Cleaning module and autonomous mobile cleaning device

Abstract

A cleaning module (100) and an autonomous mobile cleaning device (1000). The cleaning module (100) comprises: a first fixed shaft (71) fixedly connected to a mounting frame (10); a first driving mechanism (30) comprising a first driving assembly (31) and a swing gear (50), the first driving assembly (31) being mounted on the mounting frame (10) and used to drive the swing gear (50), and the swing gear (50) being rotatably connected to the first fixed shaft (71); a swing arm (20) provided with a rotation end (20a) and a swing end (20b), the rotation end (20a) being rotatably connected to the mounting frame (10), and the swing end (20b) being disposed away from the rotation end (20a); a transmission member (60) provided between the swing gear (50) and the swing arm (20), the swing gear (50) being in linkage cooperation with the transmission member (60) so as to drive the swing end (20b) of the swing arm (20) to switch between a retracted position and an outward swing position; and a second driving mechanism (40) comprising a second driving assembly (41) and a transmission assembly (90), the second driving assembly (41) being mounted on the mounting frame (10), the second driving assembly (41) being used to drive the transmission assembly (90) to move, an output end of the transmission assembly (90) being provided at the swing end (20b) of the swing arm (20), and a cleaning assembly (28) being connected to the output end of the transmission assembly (90).

Description

Cleaning modules and self-propelled cleaning equipment

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202422757955.3, filed on November 12, 2024, entitled "Cleaning Module and Self-Moving Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of cleaning equipment technology, and more particularly to a cleaning module and a self-moving cleaning device. Background Technology

[0004] In recent years, with the improvement of people's living standards, home cleaning has gradually entered the era of automation and intelligence. Cleaning equipment such as robot vacuum cleaners, also known as automatic cleaning machines, intelligent vacuum cleaners, and robotic vacuum cleaners, have emerged to free people from home cleaning work and effectively reduce their workload in this area.

[0005] A typical robotic vacuum cleaner consists of a main body and cleaning components, including a roller brush and a mop assembly. The mop assembly is usually movable; for example, it can swing to the outside of the main body during use to clean areas on the outer side of the main body, improving cleaning efficiency. After cleaning, it can retract to the inside of the main body, reducing the space occupied by the robotic vacuum cleaner.

[0006] However, the structure of the mop assembly in the relevant technology is not very stable and is easily damaged.

[0007] Application content

[0008] This application provides a cleaning module and a self-moving cleaning device. The cleaning module can improve the stability of the cleaning module and extend its service life by fixing the first fixed shaft to the mounting frame.

[0009] The first aspect of this application provides a cleaning module for use in a self-moving cleaning device, comprising:

[0010] Cleaning components;

[0011] Mounting rack;

[0012] The first fixed shaft is fixedly connected to the mounting bracket;

[0013] The first driving mechanism includes a first driving component and a swing gear. The first driving component is mounted on the mounting frame and is used to drive the swing gear to rotate. The swing gear is sleeved on the first fixed shaft and can rotate relative to the first fixed shaft.

[0014] The swing arm has a rotating end and a swinging end. The rotating end is connected to the mounting frame and can rotate relative to the mounting frame. The swinging end is located away from the rotating end and has an inward position and an outward position.

[0015] A transmission component is disposed between the swing gear and the swing arm. The transmission component has a first end and a second end. The first end is connected to the swing gear, and the second end is connected to the swing arm. The swing gear and the transmission component work together to drive the swing end of the swing arm to switch between the inward position and the outward position.

[0016] The second drive mechanism includes a second drive component and a transmission component. The second drive component is mounted on the mounting bracket and is used to drive the transmission component to move. The output end of the transmission component is located at the swing end of the swing arm, and the cleaning component is connected to the output end of the transmission component.

[0017] The cleaning module provided in this application embodiment is configured with cleaning components to perform cleaning operations on the surface to be cleaned. By setting up a mounting bracket, it provides installation positions for the first fixed shaft, the first drive mechanism, the swing arm, and the second drive mechanism, etc., so as to facilitate the assembly of the first fixed shaft, the first drive mechanism, the swing arm, and the second drive mechanism into a module, which is convenient for assembly with cleaning equipment.

[0018] By setting a first fixed shaft, the fixed connection between the first fixed shaft and the mounting bracket provides a robust support structure, reducing displacement or deviation caused by vibration or external forces during operation, and improving the stability and reliability of the system. The fixed mounting bracket and the connection of the first fixed shaft can optimize the power transmission path, reduce energy loss, and improve drive efficiency.

[0019] By incorporating a first drive mechanism and a swing arm, the swing arm can switch between an inward and outward position. This allows the cleaning component to flexibly adjust its working range to adapt to different cleaning needs and environments, such as cleaning in confined spaces or covering larger areas. The swing arm's mobility enables the cleaning module to optimize its cleaning path, reducing repetitive cleaning and missed areas, thereby improving overall cleaning effectiveness.

[0020] By incorporating a transmission component and linking it with a swing gear, the swing arm's swing end switches between an inward and outward position. In other words, the first drive mechanism and the swing arm are driven by the transmission component. Compared to directly driving the swing arm through the first drive mechanism, the use of a transmission component effectively disperses and transmits stress during movement, reducing wear on the swing arm and other mechanical components, and extending the equipment's lifespan. Through the linkage between the swing gear and the transmission component, the swing arm's movement can be precisely controlled. This transmission mechanism ensures smooth and efficient movement of the swing arm, improving cleaning efficiency.

[0021] Driven by the first drive mechanism, the transmission component can precisely control the movement of the swing arm, thereby achieving precise adjustment of the position and angle of the cleaning components, which helps to improve cleaning efficiency and effectiveness.

[0022] By mounting both the first and second drive components on the same mounting frame, they can work synchronously and in coordination, thereby better controlling the swing arm's oscillation and the cleaning component's rotation, ensuring a highly efficient and consistent cleaning process. Furthermore, integrating the first and second drive components onto the same mounting frame effectively reduces the overall size of the equipment, making the cleaning module more compact and easier to operate and store in confined spaces.

[0023] In one possible implementation, the rotating end is connected to the first fixed shaft, and the rotating end can rotate relative to the first fixed shaft to allow the swinging end to switch between the inward position and the outward position around the first fixed shaft.

[0024] By connecting the rotating end to the first fixed shaft and allowing relative rotation, a stable fulcrum is provided. This reduces displacement due to vibration or external forces during operation, improving the stability and durability of the equipment. Rotating the swing arm to the first fixed shaft reduces the distance between the swing arm and the first drive mechanism, resulting in a more compact structure. Furthermore, this optimizes the swing arm's motion path and position switching, reducing unnecessary movement and energy consumption, and improving the overall system's energy efficiency. The design of the first fixed shaft simplifies the installation and disassembly of the swing arm, making regular maintenance and repairs more convenient and reducing maintenance costs and time.

[0025] In one possible implementation, a second fixed shaft is fixedly connected to the mounting bracket, and the rotating end is connected to the second fixed shaft. The rotating end can rotate relative to the second fixed shaft so that the swinging end switches between the inward position and the outward position around the second fixed shaft.

[0026] By setting a second fixed axis and fixing it to the mounting component, the stability of the second fixed axis can be improved, thereby providing stable support for the swing arm mounted on it. The second fixed axis provides a stable pivot point for the rotating end of the swing arm, ensuring the stability of the entire system during operation and reducing displacement or deviation caused by vibration or external forces. Furthermore, the second fixed axis allows the swing arm to operate at different angles and positions, increasing the flexibility and adaptability of the cleaning module, enabling it to better handle different cleaning tasks and environments.

[0027] In one possible implementation, the transmission assembly includes a first gear and a second gear, which are pulsatorically connected. The first gear and the second gear are axially connected to the first fixed shaft, and the first gear and the second gear are rotatable relative to the first fixed shaft.

[0028] By incorporating a first gear and a second gear into the transmission assembly, and connecting the first gear to the second drive mechanism, gear transmission achieves efficient force transmission. This allows the power from the second drive mechanism to be transmitted to the cleaning assembly more efficiently, improving transmission efficiency. Gear transmission primarily utilizes rolling friction, reducing energy loss from sliding friction and improving the overall system efficiency. By connecting the first and second gears axially along the first fixed shaft, space can be effectively utilized, making the entire cleaning module more compact and facilitating its miniaturization.

[0029] In one possible implementation, the transmission assembly includes a first gear and a second gear, which are pulsatorically connected. The first gear and the second gear are axially connected to the second fixed shaft, and the first gear and the second gear are rotatable relative to the second fixed shaft.

[0030] By incorporating a first gear and a second gear into the transmission assembly, and connecting the first gear to the second drive mechanism, gear transmission achieves efficient force transmission. This allows the power from the second drive mechanism to be transmitted to the cleaning assembly more efficiently, improving transmission efficiency. Gear transmission primarily utilizes rolling friction, reducing energy loss from sliding friction and enhancing the overall system efficiency. By connecting the first and second gears axially along the second fixed shaft, space is effectively utilized, making the entire cleaning module more compact and simplifying the overall structure.

[0031] In one possible implementation, the first gear has a first connecting portion, the second gear has a second connecting portion, the first connecting portion and the second connecting portion are located between the first gear and the second gear, and the first connecting portion and the second connecting portion are connected to each other to enable the first gear and the second gear to be in a transmission connection.

[0032] The direct connection between the first and second connecting parts ensures reliable power transmission between the first and second gears. This tight connection reduces potential energy loss during power transmission, improving system efficiency. The design of the first and second connecting parts minimizes relative slippage between the gears, thus reducing wear. This helps extend the service life of the gears and the entire system, reducing maintenance requirements. The design of the first and second connecting parts provides additional support and stability, reducing vibration and noise of the first and second gears during high-speed operation, improving system stability and user experience. Furthermore, this design reduces the use of bearings, thereby lowering costs.

[0033] In one possible implementation, the first connecting part has a plug-in portion on the side facing the second connecting part, and the second connecting part has a mating portion on the side facing the first connecting part. The plug-in portion and the mating portion are plugged in and mated together to enable the first gear and the second gear to be structurally connected for transmission.

[0034] By incorporating a plug-in portion and a mating portion, the first and second gears are plugged in and mated together to allow them to rotate synchronously. This arrangement, compared to designing the first and second gears as a single, longer gear shaft, facilitates the assembly of the transmission components into the cleaning module, reducing assembly difficulty. The plug-in mating design of the first and second gears is relatively simple, reducing the complexity of designing and manufacturing a long gear shaft and lowering production costs.

[0035] In one possible implementation, the plug portion includes at least one protrusion structure, and the mating portion includes at least one groove structure that mates with the protrusion structure.

[0036] This configuration, with its protruding and recessed structures, provides a reliable mechanical connection, ensuring a stable relative position between the first and second gears. This design reduces the risk of misalignment during operation. The protruding and recessed structures offer self-positioning capabilities, simplifying the assembly process and reducing assembly difficulty. This fit makes disassembly and replacement of the first and second gears easier, reducing maintenance complexity and time costs. The protruding and recessed structure design provides a mechanical locking mechanism to prevent accidental disengagement during operation, improving system safety. Furthermore, the protruding and recessed structure fit can be standardized, facilitating design and manufacturing and reducing production costs. The protruding and recessed structure fit can be designed and manufactured as independent modules, enhancing system design flexibility.

[0037] In one possible implementation, the protrusion structure is provided in multiple ways, and the multiple protrusion structures are distributed along the circumferential direction; the groove structure is provided in multiple ways, and the multiple groove structures are distributed along the circumferential direction.

[0038] This design, with its combination of multiple protrusions and grooves, provides a larger contact area and more contact points, thereby enhancing the connection strength and stability between the first and second gears and reducing the risk of deformation or failure under high load conditions. The presence of multiple mating points reduces relative sliding between the first and second gears, thus reducing wear and helping to extend the service life of the first and second gears and the entire system, while reducing maintenance requirements. The design of multiple protrusions and grooves provides a stronger mechanical locking mechanism, preventing the first and second gears from accidentally disengaging during operation and improving system safety.

[0039] In one possible implementation, when the insertion part is inserted into the mating part, the outer sidewall of the protrusion structure fits against the inner sidewall of the groove structure.

[0040] By attaching the outer wall of the protruding structure to the inner wall of the grooved structure, a stable mechanical connection is formed between the two structures. This reduces loosening and displacement between the first and second gears, thereby improving the overall stability of the system, increasing transmission accuracy, and reducing vibration and noise during operation. The tight fit reduces the gap and relative movement between the first and second gears, lowering transmission errors and improving the system's transmission accuracy.

[0041] In one possible implementation, the outer contour of the plug-in portion is a polygonal structure, and the mating portion has an insertion groove on the side facing the plug-in portion. The insertion groove is a polygonal groove that is plugged into and mated with the plug-in portion.

[0042] By designing the outer contour of the connector as a polygonal structure, which provides multiple planes and angles, the connector exhibits anti-rotation characteristics within the insertion slot. This effectively prevents rotational slippage caused by torque during transmission, improving connection stability. The polygonal design increases the contact surface and contact points, enabling more even distribution and transmission of torque, reducing stress concentration, and improving transmission efficiency and reliability. Due to the geometric characteristics of the polygonal structure, the fit between the connector and the insertion slot is more precise, reducing gaps and looseness, and improving assembly accuracy and overall system performance. The multiple contact surfaces of the polygonal structure distribute the load, reducing wear on individual contact surfaces, thereby extending the component's service life.

[0043] In one possible implementation, the transmission element is an elastic element, and the transmission element is disposed between the oscillating gear and the swing arm in a pre-tightened state.

[0044] This design allows the transmission component to possess a certain rebound force opposite to the preload. These rebound forces act on the swing arm and the oscillating gear, thus making the connection between the swing arm and the oscillating gear more stable. The preload eliminates the gap between the swing arm and the oscillating gear, preventing loosening and ensuring that the swing arm and the oscillating gear maintain close contact during operation, improving the stability and reliability of the system. It should be noted that the preload keeps the transmission component in a tightened state, giving it a rebound force opposite to the preload. Thus, when the swing arm is in the outward swing position, if the cleaning component connected to the swing arm collides with an obstacle, the obstacle will cause the swing arm to compress the transmission component, causing it to swing from the outward swing position to the inward swing position, preventing jamming between the swing arm and the obstacle. At this time, the transmission component is further tightened, possessing a greater rebound force. When the cleaning equipment moves and causes the swing arm to move away from the obstacle, the rebound force of the transmission component causes the swing arm to return to the outward swing position. The transmission component also buffers the cleaning component at the lower end of the swing arm from external forces during cleaning operations, preventing damage to the cleaning component.

[0045] Furthermore, this design ensures that the cleaning component connected to the swing arm remains close to or against the edge of the obstacle, effectively cleaning its edges without retracting due to minor external forces (such as friction) that could prevent it from covering the obstacle's edges. Additionally, the cleaning component rotates during cleaning, creating friction between it and the ground in the opposite direction to the swing arm's rotation. This friction counteracts the rebound force of the transmission components, further enhancing stability during the cleaning process.

[0046] In one possible implementation, the oscillating gear is provided with a propulsion part, and the swing arm is provided with a push-receiving part that cooperates with the propulsion part. When the swing arm is in a non-moving state, or when the swing end of the swing arm switches from the outward swing position to the inward retraction position, the propulsion part and the push-receiving part abut against each other.

[0047] This design, when the swing arm is in a non-moving state, provides additional support and stability through the contact between the propulsion and push-received parts, preventing the swing arm from moving due to external forces or vibrations, ensuring system stability, reducing wear, and thus extending the system's service life and reducing maintenance requirements. During swinging, the cooperation between the propulsion and push-received parts helps to accurately position the swing arm, ensuring that it reaches the expected angle and position when switching to the outward swing position, improving operational precision. Furthermore, the contact between the propulsion and push-received parts acts as a mechanical limit, preventing excessive swinging of the swing arm and protecting the system from damage. Because the mechanical structure provides natural limiting and positioning functions, the need for a complex control system is reduced, simplifying system design and control. The contact design between the propulsion and push-received parts buffers impacts and vibrations during swinging, making operation smoother and quieter, and improving the user experience.

[0048] In one possible implementation, the oscillating gear is provided with a passive swing limit part, and the swing arm is provided with a passive swing abutment part that cooperates with the passive swing limit part. When the swing end of the swing arm is in the outward swing position or between the inward position and the outward swing position, there is a passive swing gap between the passive swing limit part and the passive swing abutment part.

[0049] During the movement of the self-moving cleaning device, when the swing arm or the cleaning component is obstructed by an obstacle, the passive swing distance gradually decreases; when the swing arm or the cleaning component disengages from the obstacle, the passive swing distance gradually recovers to the distance before the swing arm or the cleaning component was obstructed by the obstacle under the elastic action of the transmission component.

[0050] This design allows the passive oscillation mechanism to absorb impact forces when the swing arm or cleaning component encounters obstacles, reducing damage to the swing arm and oscillating element and extending the equipment's lifespan. After the obstacle is removed, the elasticity of the transmission components automatically restores the passive oscillation gap, ensuring the swing arm or cleaning component returns to its normal operating position. This automatic recovery function reduces manual intervention and increases the equipment's automation level. Because the system can automatically return to normal operation, downtime caused by obstacles is reduced, improving equipment efficiency and reliability. The passive oscillation design provides additional stability, reducing severe vibration and noise when encountering obstacles, thus improving the user experience.

[0051] In one possible implementation, the swing arm has a first receiving groove on the side facing the swing gear, and at least a portion of the transmission member is received in the first receiving groove.

[0052] Containing the transmission components within the first receiving slot effectively protects them from external environmental factors such as dust, dirt, and other contaminants. This helps extend the service life and reliability of the transmission components. The design of the first receiving slot allows for compact integration of the transmission components into the swing arm structure, optimizing space utilization. This is particularly important for equipment designs that require space saving. The first receiving slot provides additional support and fixation, making the transmission components more stable during operation and reducing the risk of failure due to loosening. The first receiving slot also helps to conceal the transmission components, resulting in a cleaner and more aesthetically pleasing appearance for the equipment.

[0053] In one possible implementation, the oscillating gear has a second receiving groove on the side facing the swing arm, and at least a portion of the transmission member is received in the second receiving groove.

[0054] Containing the transmission components within the second receiving slot effectively protects them from external environmental factors such as dust, dirt, and other contaminants. This helps extend the service life and reliability of the transmission components. The design of the second receiving slot allows for compact integration of the transmission components into the oscillating gear, optimizing space utilization. This is particularly important for equipment designs that require space saving. The second receiving slot provides additional support and fixation, making the transmission components more stable during operation and reducing the risk of failure due to loosening. The second receiving slot also helps to conceal the transmission components, resulting in a cleaner and more aesthetically pleasing appearance for the equipment.

[0055] In one possible implementation, the mounting bracket is provided with a first limiting part, and the swing gear is provided with a first blocking part and a second blocking part, with the first limiting part located between the first blocking part and the second blocking part;

[0056] When the swing end switches from the inward position to the outward position, the first blocking part abuts against the first limiting part; when the swing end switches from the outward position to the inward position, the second blocking part abuts against the first limiting part.

[0057] This configuration, with the cooperation of the first limiting part, the first blocking part, and the second blocking part, provides clear mechanical limits, ensuring precise positioning of the swing end in both inward and outward swing positions. This precision is particularly important for systems requiring high-precision operation. The limiting design prevents the swing end from exceeding its predetermined range of motion, avoiding mechanical damage caused by excessive movement and improving the system's safety and durability. The mechanical limiting by the first limiting part, the first blocking part, and the second blocking part reduces reliance on complex electronic control systems, simplifies equipment design and control, and improves system reliability.

[0058] In one possible implementation, the oscillating gear has a first mating hole, the first end of the transmission member passes through the first mating hole, the swing arm has a second mating hole, and the second end of the transmission member passes through the second mating hole.

[0059] This configuration ensures precise alignment of the first and second ends of the transmission component. This precise alignment improves the system's transmission accuracy and overall performance, reduces relative movement and friction between the transmission component and other components, thereby reducing wear and extending the system's service life. The first and second mating holes provide additional support, making the transmission component more stable during operation and reducing the risk of failure due to loosening or misalignment. Furthermore, it simplifies and speeds up the installation and disassembly of the transmission component, reducing assembly time and the possibility of errors, improving production efficiency, and lowering maintenance complexity and time costs. By fixing both ends of the transmission component, the overall rigidity of the system is increased, vibration and noise are reduced, and operational smoothness is improved.

[0060] In one possible implementation, the cleaning module further includes a cover plate, at least a portion of the mounting bracket surrounds the outside of the swing gear, the cover plate is disposed on the side of the swing gear opposite to the swing arm, the cover plate is fixedly connected to the mounting bracket, and the swing gear is located in the space between the cover plate and the swing arm.

[0061] The cover plate and mounting bracket together form a closed or semi-closed space, effectively protecting the oscillating gear and other internal components from external environmental influences such as dust, moisture, and other contaminants, thereby extending the equipment's lifespan. By enclosing the oscillating gear within the space between the cover plate and the swing arm, the risk of operators coming into contact with moving parts is reduced, improving equipment safety. The cover plate also provides some sound insulation and vibration damping, reducing noise and vibration during operation and improving user experience. The cover plate offers a clean appearance, making the equipment more aesthetically pleasing and enhancing the overall design quality of the product. The cover plate design allows maintenance personnel easier access to internal components, simplifying the equipment inspection and maintenance process. The fixed connection between the cover plate and the mounting bracket enhances the structural stability of the entire cleaning module, reducing component displacement or loosening caused by vibration or impact.

[0062] In one possible implementation, the cover plate has a clearance groove on the side facing the oscillating gear that is adapted to the movement trajectory of the first end of the transmission member.

[0063] By setting clearance grooves on the cover plate, it is ensured that the first end of the transmission component will not interfere with the cover plate when it follows the oscillating gear, thus ensuring the rotational stability of the oscillating gear.

[0064] In one possible implementation, the cover plate is provided with a second limiting part on the side facing the swing gear, and the swing gear is provided with a third blocking part on the side facing the cover plate;

[0065] When the swing end switches from the inward position to the outward position, the third blocking part abuts against the second limiting part; during the process of the swing end switching from the outward position to the inward position, the third blocking part gradually moves away from the second limiting part.

[0066] This configuration, with the cooperation of the second limiting part and the third abutment part, provides a clear mechanical limit, ensuring precise positioning of the swing end in the outward swing position and preventing excessive movement. When the swing end reaches the outward swing position, the contact between the second limiting part and the third abutment part can absorb some of the impact force, protecting the system from mechanical damage caused by excessive movement. By providing a clear limiting point, vibration and instability of the swing end at its extreme positions are reduced, improving the overall stability of the system. It also reduces wear caused by excessive movement and impact, thereby extending the system's service life and reducing maintenance requirements. Mechanical limiting reduces reliance on complex electronic control systems, simplifies equipment design and control, and improves system reliability. During the process of the swing end returning from the outward swing position to the inward retraction position, the third abutment part gradually moves away from the second limiting part, ensuring a smooth transition of movement and reducing impact and vibration.

[0067] In one possible implementation, the swing arm includes an external mounting bracket whose projection in the height direction at least partially overlaps with the projection of the mounting bracket in the height direction.

[0068] By overlapping the projected portions of the external mounting bracket and the mounting frame, vertical space can be effectively utilized, reducing the overall footprint of the equipment. This allows for tighter integration of other functional components, enhancing the overall functionality and performance of the equipment and facilitating the miniaturization of cleaning modules. Furthermore, it reduces material usage, thereby lowering production costs and equipment weight. The compactness and stability of the structure simplify and streamline assembly and maintenance processes, reducing complexity and time costs. The overlapping design increases the overall stability and rigidity of the structure, reducing deformation or displacement due to vibration or external forces, and improving system durability.

[0069] In one possible implementation, the first drive assembly includes a first drive motor and a first drive gear. The first drive motor is mounted on the mounting bracket, and the first drive gear is fixed to the drive end of the first drive motor. The first drive gear meshes with the oscillating gear.

[0070] By fixing the first drive motor to the mounting bracket, its stability is improved. Directly fixing the first drive gear to the drive end of the first drive motor efficiently transmits power to the oscillating gear, reducing energy loss in intermediate stages and improving transmission efficiency. Integrating the first drive motor and the first drive gear together and mounting them on the bracket makes the entire first drive assembly more compact and space-saving. Furthermore, driving the first drive gear with the first drive motor allows for flexible control of the gear system, facilitating adjustments to speed and direction to meet different operational needs.

[0071] In one possible implementation, the second drive assembly includes a second drive motor and a second drive gear. The second drive motor is mounted on the mounting bracket, and the second drive gear is fixed to the drive end of the second drive motor. The second drive gear meshes with the first gear or the second gear.

[0072] By fixing the second drive motor to the mounting bracket, its stability is improved. Directly fixing the second drive gear to the drive end of the second drive motor allows for efficient power transmission to either the first or second gear, reducing energy loss in intermediate stages and improving transmission efficiency. Integrating the second drive motor and the second drive gear together and mounting them on the bracket makes the entire second drive assembly more compact and space-saving. Furthermore, driving the second drive gear with the second drive motor enables flexible control of the gear system, facilitating adjustments to speed and direction to meet diverse operational needs.

[0073] In one possible implementation, the transmission assembly further includes a transmission gear system, wherein when the second driving gear meshes with the first gear, the transmission gear system meshes with the second gear; and when the second driving gear meshes with the second gear, the transmission gear system meshes with the first gear.

[0074] By including a transmission gear train in the transmission components, power can be transmitted to the cleaning components through multi-stage transmission. This optimizes the force transmission path, allowing the power from the second drive mechanism to be transmitted to the cleaning components more efficiently, thus improving transmission efficiency. It also ensures uniform force distribution between the second drive components and the cleaning components, avoiding localized stress concentration and extending the system's service life. Optimized force distribution reduces vibration and impact during system operation, improving operational smoothness. Furthermore, the number and structure of gears in the transmission gear train can be customized as needed, increasing the design flexibility of the cleaning module.

[0075] A second aspect of this application provides a self-moving cleaning device, including a device body, the device body including any of the cleaning modules described in the first aspect above.

[0076] The self-moving cleaning device provided in this application embodiment, by setting the aforementioned cleaning module, enables the cleaning device to possess cleaning functions. By including a first fixed shaft in the cleaning module, and fixing the fixed shaft to a mounting component, the fixed connection between the first fixed shaft and the mounting frame provides a robust support structure, reducing displacement or deviation caused by vibration or external forces during operation, thus improving the stability and reliability of the system. The fixed mounting frame and the connection of the first fixed shaft optimize the power transmission path, reduce energy loss, and improve drive efficiency. By setting the swing arm to move between an inward-swinging position and an outward-swinging position, the cleaning component can flexibly adjust its working range to adapt to different cleaning needs and environments, such as cleaning in confined spaces or covering a larger area. The mobility of the swing arm allows the cleaning module to optimize its cleaning path, reduce repeated cleaning and missed areas, thereby improving the overall cleaning effect.

[0077] In one possible implementation, when the swing end of the swing arm is in the retracted position, at least a portion of the edge of the cleaning component is located outside the edge of the device body;

[0078] When the drive end of the swing arm is in the outward swing position, at least a portion of the edge of the cleaning component is flush with or protrudes from a first width region of the device body, the first width region being the maximum width region of the self-moving cleaning device perpendicular to the forward direction.

[0079] This configuration allows the self-moving cleaning device to clean areas outside the main body of the device through the cleaning module, thereby expanding the cleaning range, reducing the problem of uncleaned areas along the edges, improving cleaning effect, and enhancing user experience. Attached Figure Description

[0080] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0081] Figure 1 is a schematic diagram of a cleaning device provided in an embodiment of this application;

[0082] Figure 2 is a schematic diagram of the structure of a cleaning module of a cleaning device provided in an embodiment of this application when the swing arm is in the outward swing position;

[0083] Figure 3 is a schematic diagram of the exploded structure of a cleaning module provided in an embodiment of this application;

[0084] Figure 4 is a second exploded structural diagram of a cleaning module provided in an embodiment of this application;

[0085] Figure 5 is a cross-sectional schematic diagram of a partial structure of a cleaning module provided in an embodiment of this application;

[0086] Figure 6 is a cross-sectional view of a cleaning module provided in an embodiment of this application from another angle;

[0087] Figure 7 is a schematic diagram of the transmission component of a cleaning module provided in an embodiment of this application;

[0088] Figure 8 is a schematic diagram of the swing gear and elastic element of a cleaning module provided in an embodiment of this application;

[0089] Figure 9 is a partial structural schematic diagram of a cleaning module provided in an embodiment of this application;

[0090] Figure 10 is a partial structural schematic diagram of a cleaning module provided in an embodiment of this application;

[0091] Figure 11 is a cross-sectional structural diagram of a cleaning module provided in an embodiment of this application;

[0092] Figure 12 is a partial structural schematic diagram of a cleaning module provided in an embodiment of this application;

[0093] Figure 13 is a schematic diagram of a cleaning module provided in an embodiment of this application;

[0094] Figure 14 is a schematic diagram of the structure of a cover plate of a cleaning module provided in an embodiment of this application;

[0095] Figure 15 is a cross-sectional structural diagram of a cleaning module provided in an embodiment of this application;

[0096] Figure 16 is a schematic diagram of another cleaning module provided in an embodiment of this application;

[0097] Figure 17 is a structural schematic diagram of the embodiment shown in Figure 16 from another angle;

[0098] Figure 18 is a structural schematic diagram of the embodiment shown in Figure 16 from another angle;

[0099] Figure 19 is a cross-sectional structural schematic diagram of the embodiment shown in Figure 16;

[0100] Figure 20 is a partial structural schematic diagram of another cleaning module provided in this application embodiment when the swing arm is in the retracted position;

[0101] Figure 21 is a partial structural schematic diagram of another cleaning module provided in this application embodiment when the swing arm is in the outward swing position;

[0102] Figure 22 is a cross-sectional structural diagram of the embodiment shown in Figure 20.

[0103] Explanation of reference numerals in the attached drawings: 100-Cleaning module; 10-Mounting bracket; 11-First limiting part; 11a-First surface; 11b-Second surface; 12-Third limiting part; 20-Swing arm; 20a-Rotating end; 20b-Swinging end; 21-Pushed part; 22-Outer mounting bracket; 23-Second mating hole; 24-Receiving cavity; 25-First receiving groove; 26-Fourth blocking part; 28-Cleaning component; 29-Passive swinging abutment part; 30-First drive mechanism; 31-First drive component; 311-First drive motor; 312-First drive gear; 40-Second drive mechanism; 41-Second drive component; 411-Second drive motor; 412-Second drive gear; 50-Swinging gear; 51-Second blocking part; 52-First blocking part; 53-Third blocking part; 54-Passive swinging limiting part; 55-Propulsion section; 56-Second receiving groove; 561-Clamping column; 562-First mating hole; 60-Transmission component; 61-Elastic part; 62-First stop arm; 63-Second stop arm; 71-First fixed shaft; 72-Second fixed shaft; 73-Transmission gear set; 731-First transmission gear; 732-Second transmission gear; 80-Cover plate; 81-Second limiting part; 82-Allowing groove; 90-Transmission assembly; 91-First gear; 911-First connecting part; 912-Plug-in part; 92-Second gear; 921-Second connecting part; 922-Mating part; 93-Transmission gear system; 1000-Cleaning equipment; 200-Equipment body. Detailed Implementation

[0104] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0105] The cleaning module and cleaning equipment provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0106] This application embodiment also provides a cleaning device 1000, as shown in FIG1. ​​The cleaning device 1000 may include a device body 200 and a cleaning module 100 disposed on the device body 200. The cleaning module 100 is provided with a cleaning component 28 (see FIG3), which may be a mop component.

[0107] For example, the cleaning module 100 has a swing function, which can move from an inward position to an outward position (as shown in Figure 2). When performing cleaning operations with the cleaning device 1000, the cleaning range can be increased by adjusting the cleaning module 100 to the outward position, thereby improving cleaning efficiency.

[0108] The cleaning device 1000 provided in this application embodiment, by setting the cleaning module 100 described above, can achieve good stability, is less prone to failure during use, thereby extending the service life of the cleaning device 1000 and improving the user experience.

[0109] In one possible implementation, when the cleaning module 100 is in the retracted position, at least a portion of the edge of the cleaning component 28 is located outside the edge of the device body 200 and within a first width region A of the device body 200. When the cleaning module 100 is in the outward-swinging position, at least a portion of the edge of the cleaning component 28 is flush with or protrudes from the first width region A of the device body 200. The first width region A is the maximum width region of the self-moving cleaning device 1000 perpendicular to the forward direction (s-direction), which is the region between the dashed lines in Figure 1.

[0110] This configuration allows the self-moving cleaning device 1000 to clean areas beyond the main body 200 of the cleaning module 100, thereby expanding the cleaning range, reducing the problem of uncleaned areas along the edges, improving cleaning effectiveness, and enhancing user experience.

[0111] It should be noted that the cleaning equipment 1000 provided in this application embodiment can be a sweeping robot, floor cleaning machine, mopping robot, window cleaning robot, carpet cleaning machine, car cleaning equipment, disinfection and cleaning equipment, etc. In this application embodiment, the type of cleaning equipment 1000 is not further limited, as long as it has an externally mounted cleaning module 100.

[0112] The cleaning module 100 in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0113] This application provides a cleaning module 100. Figure 3 is a first exploded structural diagram of a cleaning module provided in this application embodiment. Figure 4 is a second exploded structural diagram of a cleaning module provided in this application embodiment. Both Figures 3 and 4 are schematic diagrams of the swing arm 20 in the outward swing position.

[0114] It should be noted that, for ease of description, the first direction is defined as the direction of movement from the inward position to the outward position, and the second direction is defined as the direction of movement from the outward position to the inward position. In the figure, direction 'a' is the first direction, and direction 'b' is the second direction.

[0115] As shown in Figures 3 and 4, the cleaning module 100 may include a mounting bracket 10, a swing arm 20, a first drive mechanism 30, a second drive mechanism 40, a transmission component 60, a first fixed shaft 71, a cover plate 80, and a cleaning assembly 28.

[0116] For example, the first fixed shaft 71 is fixedly connected to the mounting bracket 10. The first drive mechanism 30 includes a first drive assembly 31 and a swing gear 50. The first drive assembly 31 is mounted on the mounting bracket 10 and is used to drive the swing gear 50 to rotate. The swing gear 50 is sleeved on the first fixed shaft 71 and can rotate relative to the first fixed shaft 71.

[0117] In some embodiments, as shown in FIG3, the first drive assembly 31 may include a first drive motor 311 and a first drive gear 312. The first drive motor 311 is mounted on the mounting bracket 10, and the first drive gear 312 is fixed on the drive end of the first drive motor 311. The first drive gear 312 meshes with the oscillating gear 50.

[0118] By fixing the first drive motor 311 to the mounting bracket 10, the stability of the first drive motor 311 can be improved. By directly fixing the first drive gear 312 to the drive end of the first drive motor 311, the power of the motor can be efficiently transmitted to the oscillating gear 50, reducing energy loss in intermediate links and improving transmission efficiency. Integrating the first drive motor 311 and the first drive gear 312 together and mounting them on the mounting bracket 10 makes the entire first drive assembly 31 more compact and space-saving. Furthermore, by driving the first drive gear 312 with the first drive motor 311, flexible control of the gear system can be achieved, facilitating adjustments to speed and direction to meet different operational needs.

[0119] As shown in Figure 4, the swing arm 20 has a rotating end 20a and a swinging end 20b. The rotating end 20a is connected to the mounting bracket 10 and can rotate relative to the mounting bracket 10. The swinging end 20b is located away from the rotating end 20a and has an inward retracted position and an outward swinging position. The transmission component 60 is located between the swing gear 50 and the swing arm 20. The transmission component 60 has a first end and a second end. The first end is connected to the swing gear 50, and the second end is connected to the swing arm 20. The swing gear 50 and the transmission component 60 work together to drive the swinging end 20b of the swing arm 20 to switch between the inward retracted position and the outward swinging position.

[0120] As shown in Figure 5, the second drive mechanism 40 may include a second drive component 41 and a transmission component 90. The second drive component 41 is mounted on the mounting bracket 10 and is used to drive the transmission component 90 to move. The output end of the transmission component 90 is located at the swing end 20b of the swing arm 20, and the cleaning component 28 is connected to the output end of the transmission component 90.

[0121] The cleaning module 100 provided in this application embodiment is equipped with a cleaning component 28 to perform cleaning operations on the surface to be cleaned. The mounting bracket 10 is provided to provide mounting positions for the first fixed shaft 71, the first drive mechanism 30, the swing arm 20, and the second drive mechanism 40, etc., so as to facilitate the assembly of the first fixed shaft 71, the first drive mechanism 30, the swing arm 20, and the second drive mechanism 40 into a module, which is convenient for assembly with the cleaning equipment 1000.

[0122] By setting a first fixed shaft 71, the fixed connection between the first fixed shaft 71 and the mounting bracket 10 provides a robust support structure, reducing displacement or deviation caused by vibration or external forces during operation, and improving the stability and reliability of the system. The fixed connection between the mounting bracket 10 and the first fixed shaft 71 can optimize the power transmission path, reduce energy loss, and improve drive efficiency.

[0123] By configuring a first drive mechanism 30 and a swing arm 20 to switch between an inward and outward position, and by enabling the swing arm 20 to move between these positions, the cleaning component 28 can flexibly adjust its working range to adapt to different cleaning needs and environments, such as cleaning in confined spaces or covering larger areas. The mobility of the swing arm 20 allows the cleaning module 100 to optimize its cleaning path, reduce repetitive cleaning and missed areas, thereby improving overall cleaning effectiveness.

[0124] By setting up a transmission component 60 and linking the swing gear 50 with the transmission component 60, the swing end 20b of the swing arm 20 is driven to switch between an inward and outward position. In other words, the first drive mechanism 30 and the swing arm 20 are driven by the transmission component 60. Compared to directly driving the swing arm 20 through the first drive mechanism 30, the use of the transmission component 60 can effectively disperse and transmit stress during movement, reduce wear on the swing arm 20 and other mechanical parts, and extend the service life of the equipment. Through the linkage between the swing gear 50 and the transmission component 60, the movement of the swing arm 20 can be precisely controlled. This transmission mechanism ensures the smooth and efficient movement of the swing arm 20, improving cleaning efficiency.

[0125] Driven by the first drive mechanism 30, the transmission component 60 can precisely control the movement of the swing arm 20, thereby achieving precise adjustment of the position and angle of the cleaning component 28, which helps to improve cleaning efficiency and effectiveness.

[0126] By mounting both the first drive assembly 31 and the second drive assembly 41 on the mounting bracket 10, they can work synchronously and in coordination, thereby better controlling the swing of the swing arm 20 and the rotation of the cleaning assembly 28, ensuring a highly efficient and consistent cleaning process. Furthermore, integrating the first drive assembly 31 and the second drive assembly 41 onto the same mounting bracket 10 effectively reduces the overall size of the equipment, making the cleaning module 100 more compact and easier to operate and store in confined spaces.

[0127] In this embodiment of the application, the rotating end 20a is connected to the first fixed shaft 71, and the rotating end 20a can rotate relative to the first fixed shaft 71 so that the swing end 20b switches between the inward position and the outward position around the first fixed shaft 71.

[0128] By connecting the rotating end 20a to the first fixed shaft 71 and allowing relative rotation, a stable fulcrum is provided. This reduces displacement due to vibration or external forces during operation, improving the stability and durability of the equipment. Rotating the swing arm 20 to the first fixed shaft 71 reduces the distance between the swing arm 20 and the first drive mechanism 30, resulting in a more compact structure. Furthermore, this optimizes the movement path and position switching of the swing arm 20, reducing unnecessary movement and energy consumption, and improving the overall system's energy efficiency. The design of the first fixed shaft 71 simplifies the installation and disassembly process of the swing arm 20, making regular maintenance and repair more convenient and reducing maintenance costs and time.

[0129] In one possible implementation, as shown in FIG5, the transmission assembly 90 may include a first gear 91 and a second gear 92, which are connected in a transmission manner. The first gear 91 and the second gear 92 are axially connected to the first fixed shaft 71, and the first gear 91 and the second gear 92 are respectively rotatable relative to the first fixed shaft 71. Exemplarily, both the first gear 91 and the second gear 92 are sleeved on the outside of the first fixed shaft 71 and are rotatably connected to the first fixed shaft 71.

[0130] By configuring the transmission assembly 90 with a first gear 91 and a second gear 92, and connecting the first gear 91 to the second drive mechanism 40, gear transmission enables efficient force transmission, allowing the power of the second drive mechanism 40 to be transmitted to the cleaning assembly 28 more efficiently, thus improving transmission efficiency. Gear transmission mainly uses rolling friction, reducing energy loss caused by sliding friction and improving the overall efficiency of the system. By connecting the first gear 91 and the second gear 92 along the axial direction of the first fixed shaft 71, space can be effectively utilized, making the entire cleaning module 100 more compact and facilitating the miniaturization of the cleaning module 100.

[0131] In one possible implementation, as shown in FIG6, the second drive assembly 41 may include a second drive motor 411 and a second drive gear 412. The second drive motor 411 is mounted on the mounting bracket 10, and the second drive gear 412 is fixed on the drive end of the second drive motor 411. The second drive gear 412 meshes with the first gear 91 or the second gear 92.

[0132] By fixing the second drive motor 411 to the mounting bracket 10, the stability of the second drive motor 411 can be improved. By directly fixing the second drive gear 412 to the drive end of the second drive motor 411, the power of the motor can be efficiently transmitted to the first gear 91 or the second gear 92, reducing energy loss in intermediate links and improving transmission efficiency. Integrating the second drive motor 411 and the second drive gear 412 together and mounting them on the mounting bracket 10 makes the entire second drive assembly 41 more compact and space-saving. Furthermore, by driving the second drive gear 412 with the second drive motor 411, flexible control of the gear system can be achieved, facilitating adjustments to speed and direction to meet different operational needs.

[0133] The first drive motor 311 and the second drive motor 411 are respectively mounted on the mounting bracket 10. Since the mounting bracket 10 is a fixed and immovable structure, the first drive motor 311 and the second drive motor 411 are both in a fixed and immovable state during the expansion or contraction of the cleaning component 28. With this setting, the conductive cables and signal transmission cables on the first drive motor 311 and the second drive motor 411 will not move during the expansion or contraction of the cleaning component 28, avoiding the possibility of breakage due to pulling of the conductive cables and signal transmission cables, and improving the connection stability of the conductive cables and signal transmission cables.

[0134] In one possible implementation, as shown in Figure 6, the first gear 91 is connected to the output end of the second drive assembly 41. Specifically, the second drive gear 412 meshes with the first gear 91. Of course, in other embodiments, the second drive gear 412 may also mesh with the second gear 92.

[0135] For example, the second driving gear 412 can be a worm gear structure, the output end of the second drive motor 411 is connected to the worm gear, and the worm gear and the first gear 91 are meshed together.

[0136] By configuring the second drive gear 412 as a worm gear structure, the worm gear mechanism has a large transmission ratio, which can convert the high-speed, low-torque of the second drive motor 411 into low-speed, high-torque, suitable for driving cleaning components 28 (e.g., mops) that require higher torque. The high transmission ratio enables the system to achieve precise speed and position control, improving transmission accuracy. The worm gear structure has a self-locking function; when the second drive motor 411 stops, the worm gear structure can prevent the cleaning component 28 (e.g., mop) from reversing, ensuring system stability. The self-locking function can also prevent accidental movement caused by external forces during cleaning, improving equipment safety. The worm gear transmission structure is compact and occupies little space, making it suitable for space-constrained devices such as cleaning equipment 1000 (e.g., robotic vacuum cleaners). The compact design allows for more flexible system layout and facilitates integration into various robot designs.

[0137] Referring again to Figure 5, the transmission assembly 90 also includes a transmission gear system 93, in which the second drive gear 412 meshes with the first gear 91, and the transmission gear system 93 meshes with the second gear 92.

[0138] It should be noted that the output end of the transmission gear system 93 is the same as the output end of the transmission component 90, thereby transmitting power to the cleaning component 28, which in turn drives the cleaning component 28 to rotate and clean the surface to be cleaned.

[0139] Of course, other connection methods may also be used in other embodiments. For example, when the second driving gear 412 meshes with the second gear 92, the transmission gear system 93 meshes with the first gear 91. In the embodiments of this application, the positional relationship between the first gear 91 and the second gear 92 is not further limited.

[0140] It should be noted that the transmission relationship between the second drive mechanism 40 and the cleaning component 28 can be as follows: the second drive motor 411 transmits power to the second drive gear 412, the second drive gear 412 meshes with the first gear 91 of the transmission component 90, and then transmits power to the first gear 91. The first gear 91 is connected to the second gear 92, and then transmits power from the first gear 91 to the second gear 92. The second gear 92 meshes with the transmission gear system 93, and then transmits power to the transmission gear system 93. The output end of the transmission gear system 93 is connected to the cleaning component 28, and then transmits power to the cleaning component 28, thereby driving the cleaning component 28 to rotate and clean the surface to be cleaned.

[0141] By including a transmission gear train 93 in the transmission assembly 90, power can be transmitted to the cleaning assembly 28 through multi-stage transmission. This optimizes the force transmission path, allowing the power from the second drive mechanism 40 to be transmitted to the cleaning assembly 28 more efficiently, thus improving transmission efficiency. It also ensures uniform force distribution between the second drive assembly 41 and the cleaning assembly 28, avoiding localized stress concentration and extending the system's service life. Optimized force distribution reduces vibration and impact during system operation, improving operational stability. Furthermore, the number and structure of gears in the transmission gear train 93 can be customized as needed, increasing the design flexibility of the cleaning module 100.

[0142] It should be noted that, as shown in Figure 5, the transmission gear system 93 may include at least one third gear, one of which is connected to the second gear 92 in a transmission connection, and the second gear 92 is connected to the cleaning component 28 in a transmission connection through at least one third gear.

[0143] For example, there can be two third gears, which are meshed together. The third gear closer to the second gear 92 meshes with the second gear 92, and the third gear closest to the cleaning component 28 can serve as the drive gear of the cleaning component 28. In this embodiment, the number of third gears is not further limited.

[0144] The first gear 91 and the second gear 92 will be described in detail below with reference to the accompanying drawings.

[0145] As shown in Figure 7, the first gear 91 has a first connecting part 911, and the second gear 92 has a second connecting part 921. The first connecting part 911 and the second connecting part 921 are located between the first gear 91 and the second gear 92. The first connecting part 911 and the second connecting part 921 are connected to each other so that the first gear 91 and the second gear 92 are connected in a transmission manner.

[0146] For example, when the first gear 91 and the second gear 92 are assembled onto the first fixed shaft 71, the first connecting portion 911 is positioned facing the second connecting portion 921, and the first gear 91 and the second gear 92 are connected by transmission through the first connecting portion 911 and the second connecting portion 921. The transmission connection between the first connecting portion 911 and the second connecting portion 921 can be achieved by means of plug-in engagement, snap-fit, locking connection, or welding. In this embodiment, the connection method of the first connecting portion 911 and the second connecting portion 921 is not further limited.

[0147] The direct connection between the first connecting part 911 and the second connecting part 921 ensures reliable power transmission between the first gear 91 and the second gear 92. This tight connection reduces potential energy loss during power transmission and improves system efficiency. The design of the first connecting part 911 and the second connecting part 921 reduces relative slippage between the gears, thereby reducing wear. This helps extend the service life of the gears and the entire system, reducing maintenance requirements. The design of the first connecting part 911 and the second connecting part 921 provides additional support and stability, reducing vibration and noise of the first gear 91 and the second gear 92 during high-speed operation, improving system stability and user experience. Furthermore, this design reduces the use of bearings, thus lowering costs.

[0148] In some embodiments, the first connecting portion 911 has a plug-in portion 912 on the side facing the second connecting portion 921, and the second connecting portion 921 has a mating portion 922 on the side facing the first connecting portion 911. The plug-in portion 912 and the mating portion 922 are plugged into each other to make the first gear 91 and the second gear 92 structurally connected.

[0149] By providing the insertion part 912 and the mating part 922, the first gear 91 and the second gear 92 are inserted and mated to allow them to rotate synchronously. Compared to designing the first gear 91 and the second gear 92 as a single, longer gear shaft, this makes it easier to assemble the transmission assembly 90 into the cleaning module 100, reducing assembly difficulty. The insertion and mating design of the first gear 91 and the second gear 92 is relatively simple, reducing the complexity of designing and manufacturing a long gear shaft and lowering production costs.

[0150] For example, the insertion portion 912 includes at least one protrusion structure, and the mating portion 922 includes at least one groove structure that mates with the protrusion structure.

[0151] This configuration, with its protruding and recessed structures, provides a reliable mechanical connection, ensuring a stable relative position between the first gear 91 and the second gear 92. This design reduces the risk of misalignment during operation. The protruding and recessed structures offer self-positioning capabilities, simplifying the assembly process and reducing assembly difficulty. This fit makes disassembly and replacement of the first and second gears easier, reducing maintenance complexity and time costs. The protruding and recessed structure design provides a mechanical locking mechanism to prevent accidental disengagement during operation, improving system safety. Furthermore, the standardized design of the protruding and recessed structures facilitates design and manufacturing, reducing production costs. The protruding and recessed structure design can be used as independent modules, enhancing system design flexibility.

[0152] In some embodiments, a plurality of protrusion structures are provided, and the plurality of protrusion structures are distributed along the circumferential direction; a plurality of groove structures are provided, and the plurality of groove structures are distributed along the circumferential direction.

[0153] It should be noted that multiple protruding structures can be spaced apart circumferentially, as can multiple recessed structures. During assembly, a protruding structure can be interlocked with a recessed structure; this alternating arrangement of protruding and recessed structures improves connection stability.

[0154] This design, with its combination of multiple protrusions and grooves, provides a larger contact area and more contact points, thereby enhancing the connection strength and stability between the first gear 91 and the second gear 92, and reducing the risk of deformation or failure under high load conditions. Due to the presence of multiple mating points, the relative sliding between the first gear 91 and the second gear 92 is reduced, thus reducing wear and helping to extend the service life of the first gear 91, the second gear 92, and the entire system, reducing maintenance requirements. The design of multiple protrusions and grooves provides a stronger mechanical locking mechanism to prevent the first gear 91 and the second gear 92 from accidentally dislodging during operation, improving system safety.

[0155] For example, when the insertion part 912 and the mating part 922 are inserted and mated, the outer side wall of the protrusion structure fits against the inner side wall of the groove structure.

[0156] By attaching the outer wall of the protruding structure to the inner wall of the groove structure, a stable mechanical connection can be formed between the groove structure and the protruding structure, reducing looseness and displacement between the first gear 91 and the second gear 92. This improves the overall stability of the system, enhances transmission accuracy, and reduces vibration and noise during operation. The tight fit reduces the gap and relative movement between the first gear 91 and the second gear 92, lowers transmission errors, and improves the transmission accuracy of the system.

[0157] It should be noted that, in this embodiment, the outer contour shape of the protruding structure is not further limited, and can be set to a prism shape or the like, depending on the specific processing conditions. The shape of the groove structure matches the outer contour of the protruding structure; in this embodiment, the shape of the groove structure is not further limited.

[0158] In some other embodiments, the outer contour of the plug-in portion 912 may also be a polygonal structure, and the mating portion 922 is provided with an insertion groove (not shown in the figure) on the side facing the plug-in portion 912. The insertion groove is a polygonal groove that is plugged into and mated with the plug-in portion 912.

[0159] For example, the outer contour of the plug-in portion 912 can be a cuboid shape, a cube shape, a triangular prism, a square prism, a pentagonal prism, or the like. The shape of the insertion slot can match the plug-in portion 912. In this embodiment, the shape of the outer contour of the plug-in portion 912 and the shape of the insertion slot are not further limited.

[0160] By designing the outer contour of the connector 912 as a polygonal structure, which provides multiple planes and angles, the connector 912 exhibits anti-rotation characteristics within the insertion slot. This effectively prevents rotational slippage caused by torque during transmission, improving connection stability. The polygonal design increases the contact surface and contact points, enabling more even distribution and transmission of torque, reducing stress concentration, and improving transmission efficiency and reliability. Due to the geometric characteristics of the polygonal structure, the fit between the connector 912 and the insertion slot is more precise, reducing gaps and looseness, and improving assembly accuracy and overall system performance. The multiple contact surfaces of the polygonal structure distribute the load, reducing wear on individual contact surfaces, thereby extending the component's service life.

[0161] Of course, in other embodiments, the insertion part 912 and the mating part 922 can be configured with other structures. For example, the insertion part 912 and the mating part 922 can be connected by threaded connection, snap-fit, or other means. In this embodiment, the structure of the insertion part 912 and the mating part 922 is not further limited.

[0162] As shown in Figures 3 and 8, the transmission component 60 can be an elastic component, and the transmission component 60 is located between the swing gear 50 and the swing arm 20 in a pre-tightened state.

[0163] For example, the transmission member 60 may include an elastic part 61 and a first stop arm 62 and a second stop arm 63 connected to the elastic part 61. The first stop arm 62 is engaged with the swing gear 50, and the second stop arm 63 is engaged with the rotating end 20a of the swing arm 20, so that the pre-tight state is set between the swing gear 50 and the swing arm 20.

[0164] It should be noted that the pre-tightened state refers to the elastic element having a certain pre-tightening force. The pre-tightening force refers to the force applied to the transmission element 60 to tighten or compress the elastic element, which can put the transmission element 60 in a tightened state so that the first stop arm 62 and the second stop arm 63 of the transmission element 60 both have a rebound force opposite to the direction of the pre-tightening force.

[0165] In some embodiments, when the oscillating gear 50 rotates along a first direction (direction a in the figure) or a second direction (direction b in the figure), it can squeeze or release the first stop arm 62 so that the rebound force of the transmission member 60 drives the swing arm 20 to rotate, so that the swing end 20b of the swing arm 20 moves between an inward position and an outward position.

[0166] For ease of description, in this embodiment, the first direction is defined as the direction of movement from the inward position to the outward position, and the second direction is defined as the direction of movement from the outward position to the inward position. The first direction is the same as the direction of the preload, and the second direction is opposite to the direction of the preload.

[0167] For example, when the oscillating gear 50 rotates in the first direction, it can drive the first stop arm 62 to move in the same direction as the preload, and the end of the transmission member 60 where the first stop arm 62 is located is further tightened. Under the action of the rebound force of the transmission member 60, the second stop arm 63 of the transmission member 60 drives the swing arm 20 to rotate in the first direction, thereby driving the swing end 20b of the swing arm 20 to move from the inward position to the outward position.

[0168] This configuration allows the transmission component 60 to possess a certain rebound force opposite to the direction of the preload. These rebound forces act on the rocker arm 20 and the oscillating gear 50, thereby making the connection between the rocker arm 20 and the oscillating gear 50 more stable. The preload eliminates the gap between the rocker arm 20 and the oscillating gear 50, preventing loosening and ensuring that the rocker arm 20 and the oscillating gear 50 maintain close contact during operation, improving the stability and reliability of the system. It should be noted that the preload allows the transmission component 60 to be in a tightened state, giving it a rebound force opposite to the direction of the preload. Thus, when the swing arm 20 is in the outward swing position, if the cleaning component 28 connected to the swing arm 20 collides with an obstacle, the obstacle will cause the swing arm 20 to compress the transmission component 60, thereby swinging from the outward swing position to the inward swing position to prevent the swing arm 20 from getting stuck with the obstacle. At this time, the transmission component 60 is further tightened and has a greater rebound force. When the movement of the cleaning device 1000 causes the swing arm 20 to move away from the obstacle, the rebound force of the transmission component 60 causes the swing arm 20 to return to the outward swing position. The transmission component 60 can also buffer the cleaning component 28 at the lower end of the swing arm 20 from external forces during cleaning operations, preventing damage to the cleaning component 28.

[0169] Furthermore, this design ensures that the cleaning component 28 connected to the swing arm 20 remains close to or against the edge of the obstacle, effectively cleaning the obstacle's edge without retracting due to minor external forces (such as friction) and failing to cover the obstacle's edge. Additionally, the cleaning component 28 rotates during the cleaning process, creating friction between it and the ground in the opposite direction to the rotation of the swing arm 20. The rebound force of the transmission component 60 counteracts this friction, thereby improving stability during the cleaning process.

[0170] For example, the transmission element 60 can be a torsion spring. By setting the transmission element 60 as a torsion spring, the torsion spring can provide a constant torsional torque, ensuring that the mechanical system maintains a stable force output during operation. The torsion spring can absorb and buffer shocks and vibrations in the mechanical system, reducing damage to other components and extending the service life of the system. The design of torsion springs is flexible and diverse, and can be customized according to specific application requirements to provide better performance and effects. The manufacturing process of torsion springs is relatively simple, the material cost is low, and it is suitable for mass production, resulting in high cost-effectiveness.

[0171] Of course, in other embodiments, the transmission member 60 can also be other structures, such as gears, belts, chains, sprockets, etc. In this embodiment, the structure of the transmission member 60 is not further limited, as long as the transmission member 60 can transmit the power of the swing gear 50 to the swing arm 20. In addition, the transmission member 60 can be elastic, which can have a certain buffering effect to prevent the cleaning component 28 from colliding with the swing gear 50 and the swing arm 20 when it encounters obstacles.

[0172] As shown in Figures 8 and 9, the swing arm 20 has a first receiving groove 25 on the side facing the swing gear 50, and at least a portion of the transmission member 60 is received in the first receiving groove 25. The swing gear 50 has a second receiving groove 56 on the side facing the swing arm 20, and at least a portion of the transmission member 60 is received in the second receiving groove 56.

[0173] For example, during assembly, as shown in FIG10, the second receiving groove 56 and the first receiving groove 25 are arranged opposite each other in the axial direction of the swing gear 50, forming a receiving cavity 24 between the second receiving groove 56 and the first receiving groove 25. The elastic part 61 of the transmission member 60 can be movably disposed in the receiving cavity 24. The first stop arm 62 is engaged in the first receiving groove 25, and the second stop arm 63 is engaged in the second receiving groove 56.

[0174] For example, the first receiving groove 25 may have the same structure as the second receiving groove 56, or it may be a slot structure. In this embodiment of the application, the structure of the first receiving groove 25 and the second receiving groove 56 is not further limited.

[0175] Of course, in other embodiments, the receiving cavity 24 can be configured with other structures, and the side of the swing gear 50 facing the swing arm 20 is provided with a second receiving groove 56, and the receiving cavity 24 is formed between the second receiving groove 56 and the swing arm 20.

[0176] This configuration allows the transmission component 60 to be embedded between the swing gear 50 and the swing arm 20, saving overall space in the cleaning module 100. In particular, it reduces the space occupied by the cleaning module 100 in the axial direction of the swing gear 50, which is beneficial for the miniaturization of the cleaning module 100. Furthermore, this reduces the vertical space occupied by the cleaning device 1000, allowing it to fit into low-ceilinged spaces and improving its applicability.

[0177] The transmission component 60 is partially housed in the first receiving groove 25 and partially in the second receiving groove 56, effectively protecting it from external environmental influences such as dust, dirt, and other contaminants. This helps extend the service life and reliability of the transmission component 60. The design of the first receiving groove 25 and the second receiving groove 56 allows the transmission component 60 to be compactly integrated into the swing arm 20 structure, optimizing space utilization. This is particularly important for equipment designs that require space saving. The first receiving groove 25 and the second receiving groove 56 provide additional support and fixation, making the transmission component 60 more stable during operation and reducing the risk of failure due to loosening. The first receiving groove 25 and the second receiving groove 56 help to conceal the transmission component 60, resulting in a cleaner and more aesthetically pleasing appearance of the equipment.

[0178] In some embodiments, as shown in FIG8, the oscillating gear 50 is provided with a first mating hole 562, and the first end of the transmission member 60 passes through the first mating hole 562. As shown in FIG9, the swing arm 20 is provided with a second mating hole 23, and the second end of the transmission member 60 passes through the second mating hole 23.

[0179] For example, the first end of the transmission member 60 is the end of the first stop arm 62 that is away from the elastic part 61. The first stop arm 62 passes through the first mating hole 562 and is engaged in the first mating hole 562. The second end of the transmission member 60 is the end of the second stop arm 63 that is away from the elastic part 61. The second stop arm 63 passes through the second mating hole 23 and is engaged in the second mating hole 23.

[0180] Referring again to Figure 8, the oscillating gear 50 may also include a locking post 561, which may be located in the second receiving groove 56. The end of the first stop arm 62 facing away from the elastic part 61 is locked in the first mating hole 562. The locking post 561 is located on the side that prevents the transmission member 60 from tightening, so that it can provide support for the first stop arm 62 when the transmission member 60 is twisted and tightened, preventing the first stop arm 62 from bending.

[0181] Of course, in other embodiments, the second receiving groove 56 may be configured with other structures. In this embodiment, the structure of the second receiving groove 56 is not further limited.

[0182] This configuration ensures precise alignment of the first and second ends of the transmission component 60. This precise alignment helps improve the transmission accuracy and overall performance of the system, reduces relative movement and friction between the transmission component 60 and other components, thereby reducing wear and extending the system's service life. The first mating hole 562 and the second mating hole 23 provide additional support, making the transmission component 60 more stable during operation and reducing the risk of failure due to loosening or misalignment. Furthermore, it simplifies and speeds up the installation and removal of the transmission component 60, reducing assembly time and the possibility of errors, improving production efficiency, and reducing maintenance complexity and time costs. By fixing both ends of the transmission component 60, the overall rigidity of the system is increased, vibration and noise are reduced, and operational smoothness is improved.

[0183] Referring again to Figure 8, the oscillating gear 50 is provided with a propulsion part 55. Correspondingly, as shown in Figure 9, the swing arm 20 is provided with a push-receiving part 21 that cooperates with the propulsion part 55.

[0184] As shown in Figure 11, when the swing arm 20 is in a non-moving state, or during the process of the swing end 20b of the swing arm 20 switching from the outward swing position to the inward retraction position, the pushing part 55 abuts against the pushing part 21. The pushing part 21 is located on the side of the swing arm 20 facing the swing gear 50, and the pushing part 55 is located on the side of the swing gear 50 facing the pushing part 21, so that the pushing part 21 and the pushing part 55 can abut against each other when the swing arm 20 is in a non-moving state, or during the process of the swing end 20b of the swing arm 20 switching from the outward swing position to the inward retraction position.

[0185] For example, in the cleaning module 100 shown in FIG11, the swing end 20b of the swing arm 20 is in the outward swing position. When the swing end 20b of the swing arm 20 switches from the outward swing position to the inward position, the swing gear 50 rotates along the second direction (direction b in the figure), and the push part 55 pushes the push part 21 together along the second direction (direction b in the figure) so that the swing end 20b of the swing arm 20 moves from the outward swing position to the inward position, and finally reaches the inward position.

[0186] Of course, in some embodiments, the pushed part 21 may be disposed in other positions. In the embodiments of this application, the placement position of the pushed part 21 is not further limited.

[0187] This configuration, when the swing arm 20 is in a non-moving state, provides additional support and stability through the contact between the propulsion part 55 and the push-received part 21, preventing the swing arm 20 from moving due to external forces or vibrations, ensuring system stability, reducing wear, and thus extending the system's service life and reducing maintenance requirements. During the swinging process, the cooperation between the propulsion part 55 and the push-received part 21 helps to accurately position the swing arm 20, ensuring that it reaches the expected angle and position when switching to the outward swing position, improving operational accuracy. Furthermore, the contact between the propulsion part 55 and the push-received part 21 acts as a mechanical limit, preventing excessive swinging of the swing arm 20 and protecting the system from damage. Because the mechanical structure provides natural limiting and positioning functions, the need for a complex control system is reduced, simplifying system design and control. The contact design between the propulsion part 55 and the push-received part 21 can buffer the impact and vibration during the swinging process, making operation smoother and quieter, and improving the user experience.

[0188] As shown in Figure 11, the swing gear 50 is provided with a passive swing limit part 54, and the swing arm 20 is provided with a passive swing abutment part 29 that cooperates with the passive swing limit part 54. When the swing end 20b of the swing arm 20 is in the outward swing position or between the inward and outward swing positions, there is a passive swing gap between the passive swing limit part 54 and the passive swing abutment part 29. During the movement of the self-moving cleaning device 1000, when the swing arm 20 or the cleaning component 28 is obstructed by an obstacle, the passive swing gap gradually decreases. When the swing arm 20 or the cleaning component 28 disengages from the obstacle, the passive swing gap gradually recovers to the distance before the swing arm 20 or the cleaning component 28 was obstructed by the obstacle under the elastic action of the transmission member 60.

[0189] For example, in the circumferential direction of the swing gear 50, the pushed part 21 is located between the pushing part 55 and the passive swing limit part 54, and the passive swing abutment part 29 is located between the pushed part 21 and the passive swing limit part 54. When the swing arm 20 is in the outward swing position, the passive swing limit part 54 and the passive swing abutment part 29 are spaced apart, and the distance between the passive swing limit part 54 and the passive swing abutment part 29 is the passive swing distance.

[0190] This design allows the passive oscillation mechanism to absorb impact forces when the swing arm 20 or cleaning component 28 is obstructed by obstacles, reducing damage to the swing arm 20 and the swinging component, thereby extending the equipment's lifespan. After the obstacle is removed, the elasticity of the transmission component 60 automatically restores the passive oscillation distance, ensuring the swing arm 20 or cleaning component 28 returns to its normal operating position. This automatic recovery function reduces manual intervention and increases the automation level of the equipment. Because the system can automatically return to normal operation, downtime caused by obstacles is reduced, improving the equipment's efficiency and reliability. The passive oscillation design provides additional stability, reducing severe vibration and noise when the equipment encounters obstacles, thus improving the user experience.

[0191] In some embodiments, as shown in FIG11, the passive swing abutment 29 and the push-receiving part 21 can be an integral structure. For example, the passive swing abutment 29 and the push-receiving part 21 are a block structure integrally formed on the swing arm 20. This can improve the structural strength of the passive swing abutment 29 and the push-receiving part 21 and enhance stability.

[0192] Of course, in other embodiments, the passive swing abutment part 29 and the pushed part 21 may be set as two spaced-apart components. In this embodiment, the structure of the passive swing abutment part 29 and the pushed part 21 is not further limited.

[0193] In one possible implementation, as shown in Figures 3 and 12, the mounting bracket 10 is provided with a first limiting part 11, and the swing gear 50 is provided with a first abutting part 52 and a second abutting part 51, with the first limiting part 11 located between the first abutting part 52 and the second abutting part 51. When the swing end 20b switches from the inward position to the outward position, the first abutting part 52 abuts against the first limiting part 11. When the swing end 20b switches from the outward position to the inward position, the second abutting part 51 abuts against the first limiting part 11.

[0194] This configuration, with the cooperation of the first limiting part 11, the first blocking part 52, and the second blocking part 51, provides a clear mechanical limit, ensuring precise positioning of the swing end 20b in both retracted and outward swing positions. This precision is particularly important for systems requiring high-precision operation. The limiting design prevents the swing end 20b from exceeding its predetermined range of motion, avoiding mechanical damage caused by excessive movement and improving the system's safety and durability. The mechanical limiting provided by the first limiting part 11, the first blocking part 52, and the second blocking part 51 reduces reliance on complex electronic control systems, simplifies equipment design and control, and improves system reliability.

[0195] As shown in Figure 12, in the radial direction of the oscillating gear 50, the first limiting part 11 can protrude toward the oscillating gear 50, and the first limiting part 11 includes two surfaces arranged circumferentially along the oscillating gear 50, namely a first surface 11a and a second surface 11b. In the circumferential direction of the oscillating assembly, the first surface 11a and the second surface 11b are opposite to each other. When the oscillating end 20b switches from the inward position to the outward position, the first abutting part 52 abuts against the first surface 11a of the first limiting part 11 to limit the oscillating gear 50 from continuing to rotate. When the oscillating end 20b switches from the outward position to the inward position, the second abutting part 51 abuts against the second surface 11b of the first limiting part 11 to limit the oscillating gear 50 from continuing to rotate.

[0196] It should be noted that "mutual divergence" refers to mutual divergence in a broad sense. It is not limited to mutual divergence in opposite directions or back to back. It can also be mutual divergence at an angle. As long as they are facing different directions, they can be considered as mutual divergence.

[0197] By setting the first limiting part 11, the swing arm 20 can be prevented from retracting too much and from swinging too much, thereby avoiding damage to the swing gear 50 and the first drive mechanism 30 due to excessive movement and extending the service life of the system.

[0198] It should be noted that in some other embodiments, the first limiting part 11 can be used as a positioning structure during assembly. For example, the swing gear 50, the swing arm 20 and the first drive mechanism 30 can be correctly installed when the second abutting part 51 abuts against the first surface 11a of the first limiting part 11, or when the first abutting part 52 abuts against the second surface 11b of the first limiting part 11.

[0199] As shown in Figure 13, the cleaning module 100 also includes a cover plate 80. At least a portion of the structure of the mounting bracket 10 surrounds the outside of the swing gear 50 (see Figure 3). The cover plate 80 is located on the side of the swing gear 50 away from the swing arm 20. The cover plate 80 is fixedly connected to the mounting bracket 10. The swing gear 50 is located in the space between the cover plate 80 and the swing arm 20.

[0200] The cover plate 80 and the mounting bracket 10 together form a closed or semi-closed space, effectively protecting the swing gear 50 and other internal components from external environmental influences such as dust, moisture, and other contaminants, thereby extending the equipment's service life. By enclosing the swing gear 50 within the space between the cover plate 80 and the swing arm 20, the risk of operators coming into contact with moving parts is reduced, improving equipment safety. The cover plate 80 provides some sound insulation and vibration damping, reducing noise and vibration during operation and improving user experience. The cover plate 80 offers a clean appearance, making the equipment more aesthetically pleasing and enhancing the overall design quality of the product. The design of the cover plate 80 makes it easier for maintenance personnel to access internal components, simplifying the inspection and maintenance process. The fixed connection between the cover plate 80 and the mounting bracket 10 enhances the structural stability of the entire cleaning module 100, reducing component displacement or loosening caused by vibration or impact.

[0201] Referring again to Figures 4, 14, and 15, the cover plate 80 has a second limiting part 81 on the side facing the swing gear 50, and the swing gear 50 has a third abutting part 53 on the side facing the cover plate 80. When the swing end 20b switches from the inward position to the outward position, the third abutting part 53 abuts against the second limiting part 81. During the process of the swing end 20b switching from the outward position to the inward position, the third abutting part 53 gradually moves away from the second limiting part 81.

[0202] This configuration provides a clear mechanical limit through the cooperation of the second limiting part 81 and the third abutting part 53, ensuring precise positioning of the swing end 20b in the outward swing position and preventing excessive movement. When the swing end 20b reaches the outward swing position, the contact between the second limiting part 81 and the third abutting part 53 can absorb some of the impact force, protecting the system from mechanical damage caused by excessive movement. By providing a clear limiting point, vibration and instability of the swing end 20b at its extreme positions are reduced, improving the overall stability of the system. It also reduces wear caused by excessive movement and impact, thereby extending the system's service life and reducing maintenance requirements. Mechanical limiting reduces reliance on complex electronic control systems, simplifies equipment design and control, and improves system reliability. During the process of the swing end 20b returning from the outward swing position to the inward retraction position, the third abutting part 53 gradually moves away from the second limiting part 81, ensuring a smooth transition of movement and reducing impact and vibration.

[0203] Referring again to Figure 14, the cover plate 80 has a clearance groove 82 on the side facing the oscillating gear 50, which is adapted to the movement trajectory of the first end of the transmission member 60. The clearance groove 82 is located on the side of the cover plate 80 facing the oscillating gear 50, and the first end of the transmission member 60 is movably disposed within the clearance groove 82. By providing the clearance groove 82 on the cover plate 80, it is ensured that the first end of the transmission member 60 will not interfere with the cover plate 80 when moving with the oscillating gear 50, thus ensuring the rotational stability of the oscillating gear 50.

[0204] In one possible implementation, the swing arm 20 may further include an outer mounting bracket 22, the projection of the outer mounting bracket 22 in the height direction of which at least partially overlaps with the projection of the mounting bracket 10 in the height direction (i.e., axially above the first fixed shaft 71). The outer mounting bracket 22 can protect the internal structure of the swing arm 20, thereby extending the service life of the cleaning module 100.

[0205] By overlapping the projected portions of the outer mounting bracket 22 and the mounting bracket 10, vertical space can be effectively utilized, reducing the overall footprint of the equipment. This allows for closer integration of other functional components, enhancing the overall functionality and performance of the equipment and facilitating the miniaturization of the cleaning module 100. Furthermore, it reduces material usage, thereby lowering production costs and equipment weight. The compactness and stability of the structure simplify and streamline assembly and maintenance processes, reducing complexity and time costs. The overlapping design increases the overall stability and rigidity of the structure, reducing deformation or displacement due to vibration or external forces and improving system durability.

[0206] It should be noted that the structure of the external mounting bracket 22 can be set according to the structure of the swing arm 20. In this embodiment, the structure of the external mounting bracket 22 is not further limited.

[0207] In one possible implementation, as shown in FIG15, the mounting bracket 10 may include a third limiting part 12, which abuts against the swing arm 20 when the swing arm 20 moves from the outward swing position to the inward retraction position, thereby restricting the swing arm 20 from continuing to rotate to the inward retraction position.

[0208] It should be noted that the third limiting part 12 can directly abut against the outer wall of the swing arm 20, or a fourth abutting part 26 can be provided on the side of the swing arm 20 facing the third limiting part 12. When the swing arm 20 moves from the outward swing position to the inward retraction position, the fourth abutting part 26 abuts against the third limiting part 12. In the embodiments of this application, the structure that abuts against the third limiting part 12 is not further limited.

[0209] By providing a third limiting part 12 on the mounting bracket 10, excessive retraction of the swing arm 20 can be prevented, thereby ensuring the stability of the cleaning module 100 in the retracted position and avoiding loosening or shaking caused by excessive retraction. The third limiting part 12 can prevent damage to the swing arm 20 and other parts of the cleaning module 100 due to excessive retraction, thereby protecting the overall structure and function of the cleaning module 100 and the cleaning equipment 1000. By providing the third limiting part 12 on the mounting bracket 10, the difficulty of setting the third limiting part 12 can be reduced. For example, the side wall of the mounting bracket 10 can be directly used as the third limiting part 12. Similarly, the fourth abutment 26 can be directly set on the side wall of the swing arm 20, which can reduce the difficulty of setting the fourth abutment 26, simplify the structure of the swing arm 20, and reduce the processing difficulty of the swing arm 20.

[0210] It should be noted that Figures 1-15 are merely schematic diagrams of the structure of a cleaning module 100 in one embodiment of this application, and in the embodiments shown in Figures 1-15, the swing gear 50 is located on the side of the swing arm 20 facing away from the ground. Of course, in other embodiments, the cleaning module 100 may also have other forms; for example, the swing gear 50 may be located on the side of the rotating end 20a of the swing arm 20 facing the ground.

[0211] As shown in Figure 16, a portion of the structure of the mounting bracket 10 is located on the side of the swing gear 50 facing the ground, axially along the first fixed shaft 71. The swing gear 50 is positioned between the mounting bracket 10 and the rotating end 20a of the swing arm 20. The first fixed shaft 71 is fixedly connected to the mounting bracket 10. The swing gear 50, the transmission component 60, and the rotating end 20a of the swing arm 20 are all fitted onto the first fixed shaft 71 and rotatably connected to it. The transmission component 60 is located between the rotating end 20a of the swing arm 20 and the swing gear 50, with the rotating end 20a of the swing arm 20 located on the side of the swing gear 50 facing away from the ground.

[0212] With this configuration, the swing gear 50 and the transmission component 60 can be sandwiched between the mounting bracket 10 and the rotating end 20a of the swing arm 20 in the axial direction of the first fixed shaft 71, so as to protect the swing gear 50 and the transmission component 60. In addition, as shown in FIG17, this can bring the distance between the first drive mechanism 30 and the second drive mechanism 40 closer, which is beneficial to the compact design of the module.

[0213] It should be noted that, due to the different positions of the oscillating gear 50, the structural configurations of the first limiting part 11, the second blocking part 51, the first blocking part 52, the pushing part 55, and the pushed part 21 are also different. However, the relative positions and working principles of the first limiting part 11, the second blocking part 51, the first blocking part 52, the pushing part 55, and the pushed part 21 are the same as those in the embodiments shown in Figures 1-15. In this embodiment, the positional relationship and working principle of the first limiting part 11, the second blocking part 51, the first blocking part 52, the pushing part 55, and the pushed part 21 can be referred to the description in Figures 1-15, and will not be repeated in this embodiment.

[0214] In this embodiment of the application, as shown in Figures 16 and 18, the first limiting portion 11 on the mounting bracket 10 can be formed on the side wall of the portion of the mounting bracket 10 surrounding the swing gear 50. The swing gear 50 is provided with a first abutment portion 52 and a second abutment portion 51 that cooperate with the first limiting portion 11. This prevents the swing arm 20 from excessively retracting inward or excessively swinging outward.

[0215] It should be noted that Figures 16 and 18 are schematic diagrams of the structure when the swing arm 20 is in the retracted position.

[0216] As shown in Figure 16, the oscillating gear 50 is provided with a propulsion part 55. Correspondingly, the swing arm 20 is provided with a push-receiving part 21 that cooperates with the propulsion part 55. When the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 switches from the outward swing position to the inward retraction position, the propulsion part 55 and the push-receiving part 21 abut against each other. The push-receiving part 21 is provided on the side of the swing arm 20 facing the oscillating gear 50, and the propulsion part 55 is provided on the side of the oscillating gear 50 facing the push-receiving part 21, so that the push-receiving part 21 and the propulsion part 55 can abut against each other when the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 switches from the outward swing position to the inward retraction position.

[0217] As shown in Figure 19, the swing gear 50 is provided with a passive swing limit part 54, and the swing arm 20 is provided with a passive swing abutment part 29 that cooperates with the passive swing limit part 54. When the swing end 20b of the swing arm 20 is in the outward swing position or between the inward and outward swing positions, there is a passive swing gap between the passive swing limit part 54 and the passive swing abutment part 29. During the movement of the self-moving cleaning device 1000, when the swing arm 20 or the cleaning component 28 is obstructed by an obstacle, the passive swing gap gradually decreases. When the swing arm 20 or the cleaning component 28 disengages from the obstacle, the passive swing gap gradually recovers to the distance before the swing arm 20 or the cleaning component 28 was obstructed by the obstacle under the elastic action of the transmission member 60.

[0218] As shown in Figure 19, the push-receiving part 21 is located on the side wall of the swing arm 20 arranged axially along the first fixed axis 71, and its arrangement and structure are different from those of the push-receiving part 21 shown in Figure 9. One side of this side wall in the circumferential direction of the swing gear 50 is configured as the push-receiving part 21, and the other side is configured as the passive swing-back abutment part 29.

[0219] The side of the oscillating gear 50 facing away from the ground is provided with a convex wall structure arranged axially along the first fixed shaft 71. One side of the convex wall structure in the circumferential direction of the oscillating gear 50 is configured as a propulsion part 55, and the other side is configured as a passive swing limit part 54.

[0220] It should be noted that in this embodiment, the structure and principle of the second drive mechanism 40 are the same as those shown in Figures 1-15. Therefore, in this embodiment, the structure and principle of the second drive mechanism 40 will not be described again.

[0221] It should be noted that in the embodiments shown in Figures 16-19, except for the different positional relationships between the mounting frame 10, the first drive mechanism 30, the second drive mechanism 40, the swing gear 50, the transmission component 60, and the swing arm 20, and the differences between the passive swing abutment part 29 and the passive swing limit part 54, the positional relationships and structural principles of other structures are the same as those in the embodiments shown in Figures 1-15. Therefore, for the structures, principles, and positional relationships in the embodiments of this application other than the positional relationships between the mounting frame 10, the first drive mechanism 30, the second drive mechanism 40, the swing gear 50, the transmission component 60, and the swing arm 20, and the structures of the passive swing abutment part 29 and the passive swing limit part 54, all can refer to the description of the embodiments in Figures 1-15. In the embodiments of this application, no further explanation is given.

[0222] The embodiments shown in Figures 1-19 are all embodiments in which the oscillating gear 50 is directly connected to the swing arm 20 via the transmission member 60, and the rotating end 20a of the swing arm 20 is connected to the first fixed shaft 71. Of course, in other embodiments, the rotating end 20a can also be located in other positions.

[0223] As shown in Figure 20, a second fixed shaft 72 is fixedly connected to the mounting bracket 10, and a rotating end 20a is connected to the second fixed shaft 72. The rotating end 20a can rotate relative to the second fixed shaft 72 so that the swing end 20b can switch between an inward position and an outward position around the second fixed shaft 72.

[0224] By setting a second fixed shaft 72 and fixing it to the mounting component, the stability of the second fixed shaft 72 can be improved, thereby providing stable support for the swing arm 20 mounted on the second fixed shaft 72. The second fixed shaft 72 provides a stable rotation fulcrum for the rotating end 20a of the swing arm 20, ensuring the stability of the entire system during operation and reducing displacement or deviation caused by vibration or external forces. Furthermore, the setting of the second fixed shaft 72 allows the swing arm 20 to operate at different angles and positions, increasing the flexibility and adaptability of the cleaning module 100, thus better addressing different cleaning tasks and environments.

[0225] As shown in Figure 20, a transmission gear set 73 is also provided between the rotating end 20a of the swing arm 20 and the swing gear 50. The transmission gear set 73 includes a first transmission gear 731 and a second transmission gear 732. The first transmission gear 731 is connected to the swing gear 50, and a transmission member 60 is disposed between the swing gear 50 and the first transmission gear 731. The first transmission gear 731 is connected to the second transmission gear 732, and the second transmission gear 732 is fixedly connected to the swing end 20b of the swing arm 20. This allows the swing gear 50 and the swing arm 20 to work together via the transmission member 60 and the transmission gear set 73 to switch the swing end 20b of the swing arm 20 between the inward position and the outward position.

[0226] For example, the second transmission gear 732 can be integrally formed with the rotating end 20a of the swing arm 20. The rotating end 20a of the swing arm 20 is sleeved on the outside of the second fixed shaft 72 and is rotatably connected to the second fixed shaft 72. When the swing end 20b of the swing arm 20 moves between the outward swing position and the inward retraction position, the rotating end 20a of the swing arm 20 rotates around the second fixed shaft 72.

[0227] By providing a transmission gear set 73 between the rotating end 20a of the swing arm 20 and the swing gear 50, the driving force of the swing gear 50 is transmitted to the rotating end 20a of the swing arm 20 through multiple transmission components 60. The transmission gear set 73 can be designed and manufactured as an independent module, enhancing the system's design flexibility. When system parameters need adjustment, this can be achieved by replacing or adjusting the transmission gear set 73 to meet different application requirements. Through the coordinated action of multiple transmission components 60, precise control of the rotation angle of the swing arm 20 can be achieved, ensuring consistent and accurate operation. Multiple transmission components 60 can distribute wear during the transmission process, preventing excessive wear of a single transmission component 60 and extending the system's service life.

[0228] In this embodiment, the first transmission gear 731 and the oscillating gear 50 can be stacked, and the size of the outer tooth portion of the oscillating gear 50 is less than one circumference. For example, the size of the outer tooth portion of the oscillating gear 50 can cover about half a circumference of the oscillating gear 50. This can reduce the production cost of the oscillating gear 50.

[0229] For example, both the first transmission gear 731 and the second transmission gear 732 are provided with external teeth, and the first transmission gear 731 and the second transmission gear 732 are meshed together. The oscillating gear 50 is connected to the first transmission gear 731 in a transmission connection.

[0230] For example, one end of the swing gear 50 is provided with a propulsion part 55, and the first transmission gear 731 is provided with a push-receiving part 21 that abuts against the propulsion part 55. When the swing arm 20 is in a non-moving state, or when the swing end 20b of the swing arm 20 switches from the outward swing position to the inward retraction position, the propulsion part 55 abuts against the push-receiving part 21.

[0231] The swing gear 50 is provided with a passive swing limit part 54, and the first transmission gear 731 is provided with a passive swing abutment part 29 that cooperates with the passive swing limit part 54. When the swing end 20b of the swing arm 20 is in the outward swing position or between the inward and outward swing positions, there is a passive swing gap between the passive swing limit part 54 and the passive swing abutment part 29. During the movement of the self-moving cleaning device 1000, when the swing arm 20 or the cleaning component 28 is obstructed by an obstacle, the passive swing gap gradually decreases. When the swing arm 20 or the cleaning component 28 disengages from the obstacle, the passive swing gap gradually recovers to the distance before the swing arm 20 or the cleaning component 28 was obstructed by the obstacle under the elastic action of the transmission member 60.

[0232] For example, the external teeth of the first transmission gear 731 are arranged opposite to the external teeth of the oscillating gear 50, so that the external teeth of the first transmission gear 731 and the external teeth of the oscillating gear 50 can cover different positions in the circumferential direction of the oscillating gear 50, so that the first transmission gear 731 and the second transmission gear 732 are connected for transmission. In the embodiments of this application, the size ratio of the external teeth of the oscillating gear 50 and the external teeth of the first transmission gear 731 is not further limited.

[0233] Of course, in other embodiments, the first transmission gear 731 and the second transmission gear 732 may be other transmission structures, such as a conveyor belt. In this embodiment, the structure of the first transmission gear 731 and the second transmission gear 732 is not further limited.

[0234] By configuring the first transmission gear 731 and the second transmission gear 732 with external teeth, a transmission connection is achieved through meshing. This external tooth meshing connection enables efficient force transmission, minimizing power loss when power is transmitted from the first transmission gear 731 to the second transmission gear 732, thus improving overall transmission efficiency. Gear meshing transmission primarily utilizes rolling friction, reducing energy loss from sliding friction and further enhancing transmission efficiency. The gear meshing connection provides a stable mechanical connection, reducing potential loosening and displacement during transmission and ensuring stable system operation. Furthermore, the gear meshing transmission offers high precision, ensuring the relative positions of the oscillating gear 50, the first transmission gear 731, and the second transmission gear 732, thereby improving transmission accuracy.

[0235] As shown in Figure 20, the mounting bracket 10 is provided with a first limiting part 11 and a fourth limiting part 2713, the swing gear 50 is provided with a second blocking part 51, and the first transmission gear 731 includes a first blocking part 52. The first limiting part 11 and the fourth limiting part 2713 are located between the first blocking part 52 and the second blocking part 51.

[0236] As shown in Figure 20, when the swing end 20b switches from the inward position to the outward position, the second blocking part 51 abuts against the first limiting part 11. As shown in Figure 21, when the swing end 20b switches from the outward position to the inward position, the first blocking part 52 abuts against the fourth limiting part 2713.

[0237] For example, the second abutment 51 may be located on the side of the pusher 55 opposite to the pusher 21, and the second abutment 51 extends radially outward along the oscillating gear 50. When the oscillating end 20b switches from the retracted position to the outward oscillating position, the second abutment 51 abuts against the first limiting part 11. By making the second abutment 51 and the pusher 55 an integral piece, the structure of the oscillating gear 50 can be simplified, thereby reducing costs.

[0238] Of course, in other embodiments, the second blocking part 51 and the propulsion part 55 can be configured as separate structures. In this embodiment, the structure of the first limiting part 11 and the propulsion part 55 is not further limited.

[0239] As shown in Figure 21, when the swing end 20b switches from the outward swing position to the inward retraction position, the first blocking part 52 abuts against the fourth limiting part 2713.

[0240] This design prevents mechanical damage to the swing arm 20 and swing gear 50 due to excessive movement, thus improving the safety and durability of the system.

[0241] For example, the first limiting part 11 and the fourth limiting part 2713 are both fixedly disposed on the mounting frame 10, and the first limiting part 11 and the fourth limiting part 2713 are spaced apart and can be formed on the same side wall of the mounting frame 10. In this embodiment of the application, the structure of the first limiting part 11 and the fourth limiting part 2713 is not further limited.

[0242] By providing a first abutment 52 on the first transmission gear 731, which abuts against the fourth limiting part 2713, a clear limiting position is provided, ensuring that the swing gear 50 is accurately positioned when the swing arm 20 is in the outward swing position, reducing positional errors and improving the positioning accuracy of the system. Each time the swing gear 50 drives the swing arm 20 to the outward swing position, it stops precisely at the same position, ensuring consistency and repeatability of operation. The first abutment 52 limits the maximum swing angle of the swing gear 50, preventing excessive swing and protecting other components of the system from damage. The first abutment 52 reduces wear when the swing gear 50 is in direct contact with the mounting bracket 10, extending the service life of both the swing gear 50 and the mounting bracket 10.

[0243] As shown in Figure 22, the transmission assembly 90 may include a first gear 91 and a second gear 92. The first gear 91 and the second gear 92 are connected in a transmission manner. The first gear 91 and the second gear 92 are connected to the second fixed shaft 72 along the axial direction of the second fixed shaft 72, and the first gear 91 and the second gear 92 can rotate relative to the second fixed shaft 72 respectively.

[0244] By configuring the transmission assembly 90 with a first gear 91 and a second gear 92, and connecting the first gear 91 to the second drive mechanism 40, gear transmission enables efficient force transmission, allowing the power of the second drive mechanism 40 to be transmitted to the cleaning assembly 28 more efficiently, thus improving transmission efficiency. Gear transmission primarily utilizes rolling friction, reducing energy loss from sliding friction and improving the overall system efficiency. By connecting the first gear 91 and the second gear 92 axially along the second fixed shaft 72, space can be effectively utilized, making the entire cleaning module 100 more compact and simplifying the overall structure.

[0245] It should be noted that in this embodiment, the structure and principle of the second drive mechanism 40 are the same as those shown in Figures 1-15. Therefore, in this embodiment, the structure and principle of the second drive mechanism 40 will not be described again.

[0246] 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", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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.

[0247] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0248] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "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 direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., 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.

[0249] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning module applied to a self-moving cleaning device, characterized in that, include: Cleaning components; Mounting rack; The first fixed shaft is fixedly connected to the mounting bracket; The first driving mechanism includes a first driving component and a swing gear. The first driving component is mounted on the mounting frame and is used to drive the swing gear to rotate. The swing gear is sleeved on the first fixed shaft and can rotate relative to the first fixed shaft. The swing arm has a rotating end and a swinging end. The rotating end is connected to the mounting frame and can rotate relative to the mounting frame. The swinging end is located away from the rotating end and has an inward position and an outward position. A transmission component is disposed between the swing gear and the swing arm. The transmission component has a first end and a second end. The first end is connected to the swing gear, and the second end is connected to the swing arm. The swing gear and the transmission component work together to drive the swing end of the swing arm to switch between the inward position and the outward position. The second drive mechanism includes a second drive component and a transmission component. The second drive component is mounted on the mounting bracket and is used to drive the transmission component to move. The output end of the transmission component is located at the swing end of the swing arm, and the cleaning component is connected to the output end of the transmission component.

2. The cleaning module of claim 1, wherein, The rotating end is connected to the first fixed shaft, and the rotating end can rotate relative to the first fixed shaft so that the swinging end switches between the inward position and the outward position around the first fixed shaft.

3. The cleaning module of claim 1, wherein, A second fixed shaft is fixedly connected to the mounting bracket, and the rotating end is connected to the second fixed shaft. The rotating end can rotate relative to the second fixed shaft so that the swinging end switches between the inward position and the outward position around the second fixed shaft.

4. The cleaning module of claim 2, wherein, The transmission assembly includes a first gear and a second gear, which are connected in a transmission manner. The first gear and the second gear are connected to the first fixed shaft along the axial direction of the first fixed shaft, and the first gear and the second gear are respectively rotatable relative to the first fixed shaft.

5. The cleaning module of claim 3, wherein, The transmission assembly includes a first gear and a second gear, which are connected in a transmission manner. The first gear and the second gear are connected to the second fixed shaft along the axial direction of the second fixed shaft, and the first gear and the second gear are respectively rotatable relative to the second fixed shaft.

6. The cleaning module according to claim 4 or 5, characterized in that The first gear has a first connecting portion, and the second gear has a second connecting portion. The first connecting portion and the second connecting portion are located between the first gear and the second gear, and the first connecting portion and the second connecting portion are connected to each other so that the first gear and the second gear are connected in a transmission manner.

7. The cleaning module of claim 6, wherein, The first connecting part has a plug-in part on the side facing the second connecting part, and the second connecting part has a mating part on the side facing the first connecting part. The plug-in part and the mating part are plugged in and mated to make the first gear and the second gear structurally connected for transmission.

8. The cleaning module of claim 7, wherein, The insertion portion includes at least one protrusion structure, and the mating portion includes at least one groove structure that mates with the protrusion structure.

9. The cleaning module of claim 8, wherein, The protruding structure is provided in multiple ways, and the multiple protruding structures are distributed along the circumference. The groove structure is provided in multiple ways, and the multiple groove structures are distributed along the circumference.

10. The cleaning module of claim 7, wherein, The outer contour of the plug-in part is a polygonal structure, and the mating part is provided with an insertion groove on the side facing the plug-in part. The insertion groove is a polygonal groove that is plugged into and mated with the plug-in part.

11. The cleaning module according to claim 9 or 10, characterized in that When the insertion part is inserted into the mating part, the outer side wall of the insertion part is attached to the inner side wall of the mating part.

12. The cleaning module of claim 1, wherein, The transmission component is an elastic component, and it is positioned in a pre-tightened state between the oscillating gear and the swing arm.

13. The cleaning module of claim 12, wherein, The swing gear is provided with a propulsion part, and the swing arm is provided with a push-receiving part that cooperates with the propulsion part. When the swing arm is in a non-moving state, or when the swing end of the swing arm switches from the outward swing position to the inward retraction position, the propulsion part and the push-receiving part abut against each other.

14. The cleaning module of claim 12, wherein, The swing gear is provided with a passive swing limit part, and the swing arm is provided with a passive swing abutment part that cooperates with the passive swing limit part. When the swing end of the swing arm is in the outward swing position or between the inward position and the outward swing position, there is a passive swing gap between the passive swing limit part and the passive swing abutment part. During the movement of the self-moving cleaning device, when the swing arm or the cleaning component is obstructed by an obstacle, the passive swing distance gradually decreases; when the swing arm or the cleaning component disengages from the obstacle, the passive swing distance gradually recovers to the distance before the swing arm or the cleaning component was obstructed by the obstacle under the elastic action of the transmission component.

15. The cleaning module of claim 12, wherein, The swing arm has a first receiving groove on the side facing the swing gear, and at least a portion of the transmission component is received in the first receiving groove.

16. The cleaning module of claim 12, wherein, The swing gear has a second receiving groove on the side facing the swing arm, and at least a portion of the transmission component is received in the second receiving groove.

17. The cleaning module of claim 12, wherein, The mounting bracket is provided with a first limiting part, and the swing gear is provided with a first blocking part and a second blocking part, with the first limiting part located between the first blocking part and the second blocking part; When the swing end switches from the inward position to the outward position, the first blocking part abuts against the first limiting part; when the swing end switches from the outward position to the inward position, the second blocking part abuts against the first limiting part.

18. The cleaning module of claim 1, wherein, The swing gear is provided with a first mating hole, and the first end of the transmission component passes through the first mating hole. The swing arm is provided with a second mating hole, and the second end of the transmission component passes through the second mating hole.

19. The cleaning module of claim 1, wherein, The cleaning module also includes a cover plate, at least a portion of the mounting bracket surrounds the outside of the swing gear, the cover plate is disposed on the side of the swing gear opposite to the swing arm, the cover plate is fixedly connected to the mounting bracket, and the swing gear is located in the space between the cover plate and the swing arm.

20. The cleaning module of claim 19, wherein, The cover plate has a clearance groove on the side facing the swing gear that is adapted to the movement trajectory of the first end of the transmission member.

21. The cleaning module of claim 19, wherein, The cover plate is provided with a second limiting part on the side facing the swing gear, and the swing gear is provided with a third blocking part on the side facing the cover plate; When the swing end switches from the inward position to the outward position, the third blocking part abuts against the second limiting part; during the process of the swing end switching from the outward position to the inward position, the third blocking part gradually moves away from the second limiting part.

22. The cleaning module of claim 1, wherein, The swing arm includes an external mounting bracket, the projection of the external mounting bracket in the height direction and the projection of the mounting bracket in the height direction at least partially overlap.

23. The cleaning module of claim 1, wherein, The first drive assembly includes a first drive motor and a first drive gear. The first drive motor is mounted on the mounting bracket, and the first drive gear is fixed on the drive end of the first drive motor. The first drive gear meshes with the oscillating gear.

24. The cleaning module of claim 4 or 5, wherein, The second drive assembly includes a second drive motor and a second drive gear. The second drive motor is mounted on the mounting bracket, and the second drive gear is fixed on the drive end of the second drive motor. The second drive gear meshes with the first gear or the second gear.

25. The cleaning module of claim 24, wherein, The transmission assembly further includes a transmission gear system, wherein when the second driving gear meshes with the first gear, the transmission gear system meshes with the second gear; and when the second driving gear meshes with the second gear, the transmission gear system meshes with the first gear.

26. A self-moving cleaning device, characterized by It includes a main body of equipment, which includes the cleaning module described in any one of claims 1-25.

27. The self-moving cleaning device of claim 26, wherein, When the swing end of the swing arm is in the retracted position, at least a portion of the edge of the cleaning component is located outside the edge of the device body; When the drive end of the swing arm is in the outward swing position, at least a portion of the edge of the cleaning component is flush with or protrudes from a first width region of the device body, the first width region being the maximum width region of the self-moving cleaning device perpendicular to the forward direction.

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