Cleaning module, functional module, cleaning robot and cleaning system

Abstract

A cleaning module (100), a functional module, a cleaning robot (1000) and a cleaning system (3000). The cleaning module (100) comprises a driving assembly (20), a transmission assembly (30) and a cleaning assembly (10). A connecting member (35) is connected to an output end (201) and rotates along with the output end (201), and a lifting member (301) is movably connected to the connecting member (35). The cleaning assembly (10) is connected to the lifting member (301) and can move synchronously with the lifting member (301).

Description

Cleaning modules, functional modules, cleaning robots and cleaning systems Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a cleaning module, a functional module, a cleaning robot, and a cleaning system. Background Technology

[0002] A cleaning robot is a device used to automatically clean carpets or floors awaiting cleaning. In related technologies, a cleaning robot includes a cleaning module, which comprises a drive component and a cleaning component (such as a mop component). The output end of the drive component is connected to the cleaning component. Generally, when the cleaning robot needs to perform a cleaning task, the output end of the drive component can rotate forward to lower the cleaning component to contact the surface to be cleaned, and then drive the cleaning component to rotate forward to clean the surface. When the cleaning robot does not need to perform a cleaning task, the drive component can rotate in reverse to raise the cleaning component to prevent the cleaning component from contaminating the surface. However, the drive component cannot simultaneously raise and lower the cleaning component while also enabling it to rotate forward and backward to clean the surface in both directions, affecting the cleaning effect of the cleaning module.

[0003] Summary of the Invention

[0004] This application provides a cleaning module, a functional module, a cleaning robot, and a cleaning system to solve at least one of the aforementioned technical problems.

[0005] In a first aspect, embodiments of this application provide a cleaning module for a cleaning robot. The cleaning module includes a drive assembly, a transmission assembly, and a cleaning assembly. The drive assembly includes an output end for outputting power. The transmission assembly includes a connector and a lifting member. The connector is connected to the output end of the drive assembly and rotates with the output end. The lifting member is movably connected to the connector. The cleaning assembly is connected to the lifting member and can move synchronously with the lifting member. The lifting member includes a first lifting member and a second lifting member. The transmission assembly has two operating modes: a first mode and a second mode. In the first mode, in response to the output end rotating in a first direction, the second lifting member moves relative to the first lifting member in a direction away from the output end. The first lifting member moves synchronously with the connector to drive the cleaning assembly to move in a direction away from the output end. In the second mode, in response to the output end rotating in a second direction, the first lifting member moves relative to the connector in a direction away from the output end. The second lifting member moves synchronously with the first lifting member to drive the cleaning assembly to move in a direction away from the output end. The first direction and the second direction are opposite.

[0006] In the cleaning module of this application embodiment, in the first mode, in response to the output end rotating in the first direction, the second lifting member moves relative to the first lifting member in a direction away from the output end, and the first lifting member moves synchronously relative to the connecting member to drive the cleaning component to move in a direction away from the output end; in the second mode, in response to the output end rotating in the second direction, the first lifting member can move relative to the connecting member in a direction away from the output end, and the second lifting member moves synchronously relative to the first lifting member to drive the cleaning component to move in a direction away from the output end. Thus, regardless of whether the output end moves in the first or second direction, the drive component can drive the cleaning component to move in a direction away from the output end through the transmission component. Furthermore, when the cleaning component moves in a direction away from the output end, the cleaning component can clean the surface to be cleaned. That is, when the output end moves in the first or second direction, the cleaning component can move to a position where the surface to be cleaned can be cleaned, thereby enabling the cleaning component to have bidirectional cleaning capabilities and improving the cleaning effect of the cleaning module on the surface to be cleaned.

[0007] Secondly, embodiments of this application provide a functional module for a mobile platform, the functional module including a functional component, a drive component, and a transmission component. The functional component is used to implement the functions required by the mobile platform. The drive component includes an output end for outputting power, the output end being selectively movable along a first direction or a second direction, the first direction being opposite to the second direction. The transmission component is mechanically coupled to the functional component and the drive component, the drive component driving the functional component to reciprocate along a preset direction via the transmission component. The transmission assembly includes a first transmission pair and a second transmission pair. The first and second transmission pairs operate in two states: a non-transmission operating state and a transmission operating state. In the transmission operating state, multiple transmission components of each of the first and second transmission pairs move relative to each other to achieve a transmission function. In the non-transmission operating state, the multiple transmission components of each of the first and second transmission pairs cease relative movement. The transmission assembly operates in two modes: a first mode and a second mode. In the first mode, in response to the output end moving along the first direction, the second transmission pair is in the transmission operating state, and the first transmission pair is in the non-transmission operating state. The output end drives the functional component to move forward along the preset direction via the second transmission pair. In the second mode, in response to the output end moving along the second direction, the first transmission pair is in the transmission operating state, and the second transmission pair is in the non-transmission operating state. The output end drives the functional component to move forward along the preset direction via the first transmission pair.

[0008] In the functional module of this application embodiment, in the first mode, in response to the output end moving along the first direction, the second transmission pair is in the transmission working state, and the first transmission pair is in the non-transmission working state. The output end drives the functional component to move forward along the preset direction through the second transmission pair. In the second mode, in response to the output end moving along the second direction, the first transmission pair is in the transmission working state, and the second transmission pair is in the non-transmission working state. The output end drives the functional component to move forward along the preset direction through the first transmission pair. Thus, regardless of whether the output end moves along the first direction or the second direction, the driving component can drive the functional component to move along the preset direction through the transmission component.

[0009] Thirdly, embodiments of this application provide a cleaning module for a cleaning robot, the cleaning module including a cleaning component, a drive component, and a transmission component. The cleaning component is used to move to a position where it can clean the surface to be cleaned; the drive component includes an output end for outputting power, the output end being able to selectively move along a first direction or a second direction, the first direction being opposite to the second direction; the transmission component is mechanically coupled to the cleaning component and the drive component, the drive component driving the cleaning component to reciprocate along a preset direction through the transmission component. The transmission assembly includes a first transmission pair and a second transmission pair. In the transmission working state, the multiple transmission components of each of the first and second transmission pairs move relative to each other to achieve the transmission function. In the non-transmission working state, the multiple transmission components of each of the first and second transmission pairs stop moving relative to each other. The transmission assembly has two working modes: a first mode and a second mode. In the first mode, in response to the output end moving along the first direction, the second transmission pair is in the transmission working state, the first transmission pair is in the non-transmission working state, and the output end drives the cleaning assembly to move forward along the preset direction via the second transmission pair. In the second mode, in response to the output end moving along the second direction, the first transmission pair is in the transmission working state, the second transmission pair is in the non-transmission working state, and the output end drives the cleaning assembly to move forward along the preset direction via the first transmission pair.

[0010] In the cleaning module of this application embodiment, in the first mode, in response to the output end moving along the first direction, the second transmission pair is in a transmission working state, and the first transmission pair is in a non-transmission working state. The output end drives the cleaning component to move forward along a preset direction through the second transmission pair. In the second mode, in response to the output end moving along the second direction, the first transmission pair is in a transmission working state, and the second transmission pair is in a non-transmission working state. The output end drives the cleaning component to move forward along the preset direction through the first transmission pair. Thus, regardless of whether the output end moves along the first or second direction, the driving component can drive the cleaning component to move along the preset direction through the transmission component. Furthermore, when the cleaning component moves forward along the preset direction, the cleaning component can clean the surface to be cleaned. That is, when the output end moves along the first or second direction, the cleaning component can move to a position where it can clean the surface to be cleaned, thereby enabling the cleaning component to have bidirectional cleaning capabilities and improving the cleaning effect of the cleaning module on the surface to be cleaned.

[0011] Fourthly, this application provides a cleaning module for a cleaning robot. The cleaning module includes a drive assembly, a transmission assembly, a first clutch, a second clutch, and a cleaning component. The drive assembly is disposed on the cleaning robot. The transmission assembly includes a connector and a lifting component. The connector is connected to the output end of the drive assembly and moves with the output end. The lifting component is movably connected to the connector and includes a first lifting component and a second lifting component. The first lifting component is movably sleeved on the connector, and the second lifting component is movably sleeved on the first lifting component. The first clutch is disposed between the connector and the first lifting component. When the second lifting component moves towards the output end, the first clutch prevents the connector and the first lifting component from separating. The second clutch is disposed between the first lifting component and the second lifting component. When the first lifting component moves towards the output end, the second clutch prevents the first lifting component and the second lifting component from separating. The cleaning component is connected to the lifting component and can move synchronously with the lifting component.

[0012] In the cleaning module of this application embodiment, when the second lifting member drives the cleaning component to move from the cleaning position toward the direction closer to the output end, the first clutch can generate an engagement force to prevent the connecting member and the first lifting member from separating, thus preventing the first threaded pair from switching to a transmission working state and causing the first lifting member to also move away from the output end, resulting in the cleaning component not being able to move away from the surface to be cleaned. Furthermore, when the first lifting member drives the cleaning component to move from the cleaning position toward the direction closer to the output end, the second clutch can generate an engagement force to prevent the first and second lifting members from separating, thus preventing the second threaded pair from switching to a transmission working state and causing the second lifting member to also move away from the output end, resulting in the cleaning component not being able to move away from the surface to be cleaned. Moreover, the presence of the first clutch also prevents the first threaded pair from being in a working state when the output end rotates in the second direction, thus preventing the first lifting member from extending in the direction away from the output end, thereby causing the cleaning component's travel distance to be too long and damaging the cleaning component's structure. Similarly, the presence of the second clutch prevents the second threaded pair from being in a working state when the output end rotates in the first direction, thus preventing the second lifting member from extending in the direction away from the output end, thereby causing the cleaning component's travel distance to be too long and damaging the cleaning component's structure.

[0013] Fifthly, embodiments of this application provide a cleaning robot, which includes a body and a cleaning module as described above. The cleaning module is disposed on the body and is used to clean the surface to be cleaned.

[0014] Sixthly, embodiments of this application provide a cleaning system, the cleaning system including a cleaning robot and a base station as described above, the base station being used in conjunction with the cleaning robot, the base station including a docking position for accommodating the cleaning robot.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0017] Figure 1 is a three-dimensional structural diagram of a cleaning module according to certain embodiments of this application;

[0018] Figure 2 is a cross-sectional structural diagram of the cleaning module shown in Figure 1;

[0019] Figure 3 is a schematic diagram of the movement of the cleaning module in the first mode when the output end of the transmission component in the cleaning module of some embodiments of this application moves in the first direction.

[0020] Figure 4 is a schematic diagram of the movement of the cleaning module in the second mode when the output end of the transmission component in the cleaning module of some embodiments of this application moves in the second direction.

[0021] Figure 5 is a schematic diagram of the movement of the cleaning module in the first mode when the output end of the transmission component in the cleaning module of some embodiments of this application moves in the first direction.

[0022] Figure 6 is a schematic diagram of the movement of the cleaning module in the second mode when the output end of the transmission component in the cleaning module of some embodiments of this application moves in the second direction.

[0023] Figure 7 is a schematic diagram of the damper in the cleaning module shown in Figure 1;

[0024] Figure 8 is a three-dimensional exploded view of some structures in the cleaning module shown in Figure 1;

[0025] Figure 9 is a schematic diagram of the structure of a cleaning system according to some embodiments of this application. Detailed Implementation

[0026] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0027] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0032] A cleaning robot is a device used to automatically clean carpets, floors, or glass surfaces awaiting cleaning. In related technologies, a cleaning robot includes a cleaning module, which comprises a drive component (e.g., a motor) and cleaning components (e.g., a mop assembly or a side brush assembly). The output end of the drive component is connected to the cleaning components. Generally, when the cleaning robot needs to perform a cleaning task, the output end of the drive component can rotate forward to lower the cleaning components to contact the surface to be cleaned, and drive the cleaning components to rotate forward to clean the surface. When the cleaning robot does not need to perform a cleaning task, the drive component can rotate in reverse to raise the cleaning components to prevent contamination of the surface. As mentioned above, existing drive components can only drive the cleaning components to rotate forward to clean the surface, and cannot drive the cleaning components to rotate in reverse to contact and clean the surface. To solve the above problems, this application provides a cleaning module 100 (shown in FIG. 1), a functional module, a cleaning robot 1000 (shown in FIG. 9), and a cleaning system 3000 (shown in FIG. 9).

[0033] Please refer to Figures 1, 2, and 9. A cleaning module 100 according to certain embodiments of this application is used in a cleaning robot 1000. The cleaning module 100 includes a cleaning component 10, a drive component 20, and a transmission component 30. The cleaning component 10 is used to move to a position where the surface to be cleaned can be cleaned. The drive component 20 includes an output end 201 for outputting power. The output end 201 can selectively move along a first direction X1 or a second direction X2, where the first direction X1 and the second direction X2 are opposite. The transmission component 30 is mechanically coupled to the cleaning component 10 and the drive component 20. The drive component 20 drives the cleaning component 10 to reciprocate along a preset direction (Z1 / Z2) via the transmission component 30. The transmission assembly 30 includes a first transmission pair 31 and a second transmission pair 33. In the transmission working state, the multiple transmission components of each of the first transmission pair 31 and the second transmission pair 33 move relative to each other to achieve the transmission function. In the non-transmission working state, the multiple transmission components of each of the first transmission pair 31 and the second transmission pair 33 stop moving relative to each other. The transmission assembly 30 has two working modes: a first mode and a second mode. In the first mode, in response to the output end 201 moving along the first direction X1, the second transmission pair 33 is in the transmission working state, and the first transmission pair 31 is in the non-transmission working state. The output end 201 drives the cleaning assembly 10 to move along the positive direction Z1 of the preset direction (Z1 / Z2) through the second transmission pair 33, so that after the cleaning assembly 10 reaches the position where it can clean the surface to be cleaned, it can rotate along the first direction X1 with the output end 201. In one embodiment, the cleaning component 10 can clean the surface to be cleaned by rotating in the opposite direction to the rotation direction of the output terminal 201 after reaching a position where it can clean the surface. In the second mode, in response to the output terminal 201 moving in the second direction X2, the first transmission pair 31 is in a transmission working state, and the second transmission pair 33 is in a non-transmission working state. The output terminal 201 drives the cleaning component 10 to move in the positive direction Z1 of the preset direction (Z1 / Z2) through the first transmission pair 31, so that after the cleaning component 10 reaches a position where it can clean the surface, it can follow the output terminal 201 to rotate in the second direction X2 to clean the surface. Alternatively, in one embodiment, after the cleaning component 10 reaches a position where it can clean the surface, it can rotate in the opposite direction to the rotation direction of the output terminal 201 to clean the surface. In another embodiment, the base station 2000 includes a cleaning chamber, and the cleaning robot 1000 can perform self-cleaning of the cleaning component 10 in the cleaning chamber after returning to the base station 2000.Consider a possible scenario: the above solution can also achieve better results when cleaning the cleaning component 10 itself. After the cleaning robot 1000 completes the cleaning task, it returns to the base station 2000 to perform self-cleaning. At this time, the cleaning component 10 may need to lower its height to hold the ribs in the cleaning cavity to complete the self-cleaning task. However, the cleaning component 10 often has poor cleaning effect when it holds the ribs and rotates in one direction to clean its own dirt. In this embodiment, the cleaning component 10 can also hold the ribs and rotate in another direction to clean the cleaning component 10 itself, which will make it easier for the dirt on the cleaning component 10 to fall off.

[0034] Referring to Figure 9, the cleaning robot 1000 is an intelligent device capable of moving itself on the surface to be cleaned, allowing the cleaning component 10 to move to a position where it can perform cleaning (e.g., sweeping, vacuuming, and mopping functions). The cleaning robot 1000 includes, but is not limited to, sweeping robots, intelligent robots, mobile robots, and window-cleaning robots. For example, when the cleaning robot 1000 needs to perform a cleaning task, it can control the cleaning module 100 to clean the surface. In some embodiments, the surface to be cleaned can be the floor inside a building. In other embodiments, the surface to be cleaned can be the surface of other objects that need cleaning, such as walls, beds, or windows.

[0035] The cleaning module 100 is a device in the cleaning robot 1000 that allows the cleaning component 10 to move to a position where it can clean the surface to be cleaned. In some embodiments, the cleaning module 100 is a device that enables the cleaning robot 1000 to perform a mopping function (e.g., wet mopping or dry mopping). In this case, the cleaning component 10 of the cleaning module 100 may be a mop assembly, which is used to mop the surface to be cleaned, thereby enabling the cleaning robot 1000 to perform the mopping function. In other embodiments, the cleaning module 100 is a device that enables the cleaning robot 1000 to perform a sweeping function. In this case, the cleaning component 10 of the cleaning module 100 may be a roller brush assembly, which is used to sweep the surface to be cleaned, thereby enabling the cleaning robot 1000 to perform both sweeping and cleaning functions. It is understood that the cleaning robot 1000 can simultaneously perform both mopping and sweeping functions; that is, the cleaning module 100 may include two modules, and the two cleaning modules 100 are used to perform mopping and sweeping functions respectively, thereby improving the cleaning effect of the cleaning robot 1000.

[0036] The drive assembly 20 is a device in the cleaning module 100 used for outputting power. In some embodiments, the drive assembly 20 includes a drive member 23, the output shaft of which can serve as the output end 201 of the drive assembly 20 to output power. In this case, the output shaft of the drive member 23 can be connected to the transmission assembly 30, thereby enabling the drive member 23 to drive the cleaning assembly 10 to reciprocate along a preset direction (Z1 / Z2) via the transmission assembly 30. In other embodiments, the drive assembly 20 includes a drive member 23 and a reducer. The output shaft of the drive member 23 is connected to the reducer (directly connected; or, the output shaft of the drive member 23 is connected to the reducer via a transmission component). The output shaft of the reducer can serve as the output end 201 of the drive assembly 20 to output power. In this case, the output shaft of the reducer can be connected to the transmission assembly 30, thereby enabling the drive member 23 to drive the cleaning assembly 10 to reciprocate along a preset direction (Z1 / Z2) via the transmission assembly 30. The reducer can increase the output torque while reducing the rotational speed, thus allowing the drive assembly 20 to meet different operating conditions. It should be noted that in some embodiments, the driving component 23 may be a motor or a cylinder, etc., and the motor includes, but is not limited to, a linear motor, a rotary motor, and a bidirectional motor. For example, when the driving component 23 is a rotary motor, the output end 201 of the driving component 20 can selectively rotate along the first direction X1 or the second direction X2, that is, the output end 201 of the driving component 20 can selectively rotate in the counterclockwise or clockwise direction.

[0037] The transmission component 30 is a device for transmitting power in the cleaning module 100. Specifically, when the drive component 20 is operating normally, the power output from the output end 201 of the drive component 20 can be transmitted to the transmission component 30 to drive the transmission component 30 to move, thereby causing the transmission component 30 to drive the cleaning component 10 to reciprocate along a preset direction (Z1 / Z2). In some embodiments of this application, the positive direction Z1 of the preset direction (Z1 / Z2) can be a direction away from the output end 201, and the negative direction Z2 of the preset direction (Z1 / Z2) can be a direction closer to the output end 201. For example, when the cleaning component 10 moves along the positive direction Z1 of the preset direction (Z1 / Z2), that is, when the cleaning component 10 moves in a direction away from the output end 201, the cleaning component 10 can contact the surface to be cleaned. In this case, the cleaning robot 1000 can perform a target cleaning task on the surface to be cleaned, which can be a mopping task or a sweeping task, etc. When the cleaning component 10 moves in the opposite direction (Z1 / Z2) of the preset direction (Z2), that is, when the cleaning component 10 moves towards the output end 201, the cleaning component 10 moves away from the surface to be cleaned, and the cleaning robot 1000 cannot clean the surface to be cleaned. In this case, the cleaning robot 1000 does not perform the target cleaning task on the surface to be cleaned. It should be noted that, for ease of understanding, the directions described in the embodiments of this application are defined with the cleaning robot 1000 supported on the surface to be cleaned.

[0038] The transmission assembly 30 includes a first transmission pair 31 and a second transmission pair 33. Specifically, when the first transmission pair 31 is in the transmission working state, the multiple transmission components of the first transmission pair 31 move relative to each other to achieve the transmission function; when the first transmission pair 31 is in the non-transmission working state, the multiple transmission components of the first transmission pair 31 stop moving relative to each other. When the second transmission pair 33 is in the transmission working state, the multiple transmission components of the second transmission pair 33 move relative to each other to achieve the transmission function; when the second transmission pair 33 is in the non-transmission working state, the multiple transmission components of the second transmission pair 33 stop moving relative to each other.

[0039] The first transmission pair 31 is a degree of freedom of motion in a mechanical component used to transmit power. The first transmission pair 31 typically consists of two or more transmission components. When the first transmission pair 31 includes two transmission components, one is the driving component and the other is the driven component. The first transmission pair 31 can be in a transmission working state where, after the driving component of the first transmission pair 31 receives power and transmits it to the driven component, the driven component moves relative to the driving component; this movement can be rotational, linear, or other forms of motion. The first transmission pair 31 can be in a non-transmission working state where, the driving component of the first transmission pair 31 does not receive power; or, after the driving component of the first transmission pair 31 receives power and transmits it to the driven component, the driven component does not move relative to the driving component. It should be noted that in some embodiments, the first transmission pair 31 includes, but is not limited to, gear pairs, worm gear pairs, threaded pairs, and sliding pairs. It is understood that the structure of the second transmission pair 33 is basically the same as the structure of the first transmission pair 31 in the above embodiments, and will not be described again here.

[0040] Specifically, referring to Figure 3, when the transmission component 30 is in the first mode and the output end 201 moves along the first direction X1, the second transmission pair 33 is in the transmission working state, and the first transmission pair 31 is in the non-transmission working state. In this case, the power output by the output end 201 can be transmitted to the cleaning component 10 through the second transmission pair 33 to drive the cleaning component 10 to move along the positive direction Z1 of the preset direction (Z1 / Z2). In this case, the cleaning component 10 can contact the surface to be cleaned, so that the cleaning component 10 can move to a position where it can clean the surface to be cleaned. Referring to Figure 4, when the transmission component 30 is in the second mode and the output end 201 moves along the second direction X2, the first transmission pair 31 is in the transmission working state and the second transmission pair 33 is in the non-transmission working state. In this case, the power output by the output end 201 can be transmitted to the cleaning component 10 through the first transmission pair 31 to drive the cleaning component 10 to move along the positive direction Z1 of the preset direction (Z1 / Z2). In this case, the cleaning component 10 can contact the surface to be cleaned so that the cleaning component 10 can move to a position where the surface to be cleaned can be cleaned. Therefore, regardless of whether the output terminal 201 moves along the first direction X1 or the second direction X2, the drive component 20 can drive the cleaning component 10 to move along the preset direction (Z1 / Z2) through the transmission component 30. Furthermore, when the cleaning component 10 moves along the positive direction Z1 of the preset direction (Z1 / Z2), the cleaning component 10 can clean the surface to be cleaned. That is, when the output terminal 201 moves along the first direction X1 or the second direction X2, the cleaning component 10 can move to a position where the surface to be cleaned can be cleaned, thereby enabling the cleaning component 10 to have bidirectional cleaning capabilities and improving the cleaning effect of the cleaning module 100 on the surface to be cleaned.

[0041] It should be noted that Figure 3(a) can be the initial position of the cleaning component 10, which can be the farthest position that the cleaning component 10 can move to in the reverse direction Z2 of the preset direction (Z1 / Z2). At this time, the cleaning robot 1000 can be in a powered-off state or a state where no cleaning task is being performed. Figure 3(d) can be the cleaning position of the cleaning component 10, which can be the farthest position that the cleaning component 10 can move to in the forward direction Z1 of the preset direction (Z1 / Z2). At this time, the cleaning robot 1000 can be in a state where a cleaning task is being performed. Figures 3(b) and (c) show the cleaning component 10 moving from the initial position to the middle position of the cleaning position in the first mode.

[0042] Similarly, Figure 4(a) can be the initial position of the cleaning component 10, which can be the farthest position that the cleaning component 10 can move to in the reverse direction Z2 of the preset direction (Z1 / Z2). At this time, the cleaning robot 1000 can be in a powered-off state or a state where no cleaning task is being performed. Figure 4(d) can be the cleaning position of the cleaning component 10, which can be the farthest position that the cleaning component 10 can move to in the forward direction Z1 of the preset direction (Z1 / Z2). At this time, the cleaning robot 1000 can be in a state where a cleaning task is being performed. Figures 4(b) and (c) show the cleaning component 10 moving from the initial position to the middle position of the cleaning position in the second mode.

[0043] Referring to Figures 2 and 5, in some embodiments, in the first mode, in response to the output terminal 201 moving along the second direction X2, the second transmission pair 33 is in a transmission working state, and the first transmission pair 31 is in a non-transmission working state. The output terminal 201 drives the cleaning component 10 to move in the opposite direction Z2 along a preset direction (Z1 / Z2) through the second transmission pair 33. It should be noted that the position of the cleaning component 10 in Figure 5(ad) is the same as the position of the cleaning component 10 in Figure 3(ad), and will not be repeated here.

[0044] Specifically, referring to Figure 3, in some embodiments, when the transmission component 30 is in the first mode and the cleaning robot 1000 needs to perform a cleaning task, the output end 201 can move along the first direction X1 to drive the cleaning component 10 to move in the forward direction Z1 of the preset direction (Z1 / Z2) through the second transmission pair 33. At this time, the cleaning component 10 can move from the initial position to the cleaning position so that the cleaning component 10 can move to a position where the surface to be cleaned can be cleaned. When the transmission component 30 is in the first mode and the cleaning robot 1000 does not need to perform a cleaning task, the output end 201 can move along the second direction X2 to drive the cleaning component 10 to move in the reverse direction Z2 of the preset direction (Z1 / Z2) through the second transmission pair 33. At this time, the cleaning component 10 can move from the cleaning position to the initial position. Therefore, when the transmission component 30 is in the first mode and the output end 201 moves along the first direction X1 or the second direction X2, the power output by the output end 201 can be transmitted to the cleaning component 10 through the second transmission pair 33 to drive the cleaning component 10 to reciprocate along a preset direction (Z1 / Z2). That is, the first mode can be the working mode of the transmission component 30 when the output end 201 moves along the first direction X1 or the second direction X2 and the second transmission pair 33 is in the transmission working state. When the cleaning robot 1000 does not need to perform a cleaning task, the cleaning component 10 moves from the cleaning position to the initial position, thus preventing the cleaning component 10 from contaminating the already mopped surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 1000.

[0045] Referring to Figures 2 and 6, in some embodiments, in the second mode, in response to the output terminal 201 moving along the first direction X1, the first transmission pair 31 is in a transmission working state, and the second transmission pair 33 is in a non-transmission working state. The output terminal 201 drives the cleaning component 10 to move in the opposite direction Z2 along a preset direction (Z1 / Z2) through the first transmission pair 31. It should be noted that the position of the cleaning component 10 in Figure 6(ad) is the same as the position of the cleaning component 10 in Figure 4(ad), and will not be repeated here.

[0046] Specifically, referring to Figure 4, in some embodiments, when the transmission component 30 is in the second mode and the cleaning robot 1000 needs to perform a cleaning task, the output end 201 can move along the second direction X2 to drive the cleaning component 10 to move in the forward direction Z1 of the preset direction (Z1 / Z2) through the first transmission pair 31. At this time, the cleaning component 10 can move from the initial position to the cleaning position so that the cleaning component 10 can move to a position where the surface to be cleaned can be cleaned. When the transmission component 30 is in the second mode and the cleaning robot 1000 does not need to perform a cleaning task, the output end 201 can move along the first direction X1 to drive the cleaning component 10 to move in the reverse direction Z2 of the preset direction (Z1 / Z2) through the first transmission pair 31. At this time, the cleaning component 10 can move from the cleaning position to the initial position. Therefore, when the transmission component 30 is in the second mode and the output end 201 moves along the first direction X1 or the second direction X2, the power output by the output end 201 can be transmitted to the cleaning component 10 through the first transmission pair 31 to drive the cleaning component 10 to reciprocate along a preset direction (Z1 / Z2). That is, the second mode can be the working mode of the transmission component 30 when the output end 201 moves along the first direction X1 or the second direction X2 and the first transmission pair 31 is in the transmission working state. When the cleaning robot 1000 does not need to perform a cleaning task, the cleaning component 10 moves from the cleaning position to the initial position, thus preventing the cleaning component 10 from contaminating the already mopped surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 1000.

[0047] Referring to Figure 2, in some embodiments, the first transmission pair 31 and the second transmission pair 33 are coupled in series. That is, the first transmission pair 31 and the second transmission pair 33 are interconnected to form a continuous transmission chain, and the output motion of the previous transmission pair can become the input motion of the next transmission pair, thereby realizing continuous power transmission. In one embodiment, the series coupling of the first transmission pair 31 and the second transmission pair 33 can be achieved by the second transmission pair 33 being sleeved on the outside of the first transmission pair 31, thereby forming a series coupling.

[0048] Furthermore, in some embodiments, the first transmission pair 31 is positioned closer to the output end 201 than the second transmission pair 33, and one of the transmission components of the first transmission pair 31 can move together with the output end 201.

[0049] Specifically, when the first transmission pair 31 includes two transmission components, one of the transmission components of the first transmission pair 31 is connected to the output end 201 and can move with the output end 201. In this case, the transmission component is configured as the driving component of the first transmission pair 31, and the other transmission component of the first transmission pair 31 is configured as the driven component of the first transmission pair 31 and can be connected to the second transmission pair 33. Thus, when the first transmission pair 31 is in the transmission working state (as shown in Figures 4 and 6), the power output by the output end 201 can be transmitted to the driven component of the first transmission pair 31 through the driving component of the first transmission pair 31, so that the driven component of the first transmission pair 31 moves relative to the driving component of the first transmission pair 31; when the first transmission pair 31 is in the non-transmission working state (as shown in Figures 3 and 5), the power output by the output end 201 can be transmitted to the second transmission pair 33 through the driving component and the driven component of the first transmission pair 31, so that the second transmission pair 33 moves relative to the first transmission pair 31.

[0050] In some embodiments, when the first transmission pair 31 is not in the transmission working state, the first transmission pair 31 as a whole maintains synchronous movement with the output end 201.

[0051] Specifically, when the output end 201 moves along the first direction X1 or the second direction X2, and the first transmission pair 31 is in a non-transmission working state, the first transmission pair 31 maintains synchronous movement with the output end 201. The first transmission pair 31 can transmit the power output from the output end 201 to the second transmission pair 33, so that the second transmission pair 33 is in a transmission working state, thereby driving the cleaning component 10 to move along a preset direction (Z1 / Z2). For example, when the output end 201 moves along the first direction X1, the output end 201 can drive the cleaning component 10 to move in the forward direction Z1 of the preset direction (Z1 / Z2) through the second transmission pair 33; when the output end 201 moves along the second direction X2, the output end 201 can drive the cleaning component 10 to move in the reverse direction Z2 of the preset direction (Z1 / Z2) through the second transmission pair 33.

[0052] In some embodiments, when the first transmission pair 31 is in the transmission working state, the multiple transmission components of the first transmission pair 31 move relative to each other to drive the cleaning assembly 10 to move along a preset direction (Z1 / Z2).

[0053] Specifically, when the output terminal 201 moves along the first direction X1 or the second direction X2, the power output by the output terminal 201 can be transmitted to the driven member of the first transmission pair 31 through the driving member of the first transmission pair 31, and the driven member of the first transmission pair 31 can move relative to the driving member of the first transmission pair 31, thereby driving the cleaning component 10 to move along a preset direction (Z1 / Z2). For example, when the output terminal 201 moves along the first direction X1, the output terminal 201 drives the cleaning component 10 to move in the opposite direction Z2 along the preset direction (Z1 / Z2) through the first transmission pair 31; when the output terminal 201 moves along the second direction X2, the output terminal 201 drives the cleaning component 10 to move in the forward direction Z1 along the preset direction (Z1 / Z2) through the first transmission pair 31.

[0054] It should be noted that in some embodiments, when the first transmission pair 31 is in the transmission working state, the second transmission pair 33 is in the non-transmission working state; when the second transmission pair 33 is in the transmission working state, the first transmission pair 31 is in the non-transmission working state. This can prevent the cleaning component 10 from being damaged due to excessive travel along the preset direction (Z1 / Z2) caused by both the first transmission pair 31 and the second transmission pair 33 being in the transmission working state. This can extend the service life of the cleaning component 10 and ensure the stability and reliability of the cleaning module 100.

[0055] In other embodiments, the second transmission pair 33 is positioned closer to the cleaning assembly 10 than the first transmission pair 31, and one of the transmission components of the second transmission pair 33 is able to move together with the output end 201.

[0056] Specifically, when the second transmission pair 33 includes two transmission components, one of the transmission components of the second transmission pair 33 is connected to the output end 201 and can move with the output end 201. In this case, the transmission component is configured as the driving member of the second transmission pair 33, and the other transmission component of the second transmission pair 33 is configured as the driven member of the second transmission pair 33 and can be connected to the second transmission pair 33. Thus, when the second transmission pair 33 is in the transmission working state, the power output by the output end 201 can be transmitted to the driven member of the second transmission pair 33 through the driving member of the second transmission pair 33, so that the driven member of the second transmission pair 33 moves relative to the driving member of the second transmission pair 33; when the second transmission pair 33 is in the non-transmission working state, the power output by the output end 201 can be transmitted to the second transmission pair 33 through the first transmission pair 31, so that the second transmission pair 33 moves relative to the first transmission pair 31.

[0057] In some embodiments, when the second transmission pair 33 is not in the transmission working state, the second transmission pair 33 as a whole maintains synchronous movement with the output end 201.

[0058] Specifically, when the output end 201 moves along the first direction X1 or the second direction X2, and the second transmission pair 33 is in a non-transmission working state, the second transmission pair 33 maintains synchronous movement with the output end 201. The second transmission pair 33 can transmit the power output from the output end 201 to the first transmission pair 31, so that the first transmission pair 31 is in a transmission working state, thereby driving the cleaning component 10 to move along a preset direction (Z1 / Z2). For example, when the output end 201 moves along the first direction X1, the output end 201 can drive the cleaning component 10 to move in the forward direction Z1 of the preset direction (Z1 / Z2) through the first transmission pair 31; when the output end 201 moves along the second direction X2, the output end 201 can drive the cleaning component 10 to move in the reverse direction Z2 of the preset direction (Z1 / Z2) through the first transmission pair 31.

[0059] In some embodiments, when the second transmission pair 33 is in the transmission working state, the multiple transmission components of the second transmission pair 33 move relative to each other to drive the cleaning assembly 10 to move along a preset direction (Z1 / Z2).

[0060] Specifically, when the output terminal 201 moves along the first direction X1 or the second direction X2, the power output by the output terminal 201 can be transmitted to the driven member of the second transmission pair 33 through the driving member of the second transmission pair 33, and the driven member of the second transmission pair 33 can move relative to the driving member of the second transmission pair 33, thereby driving the cleaning component 10 to move along a preset direction (Z1 / Z2). For example, when the output terminal 201 moves along the first direction X1, the output terminal 201 drives the cleaning component 10 to move in the reverse direction Z2 along the preset direction (Z1 / Z2) through the second transmission pair 33; when the output terminal 201 moves along the second direction X2, the output terminal 201 drives the cleaning component 10 to move in the forward direction Z1 along the preset direction (Z1 / Z2) through the second transmission pair 33.

[0061] In other embodiments, the first transmission pair 31 and the second transmission pair 33 are coupled in parallel. That is, the input ends of the first transmission pair 31 and the second transmission pair 33 receive power from the same power source (i.e., the output end 201 of the drive component 20 in this application), and the output ends 201 of the first transmission pair 31 and the second transmission pair 33 are both connected to the same load (i.e., the cleaning component 10 in this application). In this coupling mode, the first transmission pair 31 and the second transmission pair 33 can transmit power independently of each other. In one embodiment, the parallel coupling of the first transmission pair 31 and the second transmission pair 33 can be such that, in a first time period, the output end 201 is coupled to the first transmission pair 31, and the output end 201 is not in contact with the second transmission pair 33; in a second time period, the output end 201 is coupled to the second transmission pair 33, and the output end 201 is not in contact with the first transmission pair 31.

[0062] Furthermore, in some embodiments, the drive component 20 can be mechanically coupled to the cleaning component 10 via the first transmission pair 31. Thus, when the output end 201 of the drive component 20 moves along the first direction X1 or the second direction X2, the power output by the output end 201 can be transmitted to the cleaning component 10 through the first transmission pair 31 to drive the cleaning component 10 to move along the preset direction (Z1 / Z2).

[0063] Specifically, in some embodiments, when the first transmission pair 31 is in a non-transmission working state, the first transmission pair 31 is decoupled from the drive component 20. At this time, the power output by the output end 201 of the drive component 20 will not be transmitted to the first transmission pair 31, that is, the output end 201 cannot drive the cleaning component 10 to move along the preset direction (Z1 / Z2) through the first transmission pair 31.

[0064] In some embodiments, when the first transmission pair 31 is in the transmission working state, the first transmission pair 31 is coupled to the drive assembly 20, causing the multiple transmission components of the first transmission pair 31 to move relative to each other, thereby driving the cleaning assembly 10 to move along a preset direction (Z1 / Z2). At this time, the power output from the output end 201 of the drive assembly 20 can be transmitted to the first transmission pair 31, causing the multiple transmission components of the first transmission pair 31 to move relative to each other, thereby driving the cleaning assembly 10 to move along the preset direction (Z1 / Z2). For example, when the output end 201 moves along the first direction X1, the power output from the output end 201 can be transmitted to the cleaning assembly 10 through the first transmission pair 31 to drive the cleaning assembly 10 to move in the positive direction Z1 of the preset direction (Z1 / Z2).

[0065] In other embodiments, the drive component 20 can be mechanically coupled to the cleaning component 10 via the second transmission pair 33. Thus, when the output end 201 of the drive component 20 moves along the first direction X1 or the second direction X2, the power output by the output end 201 can be transmitted to the cleaning component 10 through the second transmission pair 33 to drive the cleaning component 10 to move along a preset direction (Z1 / Z2).

[0066] In some embodiments, when the second transmission pair 33 is in a non-transmission working state, the second transmission pair 33 is decoupled from the cleaning component 10. At this time, the power output by the output end 201 of the drive component 20 will not be transmitted to the second transmission pair 33, that is, the output end 201 cannot drive the cleaning component 10 to move along the preset direction (Z1 / Z2) through the second transmission pair 33.

[0067] In some embodiments, when the second transmission pair 33 is in the transmission working state, the second transmission pair 33 remains coupled to the drive assembly 20, causing the multiple transmission components of the second transmission pair 33 to move relative to each other, thereby driving the cleaning assembly 10 to move along a preset direction (Z1 / Z2). At this time, the power output from the output end 201 of the drive assembly 20 can be transmitted to the second transmission pair 33, causing the multiple transmission components of the second transmission pair 33 to move relative to each other, thereby driving the cleaning assembly 10 to move along the preset direction (Z1 / Z2). For example, when the output end 201 moves along the second direction X2, the power output from the output end 201 can be transmitted to the cleaning assembly 10 through the second transmission pair 33, thereby driving the cleaning assembly 10 to move in the positive direction Z1 of the preset direction (Z1 / Z2).

[0068] In summary, when the first transmission pair 31 and the second transmission pair 33 are coupled in parallel, the drive component 20 can be mechanically coupled to the cleaning component 10 through the first transmission pair 31 and the second transmission pair 33, respectively. Specifically, when the first transmission pair 31 is in the transmission working state, it remains coupled to the drive component 20, while the second transmission pair 33 is in the non-transmission working state and is decoupled from the cleaning component 10. The drive component 20 can then drive the cleaning component 10 to move along a preset direction (Z1 / Z2) through the first transmission pair 31. Conversely, when the second transmission pair 33 is in the transmission working state, it remains coupled to the drive component 20, while the first transmission pair 31 is in the non-transmission working state and is decoupled from the cleaning component 10. The drive component 20 can then drive the cleaning component 10 to move along a preset direction (Z1 / Z2) through the second transmission pair 33.

[0069] For ease of understanding, the embodiments described below are mostly illustrated by the example of the first transmission pair 31 and the second transmission pair 33 being coupled in series, and the first transmission pair 31 being closer to the output end 201 than the second transmission pair 33.

[0070] Referring to Figure 2, in some embodiments, the first transmission pair 31 includes a first transmission member A311 and a first transmission member B313. The first transmission member A311 and the first transmission member B313 are capable of relative movement to drive the cleaning assembly 10 to move along a preset direction (Z1 / Z2). It should be noted that in some embodiments, the first transmission member A311 and the first transmission member B313 include at least one of the following: threads, serrations, electromagnets, permanent magnets, hooks, and slots. For example, when the first transmission pair 31 is a threaded pair, both the first transmission member A311 and the first transmission member B313 are threaded, and the first transmission member A311 and the second transmission member B313 can cooperate to jointly form the first transmission pair 31.

[0071] Furthermore, in some embodiments, the transmission assembly 30 includes a connector 35 and a first lifting member 37 movably connected to the connector 35. The connector 35 and the first lifting member 37 can together form a first transmission pair 31. One of the connector 35 and the first lifting member 37 is provided with a first transmission member A311, and the other is provided with a first transmission member B313.

[0072] Specifically, in some embodiments, the connector 35 is integrally formed with one of the first transmission components A311 and B313, that is, the connector 35 and one of the first transmission components A311 and B313 are a single structure. This can improve the structural strength of the connector 35 and the first transmission components A311 and B313, thereby ensuring the stability and reliability of the cleaning module 100. For example, when the first transmission pair 31 is a threaded pair, the connector 35 can be integrally formed with threads, and these threads are one of the first transmission components A311 and B313.

[0073] In other embodiments, the connector 35 may be connected to one of the first transmission member A311 and the first transmission member B313 using either a non-detachable or a detachable connection method. The non-detachable connection method includes, but is not limited to, bonding or welding; the detachable connection method includes, but is not limited to, snap-fit ​​connections or threaded connections.

[0074] It should be noted that the connection method between the first lifting member 37 and the other of the first transmission member A311 and the first transmission member B313 is basically the same as the connection method between the connecting member 35 and the first transmission member A311 and the first transmission member B313 in the above embodiment, and will not be described again here.

[0075] Furthermore, in some embodiments, the connector 35 is fixedly connected to the output end 201. Thus, the connector 35 can be the driving member of the first transmission pair 31, and the first lifting member 37 can be the driven member of the first transmission pair 31. In other words, the transmission component on the connector 35 (one of the first transmission component A311 and the first transmission component B313) is the input end of the first transmission pair 31, and the transmission component on the first lifting member 37 (the other of the first transmission component A311 and the first transmission component B313) is the output end of the first transmission pair 31. When the first transmission pair 31 is in the transmission working state, the power output from the output end 201 can be transmitted to the first lifting member 37 through the connector 35, causing the first lifting member 37 to move relative to the connector 35, thereby driving the cleaning component 10 to move along a preset direction (Z1 / Z2). When the first transmission pair 31 is in the non-transmission working state, the power output from the output end 201 can be transmitted to the first lifting member 37 through the connector 35, but the first lifting member 37 will not move relative to the connector 35.

[0076] Please continue referring to Figure 2. In some embodiments, the second transmission pair 33 includes a second transmission member A331 and a second transmission member B333. The second transmission member A331 and the second transmission member B333 are capable of relative movement to drive the cleaning component 10 to move along a preset direction (Z1 / Z2). It should be noted that in some embodiments, the second transmission member A331 and the second transmission member B333 include at least one of the following: threads, serrations, electromagnets, permanent magnets, hooks, and slots. For example, when the second transmission pair 33 is a threaded pair, both the second transmission member A331 and the second transmission member B333 are threaded, and the second transmission member A331 and the second transmission member B333 can cooperate to jointly form the second transmission pair 33.

[0077] Furthermore, in some embodiments, the transmission assembly 30 includes a first lifting member 37 and a second lifting member 39 movably connected to the first lifting member 37. The first lifting member 37 and the second lifting member 39 can together form a second transmission pair 33. One of the first lifting member 37 and the second lifting member 39 is provided with a second transmission member A331, and the other is provided with a second transmission member B333.

[0078] Specifically, in some embodiments, the first lifting member 37 is integrally formed with one of the second transmission member A331 and the second transmission member B333. That is, the first lifting member 37 and one of the second transmission member A331 and the second transmission member B333 are a single structure. This can improve the structural strength of the first lifting member 37 and one of the second transmission member A331 and the second transmission member B333, thereby ensuring the stability and reliability of the cleaning module 100. For example, when the second transmission pair 33 is a threaded pair, the first lifting member 37 can be integrally formed with threads, and these threads are one of the second transmission member A331 and the second transmission member B333.

[0079] In other embodiments, the first lifting member 37 and one of the second transmission member A331 and the second transmission member B333 may be connected by a non-detachable connection or a detachable connection. The non-detachable connection includes, but is not limited to, bonding or welding; the detachable connection includes, but is not limited to, snap-fit ​​connections or threaded connections.

[0080] It should be noted that the connection method between the second lifting member 39 and the other of the second transmission member A331 and the second transmission member B333 is basically the same as the connection method between the first lifting member 37 and the other of the second transmission member A331 and the second transmission member B333 in the above embodiment, and will not be described again here.

[0081] Furthermore, in some embodiments, the second lifting member 39 may be fixedly connected to the cleaning assembly 10. Thus, the first lifting member 37 may be the driving member of the second transmission pair 33, and the second lifting member 39 may be the driven member of the second transmission pair 33. In other words, the transmission component on the first lifting member 37 (one of the second transmission component A331 and the second transmission component B333) is the input end of the second transmission pair 33, and the transmission component on the second lifting member 39 (the other of the second transmission component A331 and the second transmission component B333) is the output end of the second transmission pair 33. When the second transmission pair 33 is in the transmission working state, the power output by the output end 201 can be transmitted to the second lifting member 39 through the first lifting member 37, so that the second lifting member 39 moves relative to the first lifting member 37, thereby driving the cleaning component 10 to move along the preset direction (Z1 / Z2); when the second transmission pair 33 is in the non-transmission working state, the power output by the output end 201 can be transmitted to the second lifting member 39 through the first lifting member 37, but the second lifting member 39 will not move relative to the first lifting member 37.

[0082] It should be noted that, in some embodiments, when the first transmission pair 31 and the second transmission pair 33 are coupled in parallel and the output end 201 moves along the first direction X1, the first lifting member 37 is directly mechanically coupled to the connecting member 35, and the first lifting member 37 can move relative to the connecting member 35 in the positive direction Z1 of the preset direction (Z1 / Z2); when the first transmission pair 31 and the second transmission pair 33 are coupled in parallel and the output end 201 moves along the second direction X2, the second lifting member 39 is directly mechanically coupled to the connecting member 35, and the second lifting member 39 can move relative to the connecting member 35 in the positive direction Z1 of the preset direction (Z1 / Z2).

[0083] Referring to Figures 1 and 2, in some embodiments, the output terminal 201 can rotate around a first direction X1 or a second direction X2. In the first mode, when the output terminal 201 rotates around the first direction X1, the second lifting member 39 can move along the Z1 direction; when the output terminal 201 rotates around the second direction X2, the second lifting member 39 can move along the Z2 direction. In the second mode, when the output terminal 201 rotates around the second direction X2, the first lifting member 37 can move along the Z1 direction; when the output terminal 201 rotates around the first direction X1, the first lifting member 37 can move along the Z2 direction. It is understood that in this embodiment, the drive assembly 20 includes a rotary motor or a rotary cylinder.

[0084] It is understood that, for ease of explanation, the embodiments described below are only illustrated by the example that the output terminal 201 can rotate around the first direction X1 or the second direction X2.

[0085] Please refer to Figure 2. In some embodiments, the transmission assembly 30 includes a connector 35, a first lifting member 37 movably connected to the connector 35, and a second lifting member 39 movably connected to the first lifting member 37. The connector 35 is fixedly connected to the output end 201 and rotates with the output end 201. The second lifting member 39 is fixedly connected to the cleaning assembly 10.

[0086] Specifically, in some embodiments, the first transmission pair 31 is disposed between the connector 35 and the first lifting member 37, and the second transmission pair 33 is disposed between the first lifting member 37 and the second lifting member 39. Thus, when the output end 201 rotates along the first direction X1 or the second direction X2, the first lifting member 37 can reciprocate relative to the connector 35 along a preset direction (Z1 / Z2); or, the second lifting member 39 can reciprocate relative to the first lifting member 37 along a preset direction (Z1 / Z2) to drive the cleaning component 10 to reciprocate along the preset direction (Z1 / Z2).

[0087] Further, referring to Figure 5, in some embodiments, in the first mode, when the output end 201 rotates along the second direction X2, the second lifting member 39 can move relative to the first lifting member 37 towards the direction closer to the output end 201. Specifically, when the output end 201 rotates along the second direction X2, relative movement occurs between the second lifting member 39 and the first lifting member 37, that is, the second transmission pair 33 is in a transmission working state, thereby enabling the second lifting member 39 to move relative to the first lifting member 37 towards the direction closer to the output end 201, so as to drive the cleaning assembly 10 to move towards the direction closer to the output end 201.

[0088] Referring to Figure 6, in some embodiments, in the second mode, when the output end 201 rotates along the first direction X1, the first lifting member 37 can move towards the direction closer to the output end 201. Specifically, when the output end 201 rotates along the first direction X1, relative movement occurs between the first lifting member 37 and the connecting member 35, that is, the first transmission pair 31 is in a transmission working state, thereby enabling the first lifting member 37 to move relative to the connecting member 35 towards the direction closer to the output end 201, so as to drive the cleaning component 10 to move towards the direction closer to the output end 201.

[0089] Please refer to Figure 2. In some embodiments, the first lifting member 37 is movably sleeved on the connecting member 35, and the second lifting member 39 is movably sleeved on the first lifting member 37.

[0090] Specifically, in some embodiments, the first lifting member 37 is sleeved outside the connecting member 35, and the first lifting member 37 is movable relative to the connecting member 35 (e.g., rotating or moving); similarly, the second lifting member 39 is sleeved outside the first lifting member 37, and the second lifting member 39 is movable relative to the first lifting member 37 (e.g., rotating or moving). Thus, in this embodiment, the transmission assembly 30 has an externally nested structure, which facilitates the connection and disassembly between the connecting member 35, the first lifting member 37, and the second lifting member 39, and is beneficial for maintenance and replacement.

[0091] In other embodiments, the first lifting member 37 is sleeved inside the connecting member 35. In other words, the first lifting member 37 is housed inside the connecting member 35 and can move relative to the connecting member 35. Similarly, the second lifting member 39 is sleeved inside the first lifting member 37 and can move relative to the first lifting member 37. Thus, in this embodiment, the transmission assembly 30 has an internally nested structure, which on the one hand makes the structure of the transmission assembly 30 more compact, which is beneficial to the miniaturization of the cleaning module 100; on the other hand, it reduces the interference of external factors on the movement of the first lifting member 37 and the second lifting member 39, ensuring the normal operation of the transmission assembly 30 and improving the stability and reliability of the cleaning module 100.

[0092] In some embodiments, a first threaded pair is provided between the connector 35 and the first lifting member 37, and a second threaded pair is provided between the second lifting member 39 and the first lifting member 37, with the first and second threaded pairs having opposite directions of rotation. In a first mode, in response to the output end 201 rotating along a first direction X1, the second threaded pair can be used to allow the second lifting member 39 to move in a direction away from the output end 201. In a second mode, in response to the output end 201 rotating along a second direction X2, the first threaded pair can be used to allow the first lifting member 37 to move in a direction away from the output end 201. It should be noted that in some embodiments, the first threaded pair is the first transmission pair 31 described above; the second threaded pair is the second transmission pair 33 described above.

[0093] Specifically, in some embodiments, when the transmission component 30 is in the first mode and the output end 201 moves along the first direction X1 (as shown in FIG. 3), the second threaded pair is in a transmission working state. At this time, the power output by the output end 201 can be transmitted to the cleaning component 10 through the second transmission pair 33 to drive the cleaning component 10 to move in the positive direction Z1 along the preset direction (Z1 / Z2). That is, the power output by the output end 201 can drive the cleaning component 10 to move from the initial position away from the output end 201 through the second transmission pair 33. When the transmission component 30 is in the second mode and the output end 201 rotates along the second direction X2 (as shown in FIG. 4), the first threaded pair is in a transmission working state. At this time, the power output by the output end 201 can be transmitted to the cleaning component 10 through the first transmission pair 31 to drive the cleaning component 10 to move in the positive direction Z1 along the preset direction (Z1 / Z2). That is, the power output by the output end 201 can drive the cleaning component 10 to move from the initial position away from the output end 201 through the first transmission pair 31.

[0094] Since the first and second threaded pairs have opposite rotation directions, when the output end 201 rotates along the first direction X1 or the second direction X2 to drive the cleaning component 10 to move away from the output end 201 from the initial position, only one of the first and second threaded pairs can be in the transmission working state, while the other is in the non-transmission working state. This can prevent the cleaning component 10 from being damaged due to excessive movement along the preset direction (Z1 / Z2) caused by the first and second threaded pairs being in the transmission working state at the same time. This can extend the service life of the cleaning component 10 and ensure the stability and reliability of the cleaning module 100.

[0095] Please refer to Figures 2 and 5. In some embodiments, in the first mode, in response to the rotation of the output end 201 along the second direction X2, the second threaded pair can be used to allow the second lifting member 39 to move toward the direction close to the output end 201.

[0096] Specifically, referring to Figure 3, in some embodiments, when the transmission component 30 is in the first mode and the cleaning robot 1000 needs to perform a cleaning task, the output end 201 can move along the first direction X1 to drive the cleaning component 10 to move away from the output end 201 via the second threaded pair. At this time, the cleaning component 10 can move from the initial position to the cleaning position, allowing the cleaning component 10 to move to a position where the surface to be cleaned can be cleaned. When the transmission component 30 is in the first mode and the cleaning robot 1000 does not need to perform a cleaning task, the output end 201 can move along the second direction X2 to drive the cleaning component 10 to move towards the output end 201 via the second threaded pair. At this time, the cleaning component 10 can move from the cleaning position to the initial position. Thus, when the transmission component 30 is in the first mode and the output end 201 moves along the first direction X1 or the second direction X2, the power output by the output end 201 can be transmitted to the cleaning component 10 via the second threaded pair to drive the cleaning component 10 to move.

[0097] Please refer to Figures 2 and 6. In some embodiments, in the second mode, in response to the output end 201 rotating in the first direction X1, the first threaded pair can be used to allow the first lifting member 37 to move toward the direction close to the output end 201.

[0098] Specifically, referring to Figure 4, in some embodiments, when the transmission component 30 is in the second mode and the cleaning robot 1000 needs to perform a cleaning task, the output end 201 can move along the second direction X2 to drive the cleaning component 10 to move in the forward direction Z1 of the preset direction (Z1 / Z2) through the first threaded pair. At this time, the cleaning component 10 can move from the initial position to the cleaning position, so that the cleaning component 10 can move to a position where the surface to be cleaned can be cleaned. When the transmission component 30 is in the second mode and the cleaning robot 1000 does not need to perform a cleaning task, the output end 201 can move along the first direction X1 to drive the cleaning component 10 to move in the reverse direction Z2 of the preset direction (Z1 / Z2) through the first threaded pair. At this time, the cleaning component 10 can move from the cleaning position to the initial position. Thus, when the transmission component 30 is in the second mode and the output end 201 moves along the first direction X1 or the second direction X2, the power output by the output end 201 can be transmitted to the cleaning component 10 through the first threaded pair to drive the cleaning component 10 to move.

[0099] Furthermore, in some embodiments, one of the outer peripheral wall of the connector 35 and the inner peripheral wall of the first lifting member 37 is provided with a first threaded groove, and the other is provided with a first threaded tooth. The first threaded groove and the first threaded tooth cooperate to form a first threaded pair. One of the outer peripheral wall of the first lifting member 37 and the inner peripheral wall of the second lifting member 39 is provided with a second threaded groove, and the other is provided with a second threaded tooth. The second threaded groove and the second threaded tooth cooperate to form a second threaded pair.

[0100] Please refer to Figures 2 and 9. In some embodiments, the drive assembly 20 includes a loading member 21 and a drive member 23. The loading member 21 is disposed on the cleaning robot 1000; the drive member 23 is disposed on the loading member 21 and connected to the connector 35. The drive assembly 20 drives the connector 35 to move through the drive member 23.

[0101] The loading component 21 is a structure within the drive assembly 20 used to mount and support the drive component 23 and other components of the drive assembly 20 (such as the reducer mentioned above). The loading component 21 can be mounted on the body 300 of the cleaning robot 1000, thereby enabling the connection between the drive assembly 20 and the cleaning robot 1000. The loading component 21 can be made of metallic or non-metallic materials. Metallic materials include, but are not limited to, aluminum, iron, steel, or aluminum alloys, while non-metallic materials include, but are not limited to, plastics. In one example, the loading component 21 can be made of metallic materials, thereby increasing its structural strength, improving its load-bearing capacity, preventing deformation and damage during the operation of the cleaning module 100, and enhancing the stability and reliability of the cleaning module 100. In another example, the loading component 21 can be made of non-metallic materials, thereby reducing its weight and facilitating the lightweighting of the drive assembly 20 and the cleaning module 100.

[0102] In some embodiments, the output terminal 201 and the connector 35 can be joined together in a non-detachable manner, thereby improving the bonding strength between the output terminal 201 and the connector 35, reducing the possibility of separation between the output terminal 201 and the connector 35 during the operation of the cleaning module 100, and improving the stability and reliability of the cleaning module 100. The non-detachable connection method includes, but is not limited to, bonding or welding. In other embodiments, the output terminal 201 and the connector 35 can be joined together in a detachable manner, thereby facilitating the maintenance and replacement of the drive component 23 and the connector 35. The detachable connection method includes, but is not limited to, snap-fit ​​connections or threaded connections.

[0103] Furthermore, in some embodiments, there is only one drive member 23. That is, the cleaning module 100 in this application can achieve bidirectional cleaning of the surface to be cleaned by the cleaning component 10 using only one drive member 23, without the need to set two drive members 23. That is, one of the two drive members 23 is used to drive the cleaning component 10 to rotate along the first direction X1, and the other is used to drive the cleaning component 10 to rotate along the second direction X2. This can reduce the space occupied by the drive component 20, which is conducive to the miniaturization of the cleaning module 100. On the other hand, it can reduce the production cost of the cleaning module 100 and improve the competitiveness of the cleaning robot 1000.

[0104] It is understandable that, as shown in Figures 3 and 5, when the cleaning component 10 is in the cleaning position and the output end 201 moves along the second direction X2, if the second lifting member 39 and the connecting member 35 rotate synchronously, the second lifting member 39 will not be able to drive the cleaning component 10 to move in the opposite direction Z2 along the preset direction (Z1 / Z2). That is, the lifting member 301 will not be able to drive the cleaning component 10 to move from the cleaning position toward the direction closer to the output end 201 to the initial position, which will affect the normal operation of the cleaning module 100.

[0105] Referring to Figures 2 and 7, in some embodiments of this application, the cleaning module 100 further includes a damper 40. The damper 40 is used to prevent the second lifting member 39 from rotating synchronously with the connecting member 35 when moving towards the direction closer to the output end 201. Specifically, when the second lifting member 39 moves towards the direction closer to the output end 201, the damper 40 can apply a damping force to the second lifting member 39. The damping force can prevent the second lifting member 39 from rotating synchronously with the connecting member 35, thereby ensuring that the second lifting member 39 can move relative to the connecting member 35 to drive the cleaning assembly 10 from the cleaning position towards the direction closer to the output end 201 to the initial position, thereby ensuring the normal operation of the cleaning module 100.

[0106] In some embodiments, the damper 40 is connected to the loading member 21 of the drive assembly 20 and cooperates with the second lifting member 39.

[0107] In some embodiments, the damper 40 and the loading component 21 are integrally formed, that is, the damper 40 and the loading component 21 are a single structure. This improves the structural strength between the damper 40 and the loading component 21, preventing the cleaning module 100 from disconnecting from the loading component 21 during operation, thereby ensuring the normal operation of the cleaning module 100. In other embodiments, the damper 40 and the loading component 21 can be combined using a non-removable connection or a detachable connection. The non-removable connection includes, but is not limited to, bonding or welding; the detachable connection includes, but is not limited to, snap-fit ​​connections or threaded connections.

[0108] Furthermore, in some embodiments, the damper 40 includes a damping body 41 and a damping protrusion 43. The damping body 41 is sleeved on the second lifting member 39. The damping protrusion 43 extends from the inner wall of the damping body 41 toward the center of the damping body 41, and the damping protrusion 43 abuts against the second lifting member 39.

[0109] Specifically, in some embodiments, when the cleaning module 100 is assembled, the damping protrusion 43 remains in contact with the second lifting member 39. Thus, during the movement of the second lifting member 39 along a preset direction (Z1 / Z2), the damping protrusion 43 consistently generates a damping force on the second lifting member 39, preventing the second lifting member 39 from rotating together with the connecting member 35, which would prevent the cleaning assembly 10 from moving along the preset direction (Z1 / Z2). It should be noted that the damping force generated by the damper 40 on the second lifting member 39 is less than the power output from the output end 201 of the drive assembly 20. This ensures that when the cleaning assembly 10 is in the cleaning position, the drive assembly 20 can drive the cleaning assembly 10 to rotate, thereby achieving cleaning of the surface to be cleaned.

[0110] It is understandable that, as shown in Figures 3 and 5, when the cleaning component 10 is in the initial position and the output end 201 moves along the first direction X1, if the second lifting member 39 and the connecting member 35 rotate synchronously, the second lifting member 39 will not be able to drive the cleaning component 10 to move along the preset direction (Z1 / Z2) in the positive direction Z1. That is, the lifting member 301 will not be able to drive the cleaning component 10 to move from the initial position to the cleaning position in a direction away from the output end 201, which will affect the normal operation of the cleaning module 100.

[0111] Referring to Figures 2 and 8, in some embodiments of this application, the cleaning module 100 further includes an anti-rotation component 50. The anti-rotation component 50 is disposed between the loading member 21 and the second lifting member 39 of the drive component 20. The anti-rotation component 50 is used to prevent the second lifting member 39 from rotating synchronously with the connecting member 35 when moving in a direction away from the output end 201. Specifically, when the second lifting member 39 moves in a direction away from the output end 201, the anti-rotation component 50 can apply an anti-rotation force to the second lifting member 39. The anti-rotation force can prevent the second lifting member 39 from rotating synchronously with the connecting member 35, thereby ensuring that the second lifting member 39 can move relative to the connecting member 35 to drive the cleaning component 10 from the initial position to the cleaning position in a direction away from the output end 201, thereby ensuring the normal operation of the cleaning module 100.

[0112] Furthermore, if the user applies force to the cleaning component 10 when it is in its initial position, the structures connected to the cleaning component 10 (such as the transmission component 30 and the drive component 20) may suffer abnormal stress damage, affecting the normal operation of the cleaning module 100. Therefore, the anti-rotation component 50 can also prevent the cleaning component 10 from rotating when it is subjected to force, thereby preventing abnormal stress damage to the structures connected to the cleaning component 10, ensuring the normal operation of the cleaning module 100, and extending the service life of the cleaning module 100.

[0113] Furthermore, in some embodiments, the anti-rotation assembly 50 includes a first anti-rotation member 51 and a second anti-rotation member 53. One of the first anti-rotation member 51 and the second anti-rotation member 53 is disposed on the loading member 21, and the other is disposed on the second lifting member 39. When the first anti-rotation member 51 and the second anti-rotation member 53 cooperate, the anti-rotation assembly 50 can be used to prevent the second lifting member 39 from rotating synchronously with the connecting member 35. It should be noted that in some embodiments, the first anti-rotation member 51 and the second anti-rotation member 53 may include at least one of the following: an electromagnet, a permanent magnet, a friction pair, an elastic deformation structure, etc.

[0114] Specifically, in some embodiments, when the cleaning module 100 is assembled, the first anti-rotation member 51 and the second anti-rotation member 53 cooperate. Thus, when the second lifting member 39 moves in a direction away from the output end 201, the anti-rotation component 50 can apply an anti-rotation force to the second lifting member 39, thereby preventing the second lifting member 39 and the connecting member 35 from rotating synchronously, which would prevent the cleaning component 10 from moving along the preset direction (Z1 / Z2). It should be noted that the anti-rotation force generated by the anti-rotation component 50 on the second lifting member 39 is less than the power output from the output end 201 of the drive component 20. This ensures that when the rotation of the second lifting member 39 is restricted, the connecting member 35 can rotate relative to the second lifting member 39, so that the second lifting member 39 moves along the positive Z1 direction of the preset direction (Z1 / Z2).

[0115] Furthermore, in some embodiments, one of the first anti-rotation member 51 and the second anti-rotation member 53 is a protrusion, and the other of the first anti-rotation member 51 and the second anti-rotation member 53 is a groove. The protrusion and the groove are matched, and the cross-sectional dimensions of the protrusion are the same as those of the groove.

[0116] For example, the first anti-rotation member 51 can be disposed on the second lifting member 39, and the first anti-rotation member 51 is a protrusion; the second anti-rotation member 53 can be disposed on the loading member 21, and the second anti-rotation member 53 is a groove. That is, the side of the second lifting member 39 away from the surface to be cleaned has a protrusion, and the side of the loading member 21 facing the surface to be cleaned has a groove. The protrusion and the groove cooperate to realize the cooperation of the first anti-rotation member 51 and the second anti-rotation member 53. Among them, the size of the groove is larger than the size of the protrusion, and the cross-sectional size of the protrusion is the same as the cross-sectional size of the groove. This can prevent the protrusion from moving in the groove and causing the second lifting member 39 and the connecting member 35 to rotate synchronously. This ensures that when the output end 201 outputs power, the connecting member 35 can move relative to the second lifting member 39 so that the second lifting member 39 can move directly along the preset direction (Z1 / Z2). It should be noted that in some embodiments, the quantity relationship between the first anti-rotation member 51 and the second anti-rotation member 53 is one-to-one, one-to-many, or many-to-one. That is, one first anti-rotation component 51 corresponds to one second anti-rotation component 53; or, one first anti-rotation component 51 corresponds to multiple second anti-rotation components 53; or, multiple first anti-rotation components 51 correspond to one second anti-rotation component 53.

[0117] It should be noted that, in one example, the loading member 21 has a groove, which is recessed from the side of the loading member 21 facing the surface to be cleaned in a direction away from the surface to be cleaned. In this case, the second anti-rotation member 53 is this groove. In another example, the loading member 21 has a protrusion, which protrudes from the side of the loading member 21 facing the surface to be cleaned in a direction closer to the surface to be cleaned. In this case, the second anti-rotation member 53 is the gap between two adjacent protrusions.

[0118] It is understandable, as shown in Figure 3, that when the transmission component 30 is in the first mode and the output end 201 rotates along the first direction X1, the second threaded pair is in the transmission working state, and the first threaded pair is in the non-transmission working state. The second lifting member 39 can move in the positive direction Z1 of the preset direction (Z1 / Z2), that is, the second lifting member 39 can move away from the output end 201. However, when the second lifting member 39 drives the cleaning component 10 to the cleaning position and the output end 201 rotates along the second direction X2, the first threaded pair may switch to the transmission working state. In this case, the first lifting member 37 will also move away from the output end 201, which will cause the cleaning component 10 to collide with the surface to be cleaned, resulting in damage to the cleaning component 10 or other structural components of the cleaning module 100, affecting the normal operation of the cleaning robot 1000.

[0119] Referring to Figure 2, in some embodiments of this application, the cleaning module 100 further includes a first clutch 60, which is disposed between the connector 35 and the first lifting member 37. When the second lifting member 39 moves toward the direction closer to the output end 201, the first clutch 60 is used to prevent the connector 35 and the first lifting member 37 from separating. Thus, when the second lifting member 39 drives the cleaning component 10 to move from the cleaning position toward the direction closer to the output end 201, the first clutch 60 can generate an engagement force to prevent the connector 35 and the first lifting member 37 from separating, avoiding the first threaded pair from changing to a transmission working state, which would cause the first lifting member 37 to also move toward the direction away from the output end 201, thereby preventing the cleaning component 10 from moving away from the surface to be cleaned. Furthermore, the presence of the first clutch 60 also ensures that when the output end 201 rotates in the second direction X2, the first threaded pair will not be in a working state, preventing the first lifting member 37 from extending in the direction away from the output end 201, thus avoiding excessive travel of the cleaning component 10 and damage to its structure.

[0120] In some embodiments, the first clutch 60 includes a first clutch element 61 and a second clutch element 63. The first clutch element 61 is disposed on the connecting member 35, and the second clutch element 63 is disposed on the first lifting member 37. When the output end 201 rotates along the second direction X2, causing the second lifting member 39 to move toward the direction closer to the output end 201, the first clutch element 61 and the second clutch element 63 engage to prevent the connecting member 35 and the first lifting member 37 from separating. It should be noted that in some embodiments, the first clutch element 61 and the second clutch element 63 may include at least one of the following: an electromagnet, a permanent magnet, a friction pair, an elastic deformation structure, etc.

[0121] For example, one of the first clutch 61 and the second clutch 63 is a permanent magnet, and the other of the first clutch 61 and the second clutch 63 is a magnetically conductive material. When the output end 201 rotates along the second direction X2 to move the second lifting member 39 toward the direction closer to the output end 201, the permanent magnet and the magnetically conductive material can remain engaged to prevent the connecting member 35 and the first lifting member 37 from separating.

[0122] Referring to Figure 4, in some embodiments, when the output end 201 rotates along the second direction X2, the first clutch 61 and the second clutch 63 can disengage, so that the first lifting member 37 moves in a direction away from the output end 201.

[0123] Specifically, in some embodiments, when the cleaning component 10 is in the initial position, the first anti-rotation member 51 and the second anti-rotation member 53 can cooperate to prevent the second lifting member 39 from rotating synchronously with the connecting member 35. Thus, when the output end 201 rotates along the second direction X2, the anti-rotation component 50 can also apply an anti-rotation force to the first lifting member 37 through the second lifting member 39 to prevent the first lifting member 37 from rotating synchronously with the connecting member 35. This allows the first lifting member 37 to move only in a direction away from the output end 201 when the output end 201 rotates along the second direction X2, thereby enabling the first lifting member 37 to overcome the engagement force between the first clutch member 61 and the second clutch member 63 and move in a direction away from the output end 201.

[0124] It is understandable, as shown in Figure 4, that when the transmission component 30 is in the second mode and the output end 201 rotates along the second direction X2, the first threaded pair is in the transmission working state, and the second threaded pair is in the non-transmission working state. The first lifting member 37 can move in the positive direction Z1 of the preset direction (Z1 / Z2), that is, the first lifting member 37 can move in a direction away from the output end 201. However, when the first lifting member 37 drives the cleaning component 10 to the cleaning position and the output end 201 rotates along the first direction X1, the second threaded pair may switch to the transmission working state. In this case, the second lifting member 39 will also move in a direction away from the output end 201, which will cause the cleaning component 10 to collide with the surface to be cleaned, resulting in damage to the cleaning component 10 or other structural components of the cleaning module 100, affecting the normal operation of the cleaning robot 1000.

[0125] Referring to Figure 2, in some embodiments of this application, the cleaning module 100 further includes a second clutch 70, which is disposed between the first lifting member 37 and the second lifting member 39. When the first lifting member 37 moves toward the direction closer to the output end 201, the second clutch 70 is used to prevent the first lifting member 37 and the second lifting member 39 from separating. Thus, when the first lifting member 37 drives the cleaning component 10 to move from the cleaning position toward the direction closer to the output end 201, the second clutch 70 can generate an engagement force to prevent the first lifting member 37 and the second lifting member 39 from separating, avoiding the second threaded pair from changing to a transmission working state, which would cause the second lifting member 39 to also move toward the direction away from the output end 201, thereby preventing the cleaning component 10 from moving away from the surface to be cleaned. Furthermore, the presence of the second clutch 70 also ensures that when the output end 201 rotates along the first direction X1, the second threaded pair will not be in a working state, preventing the second lifting member 39 from extending in the direction away from the output end 201, thus avoiding excessive travel of the cleaning component 10 and damage to its structure.

[0126] In some embodiments, the second clutch 70 includes a first sub-component 71 and a second sub-component 73. The first sub-component 71 is disposed on the first lifting member 37, and the second sub-component 73 is disposed on the second lifting member 39. When the output end 201 rotates along the first direction X1, causing the first lifting member 37 to move toward a direction closer to the output end 201, the first sub-component 71 and the second sub-component 73 engage to prevent the first lifting member 37 and the second lifting member 39 from separating. It should be noted that in some embodiments, the first sub-component 71 and the second sub-component 73 may include at least one of the following: an electromagnet, a permanent magnet, a friction pair, an elastic deformation structure, etc.

[0127] For example, one of the first sub-component 71 and the second sub-component 73 is a permanent magnet, and the other of the first sub-component 71 and the second sub-component 73 is a magnetically conductive material. When the output end 201 rotates along the first direction X1 to move the first lifting member 37 toward the direction closer to the output end 201, the permanent magnet and the magnetically conductive material can remain engaged to prevent the first lifting member 37 and the second lifting member 39 from separating.

[0128] Referring to Figure 3, in some embodiments, when the output end 201 rotates along the first direction X1, the first sub-component 71 and the second sub-component 73 can be disengaged so that the second lifting member 39 moves in a direction away from the output end 201.

[0129] Specifically, in some embodiments, when the cleaning component 10 is in the initial position, the first anti-rotation member 51 and the second anti-rotation member 53 can cooperate to prevent the second lifting member 39 from rotating synchronously with the connecting member 35. Thus, when the output end 201 rotates along the first direction X1, the anti-rotation component 50 can also apply an anti-rotation force to the second lifting member 39 to prevent the second lifting member 39 from rotating synchronously with the connecting member 35. This allows the second lifting member 39 to move only in a direction away from the output end 201 when the output end 201 rotates along the first direction X1, thereby enabling the second lifting member 39 to overcome the bonding force between the first sub-component 71 and the second sub-component 73 and move in a direction away from the output end 201.

[0130] Referring to Figure 2, in some embodiments, the cleaning component 10 includes a mounting member 11 and a cleaning member 13. The mounting member 11 includes a protrusion 111, at least a portion of which extends into the connector 35 and is connected to the second lifting member 39. The cleaning member 13 is disposed on the side of the mounting member 11 opposite to the second lifting member 39.

[0131] Specifically, at least a portion of the protrusion 111 extends into the connector 35 and connects with the second lifting member 39. This increases the contact area between the mounting member 11 and the second lifting member 39, enhancing the connection strength between them. Furthermore, it reduces the space occupied by the mounting member 11, facilitating the miniaturization of the cleaning module 100. When the cleaning robot 1000 is in normal cleaning mode, the output end 201 can drive the mounting member 11 and the cleaning member 13 to rotate along the first direction X1 or the second direction X2 via the second lifting member 39 to clean the surface to be cleaned. The cross-sectional shape of the cleaning member 13 may include, but is not limited to, circles, squares, and triangles. The cleaning member 13 includes, but is not limited to, disposable electrostatic mops, disposable wet mops, or reusable fabric mops.

[0132] In some embodiments, the connector 35 is provided with a clearance space 351. The second lifting member 39 includes a lifting part 391 and a mounting part 393. The lifting part 391 is sleeved on the first lifting member 37. The mounting part 393 is connected to the lifting part 391 and extends at least partially into the clearance space 351. The mounting part 393 is provided with a mounting space 3931 for accommodating at least a portion of the protrusion 111.

[0133] The clearance space 351 reduces the size of the second lifting member 39, thus facilitating the miniaturization of the cleaning module 100. It also reduces the weight of the connector 35, enabling a lighter transmission component 30 and reducing the power consumption required for the drive component 20 to move the transmission component 30. Furthermore, it provides positioning for the installation of the second lifting member 39, improving assembly efficiency. Similarly, the installation space 3931 reduces the size of the mounting member 11, further contributing to the miniaturization of the cleaning module 100. It also reduces the weight of the second lifting member 39, enabling a lighter transmission component 30 and reducing the power consumption required for the drive component 20 to move the transmission component 30. Finally, it provides positioning for the installation of the mounting member 11, improving assembly efficiency.

[0134] In some embodiments, the lifting part 391 and the mounting part 393 are integrally formed, that is, the lifting part 391 and the mounting part 393 are a single structure. This improves the structural strength between the lifting part 391 and the mounting part 393, preventing the cleaning module 100 from disconnecting during operation, thereby ensuring the normal operation of the cleaning module 100. In other embodiments, the lifting part 391 and the mounting part 393 can be combined using a non-removable connection method or a detachable connection method. The non-removable connection method includes, but is not limited to, bonding or welding; the detachable connection method includes, but is not limited to, snap-fit ​​connection or threaded connection.

[0135] Please refer to Figures 2 and 9, and in conjunction with Figures 3 and 4. In some embodiments of this application, a cleaning module 100 is used in a cleaning robot 1000. The cleaning module 100 includes a drive assembly 20, a transmission assembly 30, and a cleaning assembly 10. The drive assembly 20 includes an output end 201 for outputting power. The transmission assembly 30 includes a connector 35 and a lifting member 301. The connector 35 is connected to the output end 201 of the drive assembly 20 and rotates with the output end 201. The lifting member 301 is movably connected to the connector 35. The cleaning assembly 10 is connected to the lifting member 301 and can move synchronously with the lifting member 301. The lifting component 301 includes a first lifting component 37 and a second lifting component 39. The transmission component 30 has two operating modes: a first mode and a second mode. In the first mode, in response to the output end 201 rotating along the first direction X1, the second lifting component 39 moves relative to the first lifting component 37 in a direction away from the output end 201, and the first lifting component 37 moves synchronously relative to the connecting component 35 to drive the cleaning component 10 to move in a direction away from the output end 201. In the second mode, in response to the output end 201 rotating along the second direction X2, the first lifting component 37 moves relative to the connecting component 35 in a direction away from the output end 201, and the second lifting component 39 moves synchronously relative to the first lifting component 37 to drive the cleaning component 10 to move in a direction away from the output end 201. The first direction X1 and the second direction X2 are opposite.

[0136] In the cleaning module 100 of this application embodiment, in a first mode, in response to the output end 201 rotating along a first direction X1, the second lifting member 39 moves relative to the first lifting member 37 in a direction away from the output end 201, and the first lifting member 37 moves synchronously relative to the connecting member 35 to drive the cleaning assembly 10 to move in a direction away from the output end 201; in a second mode, in response to the output end 201 rotating along a second direction X2, the first lifting member 37 can move relative to the connecting member 35 in a direction away from the output end 201, and the second lifting member 39 moves synchronously relative to the first lifting member 37 to drive the cleaning assembly 10 to move in a direction away from the output end 201. The drive component 20 can drive the cleaning component 10 to move away from the output end 201, regardless of whether the output end 201 moves along the first direction X1 or the second direction X2. Furthermore, when the cleaning component 10 moves away from the output end 201, the cleaning component 10 can clean the surface to be cleaned. That is, when the output end 201 moves along the first direction X1 or the second direction X2, the cleaning component 10 can move to a position where the surface to be cleaned can be cleaned, thereby enabling the cleaning component 10 to have bidirectional cleaning capabilities and improving the cleaning effect of the cleaning module 100 on the surface to be cleaned.

[0137] It is understood that the specific structure of the cleaning module 100 in this embodiment is exactly the same as that of the cleaning module 100 in the above embodiments, and will not be described again here.

[0138] In certain embodiments of this application, a functional module is used for a movable platform. The functional module includes a functional component, a drive component 20, and a transmission component 30. The functional component is used to implement the functions required by the movable platform. The drive component 20 includes an output end 201 for outputting power. The output end 201 can selectively move along a first direction X1 or a second direction X2, where the first direction X1 is opposite to the second direction X2. The transmission component 30 is mechanically coupled to the functional component and the drive component 20. The drive component 20 drives the functional component to reciprocate along a preset direction (Z1 / Z2) through the transmission component 30. The transmission component 30 includes a first transmission pair 31 and a second transmission pair 33. The working states of the first transmission pair 31 and the second transmission pair 33 include a non-transmission working state and a transmission working state. In the transmission working state, the multiple transmission components of each of the first transmission pair 31 and the second transmission pair 33 move relative to each other to achieve the transmission function. In the non-transmission working state, the multiple transmission components of each of the first transmission pair 31 and the second transmission pair 33 stop moving relative to each other. The working modes of the transmission component 30 include a first mode and a second mode. In the first mode, in response to… When the output end 201 moves along the first direction X1, the second transmission pair 33 is in the transmission working state, and the first transmission pair 31 is in the non-transmission working state. The output end 201 drives the functional component to move in the positive direction Z1 along the preset direction (Z1 / Z2) through the second transmission pair 33. In the second mode, in response to the output end 201 moving along the second direction X2, the first transmission pair 31 is in the transmission working state, and the second transmission pair 33 is in the non-transmission working state. The output end 201 drives the functional component to move in the positive direction Z1 along the preset direction (Z1 / Z2) through the first transmission pair 31.

[0139] It should be noted that, in some embodiments, the mobile platform includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, unmanned boats, cleaning robots 1000, service robots, manned aircraft, and manned vehicles. Functional modules include, but are not limited to, cleaning module 100 and sensor modules. In this application embodiment, only the example of a mobile platform including a cleaning robot 1000 and a functional module including a cleaning module 100 is used for illustration. When the functional module includes a cleaning module 100, the cleaning module 100 includes a cleaning component 10, a drive component 20, and a transmission component 30.

[0140] In the functional module of this application embodiment, in the first mode, in response to the output terminal 201 moving along the first direction X1, the second transmission pair 33 is in the transmission working state, and the first transmission pair 31 is in the non-transmission working state. The output terminal 201 drives the functional component to move in the positive direction Z1 along the preset direction (Z1 / Z2) through the second transmission pair 33. In the second mode, in response to the output terminal 201 moving along the second direction X2, the first transmission pair 31 is in the transmission working state, and the second transmission pair 33 is in the non-transmission working state. The output terminal 201 drives the functional component to move in the positive direction Z1 along the preset direction (Z1 / Z2) through the first transmission pair 31. Thus, regardless of whether the output terminal 201 moves along the first direction X1 or the second direction X2, the driving component 20 can drive the functional component to move along the preset direction (Z1 / Z2) through the transmission component 30.

[0141] It is understood that in this embodiment, when the functional module includes the cleaning module 100, the specific structure of the cleaning module 100 is exactly the same as that of the cleaning module 100 in the above embodiment, and will not be described again here.

[0142] In related technologies, if the connecting member separates from the first lifting member when the second lifting member moves towards the output end, the first lifting member will also move away from the output end. This will cause the cleaning component to come into contact with the surface to be cleaned, damaging other structural components of the cleaning component or cleaning module and affecting the normal operation of the cleaning robot. Similarly, if the first lifting member separates from the second lifting member when the first lifting member moves towards the output end, the second lifting member will also move away from the output end. This will cause the cleaning component to come into contact with the surface to be cleaned, damaging other structural components of the cleaning component or cleaning module and affecting the normal operation of the cleaning robot.

[0143] Therefore, to solve the above-mentioned technical problems, please refer to Figures 2 and 9, and in conjunction with Figures 3 and 4, certain embodiments of this application provide a cleaning module 100 for a cleaning robot 1000. The cleaning module 100 includes a drive assembly 20, a transmission assembly 30, a first clutch 60, a second clutch 70, and a cleaning assembly 10. The drive assembly 20 is disposed on the cleaning robot 1000. The transmission assembly 30 includes a connector 35 and a lifting member 301. The connector 35 is connected to the output end 201 of the drive assembly 20 and moves with the output end 201. The lifting member 301 is movably connected to the connector 35 and includes a first lifting member 37 and a second lifting member 39. The first lifting member 37 is movably sleeved on the connector 35, and the second lifting member 39 is movably sleeved on the first lifting member 37. The first clutch 60 is disposed between the connector 35 and the first lifting member 37. When the second lifting member 39 moves toward the output end 201, the first clutch 60 is used to prevent the connector 35 and the first lifting member 37 from separating. The second clutch 70 is disposed between the first lifting member 37 and the second lifting member 39. When the first lifting member 37 moves toward the output end 201, the second clutch 70 is used to prevent the first lifting member 37 and the second lifting member 39 from separating. The cleaning assembly 10 is connected to the lifting member 301 and can move synchronously with the lifting member 301.

[0144] In the cleaning module 100 of this application embodiment, when the second lifting member 39 drives the cleaning component 10 to move from the cleaning position toward the direction closer to the output end 201, the first clutch 60 can generate an engagement force to prevent the connector 35 and the first lifting member 37 from separating, thus preventing the first threaded pair from changing to a transmission working state and causing the first lifting member 37 to also move toward the direction away from the output end 201, resulting in the cleaning component 10 being unable to move away from the surface to be cleaned; and when the first lifting member 37 drives the cleaning component 10 to move from the cleaning position toward the direction closer to the output end 201, the second clutch 70 can generate an engagement force to prevent the first lifting member 37 and the second lifting member 39 from separating, thus preventing the second threaded pair from changing to a transmission working state and causing the second lifting member 39 to also move toward the direction away from the output end 201, resulting in the cleaning component 10 being unable to move away from the surface to be cleaned. Furthermore, the presence of the first clutch 60 also prevents the first threaded pair from being in a working state when the output end 201 rotates in the second direction X2, thus preventing the first lifting member 37 from extending in a direction away from the output end 201, which would cause the cleaning component 10 to have an excessively long travel and damage its structure. The presence of the second clutch 70 also prevents the second threaded pair from being in a working state when the output end 201 rotates in the first direction X1, thus preventing the second lifting member 39 from extending in a direction away from the output end 201, which would cause the cleaning component 10 to have an excessively long travel and damage its structure.

[0145] It is understood that the specific structure of the cleaning module 100 in this embodiment is exactly the same as that of the cleaning module 100 in the above embodiments, and will not be described again here.

[0146] Please refer to Figures 1 and 9. This application also provides a cleaning robot 1000, which includes a body 300 and a cleaning module 100 as described above. The cleaning module 100 is disposed on the body 300 and is used to clean surfaces to be cleaned. Since the cleaning robot 1000 in this embodiment includes the cleaning module 100, it can be understood that the cleaning robot 1000 includes at least the same beneficial effects as the cleaning module 100. Therefore, the beneficial effects of the cleaning robot 1000 can be referred to the beneficial effects of the cleaning module 100 described above, and will not be repeated here.

[0147] Please refer to Figures 1 and 9. This application also provides a cleaning system 3000, which includes a cleaning robot 1000 as described in any of the above embodiments and a base station 2000 for use in conjunction with the cleaning robot 1000. The base station 2000 includes a docking position 2001 for accommodating the cleaning robot 1000.

[0148] Specifically, in some embodiments, when the cleaning robot 1000 is located at the docking position 2001, the base station 2000 can perform at least one of the following functions: charging, maintenance, water replenishment, drainage, and dust collection for the cleaning robot 1000. For example, if the cleaning component 13 of the cleaning module 100 of the cleaning robot 1000 is dirty, the cleaning robot 1000 can return to the base station 2000 to clean the cleaning component 13. Furthermore, during the cleaning process of the cleaning component 13 by the base station 2000, the drive component 20 can drive the cleaning component 13 to rotate bidirectionally, thereby improving the cleaning effect of the cleaning component 13 by the base station 2000. Since the cleaning system 3000 in this embodiment includes the cleaning robot 1000, it is understood that the cleaning system 3000 includes at least the same beneficial effects as the cleaning robot 1000. Therefore, the beneficial effects of the cleaning system 3000 can be referred to the beneficial effects of the cleaning robot 1000 described above, and will not be repeated here.

[0149] The technical features of the embodiments described above can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Furthermore, other implementation methods can be derived from the above embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0150] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cleaning module for a cleaning robot, characterized in that, include: Drive components, including an output terminal for outputting power; A transmission assembly, comprising a connector and a lifting member, wherein the connector is connected to the output end of the drive assembly and rotates with the output end, and the lifting member is movably connected to the connector; and A cleaning component is provided, which is connected to the lifting member and can move synchronously with the lifting member; wherein the lifting member includes a first lifting member and a second lifting member, and the transmission component has two operating modes: a first mode and a second mode. In the first mode, in response to the output terminal rotating in a first direction, the second lifting member moves relative to the first lifting member in a direction away from the output terminal, and the first lifting member moves synchronously relative to the connecting member to drive the cleaning assembly to move in a direction away from the output terminal; In the second mode, in response to the output terminal rotating in the second direction, the first lifting member can move relative to the connecting member in a direction away from the output terminal, and the second lifting member moves synchronously relative to the first lifting member to drive the cleaning assembly to move in a direction away from the output terminal; The first direction is opposite to the second direction.

2. A functional module for a mobile platform, characterized in that, include: Functional components for implementing the functions required by the mobile platform; A drive assembly includes an output terminal for outputting power, the output terminal being selectively movable along a first direction or a second direction, the first direction being opposite to the second direction; and A transmission component is mechanically coupled to the functional component and the drive component, and the drive component drives the functional component to reciprocate along a preset direction through the transmission component; The transmission assembly includes a first transmission pair and a second transmission pair. The operating states of the first transmission pair and the second transmission pair include a non-transmission operating state and a transmission operating state. In the transmission working state, the multiple transmission components of the first transmission pair and the second transmission pair move relative to each other to achieve the transmission function; in the non-transmission working state, the multiple transmission components of the first transmission pair and the second transmission pair stop moving relative to each other; the working mode of the transmission assembly includes a first mode and a second mode. In the first mode, in response to the output terminal moving along the first direction, the second transmission pair is in the transmission working state, the first transmission pair is in the non-transmission working state, and the output terminal drives the functional component to move forward along the preset direction through the second transmission pair; In the second mode, in response to the output terminal moving along the second direction, the first transmission pair is in the transmission working state, the second transmission pair is in the non-transmission working state, and the output terminal drives the functional component to move forward along the preset direction through the first transmission pair.

3. A cleaning module for a cleaning robot, characterized in that, include: A cleaning component is used to move the cleaning component to a position where the surface to be cleaned can be cleaned. A drive assembly includes an output terminal for outputting power, the output terminal being selectively movable along a first direction or a second direction, the first direction being opposite to the second direction; and A transmission component is mechanically coupled to the cleaning component and the drive component. The drive component drives the cleaning component to reciprocate along a preset direction via the transmission component. The transmission component includes a first transmission pair and a second transmission pair. In the transmission working state, multiple transmission components of each of the first and second transmission pairs move relative to each other to achieve the transmission function. In the non-transmission working state, the multiple transmission components of each of the first and second transmission pairs stop moving relative to each other. The transmission component has two working modes: a first mode and a second mode. In the first mode, in response to the output terminal moving along the first direction, the second transmission pair is in the transmission working state, the first transmission pair is in the non-transmission working state, and the output terminal drives the cleaning component to move forward along the preset direction through the second transmission pair; In the second mode, in response to the output terminal moving along the second direction, the first transmission pair is in the transmission working state, the second transmission pair is in the non-transmission working state, and the output terminal drives the cleaning component to move forward along the preset direction through the first transmission pair.

4. The cleaning module according to claim 3, characterized in that, In the second mode, in response to the output terminal moving along the first direction, the first transmission pair is in the transmission working state, the second transmission pair is in the non-transmission working state, and the output terminal drives the cleaning component to move in the opposite direction along the preset direction through the first transmission pair.

5. The cleaning module according to claim 3, characterized in that, In the first mode, in response to the output terminal moving along the second direction, the second transmission pair is in the transmission working state, the first transmission pair is in the non-transmission working state, and the output terminal drives the cleaning component to move in the opposite direction along the preset direction through the second transmission pair.

6. The cleaning module according to claim 3, characterized in that, The first transmission pair and the second transmission pair are coupled in series.

7. The cleaning module according to claim 6, characterized in that, The first transmission pair is positioned closer to the output end than the second transmission pair, and one of the transmission components of the first transmission pair can move together with the output end.

8. The cleaning module according to claim 7, characterized in that, When the first transmission pair is in the non-transmission working state, the entire first transmission pair maintains synchronous movement with the output end.

9. The cleaning module according to claim 7, characterized in that, When the first transmission pair is in the transmission working state, the multiple transmission components of the first transmission pair move relative to each other to drive the cleaning component to move in a preset direction.

10. The cleaning module according to claim 6, characterized in that, The second transmission pair is positioned closer to the cleaning component than the first transmission pair, and one of the transmission components of the second transmission pair can move together with the output end.

11. The cleaning module according to claim 10, characterized in that, When the second transmission pair is in the non-transmission working state, the entire second transmission pair maintains synchronous movement with the output end.

12. The cleaning module according to claim 10, characterized in that, When the second transmission pair is in the transmission working state, the multiple transmission components of the second transmission pair move relative to each other to drive the cleaning assembly to move in a preset direction.

13. The cleaning module according to claim 3, characterized in that, The first transmission pair and the second transmission pair are coupled in parallel.

14. The cleaning module according to claim 13, characterized in that, The drive component can be mechanically coupled to the cleaning component through the first transmission pair.

15. The cleaning module according to claim 14, characterized in that, When the first transmission pair is in the non-transmission working state, the first transmission pair is decoupled from the drive component.

16. The cleaning module according to claim 14, characterized in that, When the transmission is in operation, the first transmission pair is coupled to the drive assembly, so that the multiple transmission components of the first transmission pair move relative to each other to drive the cleaning assembly to move in a preset direction.

17. The cleaning module according to claim 13, characterized in that, The drive component can be mechanically coupled to the cleaning component via the second transmission pair.

18. The cleaning module according to claim 17, characterized in that, When the second transmission pair is in the non-transmission working state, the second transmission pair is decoupled from the cleaning component.

19. The cleaning module according to claim 17, characterized in that, When the transmission is in operation, the second transmission pair is coupled to the drive assembly, so that the multiple transmission components of the second transmission pair move relative to each other to drive the cleaning assembly to move in a preset direction.

20. The cleaning module according to claim 3, characterized in that, The first transmission pair includes a first transmission component A and a first transmission component B. The first transmission component A and the first transmission component B are capable of relative movement to drive the cleaning component to move along the preset direction.

21. The cleaning module according to claim 20, characterized in that, The transmission assembly includes a connector and a first lifting member movably connected to the connector. The connector and the first lifting member can together form the first transmission pair. One of the connector and the first lifting member is provided with the first transmission component A, and the other is provided with the first transmission component B.

22. The cleaning module according to claim 21, characterized in that, The connector is fixedly connected to the output terminal.

23. The cleaning module according to claim 20, characterized in that, The first transmission component A and the first transmission component B include at least one of the following: thread, sawtooth, electromagnet, permanent magnet, hook, and slot.

24. The cleaning module according to claim 3, characterized in that, The second transmission pair includes a second transmission component A and a second transmission component B. The second transmission component A and the second transmission component B are capable of relative movement to drive the cleaning component to move along the preset direction.

25. The cleaning module according to claim 24, characterized in that, The transmission assembly includes a first lifting member and a second lifting member movably connected to the first lifting member. The first lifting member and the second lifting member can together form the second transmission pair. One of the first lifting member and the second lifting member is provided with the second transmission component A, and the other is provided with the second transmission component B.

26. The cleaning module according to claim 25, characterized in that, The second lifting component is fixedly connected to the cleaning assembly.

27. The cleaning module according to claim 24, characterized in that, The second transmission component A and the second transmission component B include at least one of the following: thread, sawtooth, electromagnet, permanent magnet, hook, and slot.

28. The cleaning module according to claim 3, characterized in that, The output end can rotate around the first direction or the second direction. When the output end rotates around the first direction, the second lifting member of the transmission assembly can move in the forward direction along the preset direction. When the output end rotates around the second direction, the second lifting member can move in the reverse direction along the preset direction. In the second mode, when the output end rotates around the second direction, the first lifting member of the transmission assembly can move in the forward direction along the preset direction, and when the output end rotates around the first direction, the first lifting member can move in the reverse direction along the preset direction.

29. The cleaning module according to claim 28, characterized in that, The drive assembly includes a rotary motor or a rotary cylinder.

30. The cleaning module according to claim 3, characterized in that, The output terminal can move forward or backward along the preset direction, wherein the first direction is the direction of forward movement and the second direction is the direction of reverse movement.

31. The cleaning module according to claim 30, characterized in that, The drive assembly includes a linear motor or a telescopic cylinder.

32. The cleaning module according to claim 3, characterized in that, The transmission assembly includes a connector, a first lifting member movably connected to the connector, and a second lifting member movably connected to the first lifting member. The connector is fixedly connected to the output end and rotates with the output end. The second lifting member is fixedly connected to the cleaning assembly.

33. The cleaning module according to claim 32, characterized in that, In the first mode, when the output end rotates along the second direction, the second lifting member can move relative to the first lifting member toward the direction closer to the output end.

34. The cleaning module according to claim 32, characterized in that, In the second mode, when the output end rotates along the first direction, the first lifting member can move toward the direction closer to the output end.

35. The cleaning module according to claim 32, characterized in that, The first lifting member is movably sleeved on the connecting member, and the second lifting member is movably sleeved on the first lifting member.

36. The cleaning module according to claim 35, characterized in that, A first threaded pair is provided between the connector and the first lifting member, and a second threaded pair is provided between the second lifting member and the first lifting member, with the first threaded pair and the second threaded pair having opposite directions of rotation; wherein, in the first mode, in response to the output end rotating along the first direction, the second threaded pair can be used to allow the second lifting member to move in a direction away from the output end; in the second mode, in response to the output end rotating along the second direction, the first threaded pair can be used to allow the first lifting member to move in a direction away from the output end.

37. The cleaning module according to claim 36, characterized in that, In the first mode, in response to the output end rotating in the second direction, the second threaded pair can be used to allow the second lifting member to move toward the direction closer to the output end; In the second mode, in response to the output end rotating in the first direction, the first threaded pair can be used to allow the first lifting member to move toward the direction closer to the output end.

38. The cleaning module according to claim 36, characterized in that, The outer peripheral wall of the connector and the inner peripheral wall of the first lifting member are provided with a first threaded groove and the other is provided with a first threaded tooth. The first threaded groove and the first threaded tooth cooperate to form the first threaded pair. One of the outer peripheral wall of the first lifting member and the inner peripheral wall of the second lifting member is provided with a second threaded groove, and the other is provided with a second threaded tooth. The second threaded groove and the second threaded tooth cooperate to form the second threaded pair.

39. The cleaning module according to claim 32, characterized in that, The drive assembly includes a loading component and a drive component. The loading component is disposed on the cleaning robot. The drive component is disposed on the loading component and connected to the connecting component. The drive assembly drives the connecting component to move through the drive component.

40. The cleaning module according to claim 39, characterized in that, There is only one drive unit.

41. The cleaning module according to claim 32, characterized in that, The cleaning module also includes a damper for preventing the second lifting member from rotating synchronously with the connecting member when it moves toward the output end.

42. The cleaning module according to claim 41, characterized in that, The damper is connected to the loading component of the drive assembly and cooperates with the second lifting component.

43. The cleaning module according to claim 42, characterized in that, The damper includes a damping body and a damping protrusion. The damping body is sleeved on the second lifting member. The damping protrusion extends from the inner wall of the damping body toward the center of the damping body and abuts against the second lifting member.

44. The cleaning module according to claim 32, characterized in that, The cleaning module further includes an anti-rotation component, which is disposed between the loading member of the drive component and the second lifting member. The anti-rotation component is used to prevent the second lifting member from rotating synchronously with the connecting member when it moves in a direction away from the output end.

45. The cleaning module according to claim 44, characterized in that, The anti-rotation assembly includes a first anti-rotation member and a second anti-rotation member. One of the first anti-rotation member and the second anti-rotation member is disposed on the loading member, and the other is disposed on the second lifting member. When the first anti-rotation member and the second anti-rotation member cooperate, the anti-rotation assembly can be used to prevent the second lifting member from rotating synchronously with the connecting member.

46. ​​The cleaning module according to claim 32, characterized in that, The cleaning module further includes a first clutch, which is disposed between the connector and the first lifting member. When the second lifting member moves toward the output end, the first clutch is used to prevent the connector and the first lifting member from separating.

47. The cleaning module according to claim 46, characterized in that, The first clutch includes a first clutch element and a second clutch element. The first clutch element is disposed on the connecting member, and the second clutch element is disposed on the first lifting member. When the output end rotates in the second direction to make the second lifting member move toward the direction closer to the output end, the first clutch element and the second clutch element cooperate to prevent the connecting member and the first lifting member from separating.

48. The cleaning module according to claim 47, characterized in that, When the output end rotates in the second direction, the first clutch and the second clutch can disengage, so that the first lifting member moves in a direction away from the output end.

49. The cleaning module according to claim 32, characterized in that, The cleaning module further includes a second clutch, which is disposed between the first lifting member and the second lifting member. When the first lifting member moves toward the direction of the output end, the second clutch is used to prevent the first lifting member and the second lifting member from separating.

50. The cleaning module according to claim 49, characterized in that, The second clutch includes a first sub-component and a second sub-component. The first sub-component is disposed on the first lifting member, and the second sub-component is disposed on the second lifting member. When the output end rotates in the first direction to make the first lifting member move toward the direction close to the output end, the first sub-component and the second sub-component cooperate to prevent the first lifting member and the second lifting member from separating.

51. The cleaning module according to claim 50, characterized in that, When the output end rotates in the first direction, the first sub-component and the second sub-component can disengage, so that the second lifting member moves in a direction away from the output end.

52. The cleaning module according to claim 32, characterized in that, The cleaning assembly includes a mounting member and a cleaning member. The mounting member includes a protrusion, at least a portion of which extends into the connector and is connected to the second lifting member. The cleaning member is disposed on the side of the mounting member opposite to the second lifting member.

53. The cleaning module according to claim 52, characterized in that, The connector has a clearance space; the second lifting member includes a lifting part and a mounting part, the lifting part is sleeved on the first lifting member; the mounting part is connected to the lifting part and at least partially extends into the clearance space, the mounting part has a mounting space for accommodating at least a portion of the protrusion.

54. A cleaning module for a cleaning robot, characterized in that, include: A drive assembly, the drive assembly being disposed on the cleaning robot; A transmission assembly includes a connector and a lifting member. The connector is connected to the output end of the drive assembly and moves with the output end. The lifting member is movably connected to the connector and includes a first lifting member and a second lifting member. The first lifting member is movably sleeved on the connector, and the second lifting member is movably sleeved on the first lifting member. A first clutch is disposed between the connecting member and the first lifting member. When the second lifting member moves toward the direction closer to the output end, the first clutch is used to prevent the connecting member and the first lifting member from separating. The second clutch is disposed between the first lifting member and the second lifting member. When the first lifting member moves toward the direction of the output end, the second clutch is used to prevent the first lifting member and the second lifting member from separating. The cleaning component is connected to the lifting component and can move synchronously with the lifting component.

55. A cleaning robot, characterized in that, include: body; The cleaning module according to any one of claims 1 and 3-54, wherein the cleaning module is disposed on the body and is used to clean the surface to be cleaned.

56. A cleaning system, characterized in that, include: The cleaning robot of claim 55; and A base station for use with the cleaning robot, the base station including a docking station for accommodating the cleaning robot.

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