 110 can be detachably connected through buckle structure, magnetic attraction structure, threaded fastener, etc. The specific connection manner is not limited by the present application.

[0108] Please refer to FIG. 5, FIG. 11C and FIG. 11D, in some embodiments, the execution member 200 and the cleaning member 110 move relative to each other in the lifting direction and are relatively static in the rotating direction. That is, after being connected, the execution member 200 and the cleaning member 110 can rotate together and lift relative to each other. The execution member 200 and / or the cleaning member 100 is provided with an elastic member 130, and the relative distance between the execution member 200 and the cleaning member 110 is reduced to compress the elastic member 130. That is, at least when the cleaning member 100 is in the second cleaning state, the elastic member 130 is compressed. When the cleaning member 100 is in the lifting state and the first cleaning state, the elastic member 130 can be in a free state or a compressed state, which is not limited by the present application.

[0109] When the cleaning member 100 is in the lifting state, the cleaning member 100 is separated from the ground A, at this time, the execution member 200 and the cleaning member 110 are in transmission connection, and can rotate and move together. When the cleaning member 100 is in the first cleaning state and the second cleaning state, the cleaning member 100 is in contact with the ground A. If the downward pressure of the cleaning member 100 on the ground is greater than the elastic force of the elastic member 130, the execution member 200 will move downward relative to the cleaning member 110, so that the relative distance between them is reduced and the elastic member 130 is compressed. The restoring force of the elastic member 130 acts on the cleaning member 110, so that the ground pressure of the cleaning member 110 increases. Moreover, by arranging the elastic member 130, the cleaning member 110 can adapt to uneven ground during work, and it is convenient for the cleaning member 110 to pass through obstacles on the ground with a low height (the height is less than the maximum compression amount of the elastic member 130).

[0110] Please refer to FIG. 8A and FIG. 8B, in some embodiments, the execution member 200 includes a sleeve part 220 with a prismatic inner cavity 221, and the cleaning member 110 is provided with a second prism 111 matched with the prismatic inner cavity 221. The second prism 111 extends into the sleeve part 220, and through the cooperation of the second prism 111 and the prismatic inner cavity 221 of the sleeve part 220, the execution member 200 and the cleaning member 110 can rotate together.

[0111] Please refer to FIG. 5, FIG. 8D and FIG. 11D, which show the specific assembly structure of the execution member 200 and the cleaning member 110 in some embodiments. The second prism 111 is slidably extended into the sleeve part 220 along the lifting direction. The installation cover 140, the first magnetic attraction member 150 and the second magnetic attraction member 160 are arranged between the execution member 200 and the cleaning member 110. The second prism 111 is a hollow structure. The installation cover 140 is arranged in the cavity of the second prism 111. The first magnetic attraction member 150 is arranged in the installation cover 140. The second magnetic attraction member 160 is arranged in the sleeve part 220 of the execution member 200. The second magnetic attraction member 160 is attracted to the first magnetic attraction member 150, so that the execution member 200 and the cleaning member 110 are magnetically connected, and the cleaning member 110 is convenient to disassemble. When the execution member 200 rises, the cleaning member 110 rises under the action of the magnetic attraction force. The downward pressure of the cleaning member 110 gradually decreases and finally separates from the ground A with the rising of the execution member 200. In some embodiments provided with the elastic member 130, the elastic member 130 is arranged below the first magnetic attraction member 150. When the execution member 200 descends relative to the cleaning member 110, the installation cover 140 and the first magnetic attraction member jointly compress the elastic member 130, which is equivalent to that the transmission connection between the execution member 200 and the cleaning member 110 is still maintained when the execution member 200 descends relative to the cleaning member 110. It is ensured that the execution member 200 can descend relative to the cleaning member 110, and it is also ensured that the execution member 200 and the cleaning member 110 can be stably connected without loosening.

[0112] Please refer to FIG. 11C, which shows a sectional view of the cleaning member 110 in some embodiments. The inner wall of the second prism 111 is provided with a limiting groove 113. The outer surface of the installation cover 140 is provided with a limiting protrusion 141. The limiting protrusion 141 is arranged in the limiting groove 113 to form a buckle structure, which facilitates the installation of the first magnetic attraction member 150 and the installation cover 140.

[0113] Please refer to FIG. 11A, FIG. 11B and FIG. 11C. In some embodiments, the cleaning member 110 is provided with a concave avoiding cavity 112, and the execution member 200 is extended into the avoiding cavity 112. In some embodiments, the size of the first shell 510 is smaller than the size of the avoiding cavity 112, or the bottom profile of the first shell 510 is adapted to the profile of the avoiding cavity 112. At least when the cleaning member 100 is in the lifting state, the bottom of the first shell 510 is located in the avoiding cavity 112, as shown in FIG. 2A. On the one hand, the avoiding cavity 112 reduces the height size of the cleaning module 1000. On the other hand, the avoiding cavity 112 makes the assembly structure of the execution member 200 and the cleaning member 110 be covered by the cleaning member 110, so as to prevent foreign matters from entering the assembly structure. In some embodiments, the depth of the avoiding cavity 112 is greater than the maximum descending stroke of the execution member 200, so that the bottom of the first shell 510 is always located in the avoiding cavity 112.

[0114] The cleaning member 110 can be used for sweeping, mopping or both. Referring to FIGS. 11A and 11C, in some embodiments, the cleaning member 110 comprises a skeleton 110 for connecting with the executing member 200 and a cleaning part 120 for realizing the cleaning function. In some embodiments, the cleaning member 110 is in a disc structure, and the skeleton 110 and the cleaning part 120 are both circular. The center of the skeleton 110 is concave downward to form an avoiding cavity 112, and the cavity bottom of the avoiding cavity 112 is convex upward to form a second prism 111.

[0115] Referring to FIGS. 12 and 13, the overall structure and the exploded view of the cleaning module 1000 in some other embodiments are shown. The cleaning module 1000 further comprises a first housing 510, a second housing 520, a third housing 530 and a swinging assembly 600 installed on the third housing 530, at least part of the first driving assembly 400 and the executing member 200 are installed on the first housing 510, and the first driving assembly 400, the executing member 200, the cleaning member 110 and the first housing 510 together form a cleaning assembly 1100. The second housing 520 is sleeved outside the first housing 510, and the cleaning assembly 1100 is driven by the swinging assembly 600 to swing in the second housing 520, as shown in FIG. 15.

[0116] The swinging assembly 600 is used to drive the cleaning assembly 1100 formed by the first housing 510 and the parts installed thereon to swing. Referring to FIGS. 13 and 14, in some embodiments, the swinging assembly 600 comprises a third power element 610 installed inside or outside the third housing 530 and a third transmission assembly 620 for transmitting the swinging torque output by the third power element 610 to the first housing 510, so that the cleaning assembly 1100 swings around a swinging axis b which is misaligned with the rotating axis a of the cleaning member 110, and the cleaning area of the cleaning member 110 can be expanded without moving the cleaning equipment provided with the cleaning module 1000. In some embodiments, the swinging axis b is coaxial with the worm wheel 332 of the second transmission assembly 330, so that the swinging of the cleaning assembly 1100 does not affect the rotation of the executing member 200 and the cleaning member 110. Since the swinging assembly 600 is installed on the third housing 530 and the first driving assembly 400 is installed on the first housing 510, the swinging of the cleaning assembly 1100 does not affect the lifting of the executing member 200 and the cleaning member 110.

[0117] Referring to FIG. 14, in some embodiments, the third transmission assembly 620 includes a first cam 621 and a second cam 622. The first cam 621 is connected to the first housing 510 as an output end of the swing power. The connection between the first cam 621 and the first housing 510 is arranged offset with respect to the rotation axis a of the implement 200 and the cleaning implement 110, and the central axis of the connection between the first cam 621 and the first housing 510 serves as a swing axis b, as shown in FIG. 5. The second cam 622 is used to transmit the power of the third power element 610, and the second cam 622 interacts with the first cam 621 under the drive of the third power element 610 to swing the first housing 510 between a first position A and a second position B. In the first position A and the second position B, the first position A is the initial position of the cleaning assembly 1100, which is also the recycling position. The second position B is the swing-out position.

[0118] Referring to FIG. 14, in some embodiments, the swing assembly 600 includes a return spring 630, one end of which is fixed to the third housing 530, and the other end of which is connected to the first cam 621. The first cam 621 has two swing arms 6211, wherein the swing arm 6211 close to the protruding end of the second cam 622 is in contact with the protruding end of the second cam 622 and is located behind the rotation path of the protruding end, and the swing arm 6211 away from the second cam 622 is connected to the return spring 630. The torque exerted by the protruding end of the second cam 622 on the first cam 621 is opposite to the torque exerted by the return spring 630 on the first cam 621, and the return spring 630 exerts a return force on the first cam 621.

[0119] Referring to FIG. 15, when the third power element 610 drives the second cam 622 to rotate, the protruding end of the second cam 622 exerts a torque on the swing arm 6211 of the first cam 621, which is greater than the torque exerted by the return spring 630 on the first cam 621, and the first cam 621 rotates, thereby driving the entire cleaning assembly 1100 to swing from the first position A to the second position B, at which time the return spring 630 is stretched. When the power of the third power element 610 decreases or disappears, the first cam 621 reversely rotates under the return force exerted by the return spring 630, swings from the second position B to the first position A, and at the first position A, the return spring 630 returns to the natural state.

[0120] Referring to FIG. 15, in some embodiments, the second housing 520 is sleeved on the first housing 510, and the second housing 520 internally reserves the space required by the first housing 510 when the first housing 510 swings between the first position and the second position, and the first housing 510 swings in the second housing 520. Thus, the cleaning member 110 can realize three kinds of movements respectively: rotation along the rotation axis aa, axial lifting along the rotation axis aa, and swinging along the swinging axis b. The rotation and the lifting of the cleaning member 110 are driven by the executing member 200, and the swinging of the cleaning member 110 is driven by the first housing 510.

[0121] In the second aspect of the embodiments of the present application, a cleaning device, which can be a robot cleaner or an automatic sweeper, is provided. The cleaning device comprises a device body and the cleaning module 1000 of any one of the embodiments of the first aspect. A walking mechanism is arranged in the device body to drive the whole cleaning device to walk. The cleaning module 1000 is integrally installed in the device body, and the cleaning member 110 of the cleaning module 1000 is located outside the device body and contacts the ground A to clean the ground A. The structure of the device body is not improved in the present application, and thus the related content of the device body and the walking mechanism can be referred to the related disclosure of the prior art, which will not be described here.

[0122] Since the cleaning device has the cleaning module 1000 of the first aspect, the cleaning pressure is adjustable, and the obstacle crossing effect is good. Taking the cleaning device as an automatic mop as an example, the cleaning member 110 of the automatic mop is a circular mop cloth, the rotation axis a of the mop cloth passes through the center of the mop cloth, and the automatic mop is further provided with the swinging assembly 600. The working process of the automatic mop is as follows: the cleaning member 100 is in the lifting state, the first cleaning state, and the second cleaning state.

[0123] a) Mopping: as shown in FIGS. 2B and 2C, the cleaning member 100 is in the first cleaning state or the second cleaning state, the mop cloth contacts the ground A, the walking mechanism drives the whole cleaning device to walk, and the mop cloth cleans the ground A. The second power element 310 can also drive the executing member 200 and the mop cloth to rotate through the rotation transmission member 320 during the mopping process, the mop cloth rotates forward to clean the ground A, and the cleaning effect is improved.

[0124] b) Local cleaning: the mop cloth is in the first cleaning state or the second cleaning state, the cleaning device is stationary at the area to be cleaned, the second power element 310 drives the executing member 200 and the mop cloth to rotate through the rotation transmission member 320, the mop cloth rotates to clean the area. If necessary, the third power element 610 can be turned on, the third power element 610 drives the cleaning assembly 1100 to swing through the third transmission assembly 620, and the cleaning area is expanded.

[0125] c) Mop active lifting: when the cleaning device encounters obstacles while moving, the mop is in a lifted state, the first power element 410 drives the actuator 200 to rise, the actuator 200 drives the mop to rise, and the mop is separated from the ground A, so that the mop avoids the obstacles on the ground A. After the cleaning device finishes mopping the floor, the mop is always in a lifted state during the process of returning to the cleaning post to clean the mop, as shown in FIG. 2A, the first power element 410 drives the actuator 200 to rise, and the actuator 200 drives the mop to rise to make the mop leave the ground A, avoiding dirtying the cleaned ground A.

[0126] d) Mop down pressure adjustment: when the mop is in the first cleaning state and mops the floor, if the ground A is dirty and difficult to clean, the first power element 410 can drive the actuator 200 to descend, the actuator 200 drives the mop to descend, so that the mop switches to the second cleaning state, as shown in FIG. 2C, the down pressure of the mop on the ground A increases, improving the cleaning effect.

[0127] According to one or more embodiments of the present application, the cleaning module is provided with a cleaning element, an actuator, and a first driving assembly. The actuator is in transmission connection with the cleaning element, and the first driving assembly acts on the cleaning element through the actuator to realize the lifting of the cleaning element, so that the cleaning element is lifted to different heights to generate different down pressures on the ground, corresponding to different working states: a lifted state, a first cleaning state, and a second cleaning state. When the cleaning element is in the lifted state, the cleaning element is separated from the ground, and the lifted state is suitable for the movement process (for example, the movement process of returning to the post for self-cleaning after cleaning) of the cleaning device provided with the cleaning module in the non-cleaning demand, so that the cleaning element can avoid the obstacles on the ground. When the cleaning element is in the first cleaning state, the cleaning element is in contact with the ground, and at this time the cleaning element normally cleans the ground; when the cleaning element is switched from the first cleaning state to the second cleaning state, the cleaning element is in contact with the ground and has a tendency to further move towards the ground. The cleaning element can still normally clean the ground in the second cleaning state, but the down pressure on the ground is greater than that in the first cleaning state, which can clean stubborn stains such as dried stains and heavy oil stains, and improve the cleaning effect.

[0128] According to one or more embodiments of the present application, the cleaning module is provided with a cleaning element, an actuator, and a first driving assembly. The actuator is in transmission connection with the cleaning element, and the first driving assembly acts on the cleaning element through the actuator to realize the lifting of the cleaning element, so that the cleaning element is lifted to different heights to generate different down pressures on the ground, corresponding to different working states: a lifted state, a first cleaning state, and a second cleaning state. When the cleaning element is in the lifted state, the cleaning element is separated from the ground, and the lifted state is suitable for the movement process (for example, the movement process of returning to the post for self-cleaning after cleaning) of the cleaning device provided with the cleaning module in the non-cleaning demand, so that the cleaning element can avoid the obstacles on the ground. When the cleaning element is in the first cleaning state, the cleaning element is in contact with the ground, and at this time the cleaning element normally cleans the ground; when the cleaning element is switched from the first cleaning state to the second cleaning state, the cleaning element is in contact with the ground and has a tendency to further move towards the ground. The cleaning element can still normally clean the ground in the second cleaning state, but the down pressure on the ground is greater than that in the first cleaning state, which can clean stubborn stains such as dried stains and heavy oil stains, and improve the cleaning effect.

[0129] In the present application, unless specifically defined and limited otherwise, the "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "on", "above" and "above" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0130] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0131] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative positional relationship, motion condition and the like between the components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0132] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixing" and the like should be broadly understood, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0133] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0134] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate different embodiments or examples described in the specification.

[0135] In addition, the technical solutions among various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0136] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

A cleaning module (1000) comprises: a cleaning member (100); an execution member (200) in driving connection with the cleaning member (100); a first driving assembly (400) for driving the execution member (200) to lift and lower, so as to switch the cleaning member (100) between a lifting state, a first cleaning state and a second cleaning state; when the cleaning member (100) is in the lifting state, the cleaning member (100) is separated from the ground (A); when the cleaning member (100) is in the first cleaning state, the cleaning member (100) is in contact with the ground (A); when the cleaning member (100) is in the second cleaning state, the cleaning member (100) is in contact with the ground (A) and has a greater pressing force on the ground (A) than in the first cleaning state. The cleaning module (1000) according to claim 1, wherein During the process of switching from the lifting state to the first cleaning state and the second cleaning state by lowering the cleaning member (100) driven by the first driving assembly (400), the height of the output end of the first driving assembly (400) relative to the ground (A) gradually decreases. The cleaning module (1000) according to claim 2, wherein The first driving assembly (400) comprises a first power element (410) for outputting torque and a screw lifting mechanism (420), an input component (421a) of the screw lifting mechanism (420) is used for transmitting the torque output by the first power element (410), and an output component (422a) of the screw lifting mechanism (420) moves together with the execution member (200) in the lifting direction; during the process of switching from the lifting state to the first cleaning state and the second cleaning state by lowering the cleaning member (100) driven by the output component (422a), the height of the output component (422a) relative to the input component (421a) gradually decreases. The cleaning module (1000) according to claim 3, wherein The output component (422a) is an output screw sleeve (422) sleeved on the execution member (200); and the input component (421a) is an input screw sleeve (421) sleeved on the output screw sleeve (422). The cleaning module (1000) according to claim 3 further comprises a housing (500), the screw lifting mechanism (420) and the execution member (200) are both mounted in the inner cavity of the housing (500); and the output component (422a) is arranged to move relative to the housing (500) in the lifting direction and to be relatively stationary with the housing (500) in the rotating direction. The cleaning module (1000) according to claim 5, wherein A first rotation-stopping portion (4221) is arranged on the output component (422a); and the housing (500) is provided with a second rotation-stopping portion (514) which is in abutment with the first rotation-stopping portion (4221) in the rotating direction. The cleaning module (1000) according to claim 3, wherein The first driving assembly (400) further comprises a first transmission assembly (430) for transmitting the torque output by the first power element (410) to the input component (421a) of the screw lifting mechanism (420). The cleaning module (1000) according to claim 7, wherein The first transmission assembly (430) comprises a plurality of transmission gears, and an output gear (431) for outputting torque in the first transmission assembly (430) is sleeved on an input component (421a) of the spiral lifting mechanism (420). The cleaning module (1000) according to claim 7, wherein The first power element (410) is arranged below the first transmission assembly (430) and is arranged side by side with the execution member (200); and an output shaft of the first power element (410) is parallel to a rotation axis (a) of the execution member (200) and the cleaning member (100). The cleaning module (1000) according to any one of claims 1-9, further comprising a second driving assembly (300) for driving the cleaning member (100) to rotate, wherein an output end of the second driving assembly (300) is arranged to move in a lifting direction opposite to the execution member (200) and to rotate in a rotating direction together with the execution member (200); and an output end of the first driving assembly (400) is arranged to rotate in the rotating direction opposite to the execution member (200) and to move in the lifting direction together with the execution member (200). The cleaning module (1000) according to claim 10, wherein The second driving assembly (300) comprises a second power element (310) and a rotating transmission member (320) driven thereby, wherein the rotating transmission member (320) is arranged to move in the lifting direction opposite to the execution member (200) and to rotate in the rotating direction together with the execution member (200). The cleaning module (1000) according to claim 11, wherein The execution member (200) or the rotating transmission member (320) is provided with a relative external convex structure, which limits the rotating transmission member (320) from rotating opposite to the execution member (200). The cleaning module (1000) according to claim 12, wherein The relative external convex structure is a structure that is convex outward and / or concave inward relative to a part body; the relative external convex structure is provided with more than one; when the number of the relative external convex structures is more than two, the more than two relative external convex structures are distributed along the rotating direction at intervals. The cleaning module (1000) according to claim 13, wherein The execution member (200) is provided with a first prismatic column (210), and the rotating transmission member (320) is provided with a first prismatic column-shaped inner cavity (321), the rotating transmission member (320) is slidably sleeved on the first prismatic column (210), and edges of the first prismatic column (210) constitute the relative external convex structure. The cleaning module (1000) according to claim 14, wherein The first prismatic column (210) and the rest of the execution member (200) form a limiting shaft shoulder (211), and the rotating transmission member (320) is a gear provided with the prismatic column-shaped inner cavity (221), the gear is slidably sleeved on the first prismatic column (210) and is limited by the limiting shaft shoulder (211). The cleaning module (1000) according to claim 11, wherein The second driving assembly (300) further comprises a second transmission assembly (330) for transmitting torque output by the second power element (310) to the rotating transmission member (320). The cleaning module (1000) according to claim 16, wherein The second transmission assembly (330) comprises a reversing transmission mechanism, and an output shaft of the second power element (310) is connected to the reversing transmission mechanism, so that the output shaft of the second power element (310) is perpendicular to the rotation axis (a) of the execution member (200) and the cleaning member (100). The cleaning module (1000) according to claim 10, further comprising a housing (500), at least part of the first driving assembly (400), at least part of the second driving assembly (300) and the execution member (200) are all installed in an inner cavity of the housing (500). The cleaning module (1000) according to claim 18, wherein The inner cavity of the housing (500) is divided into a first chamber (501) and a second chamber (502); the execution member (200) penetrates through a bottom wall of the first chamber (501) and extends into the second chamber (502); an output end of the second driving assembly (300) is arranged in the first chamber (501); an output end of the first driving assembly (400) is arranged in the second chamber (502). The cleaning module (1000) according to claim 19, wherein The housing (500) comprises an upper cover (511), a middle shell (512) and a bottom shell (513) connected in sequence, the upper cover (511) and the middle shell (512) enclose the first chamber (501), and the middle shell (512) and the bottom shell (513) enclose the second chamber (502); the output end of the first driving assembly (400) is limitingly arranged with the middle shell (512) in a rotation direction. The cleaning module (1000) according to any one of claims 1-9, further comprising a first housing (510), a second housing (520), a third housing (530) and a swinging assembly (600) installed on the third housing (530); at least part of the first driving assembly (400) and the execution member (200) are all installed on the first housing (510) to form a cleaning assembly (1100); the second housing (520) is sleeved outside the first housing (510); the cleaning assembly (1100) is driven by the swinging assembly (600) to swing in the second housing (520). The cleaning module (1000) according to claim 21, wherein The swinging assembly (600) comprises: a first cam (621) connected with the first housing (510), and the connection position of the first cam (621) and the first housing (510) is arranged in a position offset from the rotation axis (a) of the execution member (200) and the cleaning member (100); a third power element (610) installed on the third housing (530); a second cam (622) for transmitting power of the third power element (610), the second cam (622) interacts with the first cam (621) under the drive of the third power element (610) to switch the first housing (510) between a first position and a second position. The cleaning module (1000) according to any one of claims 1-9, wherein The execution member (200) and the cleaning member (100) are detachably connected. The cleaning module (1000) according to claim 23, wherein The execution member (200) is arranged to move relative to the cleaning member (100) in the lifting direction and to be stationary relative to the cleaning member (100) in the rotating direction; an elastic member (130) is arranged in the execution member (200) and / or the cleaning member (100), and the elastic member (130) is compressed when the relative distance between the execution member (200) and the cleaning member (100) is reduced. The cleaning module (1000) according to claim 24, wherein The execution member (200) comprises a sleeve portion (220) with a prismatic inner cavity (221); the cleaning member (100) is provided with a second prism (111) which is arranged to be liftable into the sleeve portion (220). The cleaning module (1000) according to claim 25, wherein The execution member (200) and the cleaning member (100) are provided with a mounting cover (140), a first magnetic attraction member (150) and a second magnetic attraction member (160); the second prism is of a hollow structure, the mounting cover (140) and the elastic member (130) are arranged in the cavity of the second prism, the first magnetic attraction member (150) is arranged in the mounting cover (140) and above the elastic member (130), and the second magnetic attraction member (160) is arranged in the sleeve portion (220) and is attracted to the first magnetic attraction member (150). The cleaning module (1000) according to claim 25, wherein The cleaning member (100) is provided with a clearance cavity (112), and the sleeve portion (220) is arranged to extend into the clearance cavity (112). A cleaning device comprises the cleaning module (1000) according to any one of claims 1-27.

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