Cleaning module, cleaning device, and cleaning system

Abstract

A cleaning module, a cleaning device, and a cleaning system. The cleaning module comprises: a cleaning bracket having, in an axial direction, a first mating portion and a second mating portion arranged opposite each other; and a cleaning member disposed at a first end of the cleaning bracket. The cleaning member is provided with an avoidance through hole corresponding in position to the first mating portion. The first mating portion is configured to be detachably connected to a first output portion of a drive assembly of a cleaning base station via the avoidance through hole, and the second mating portion is configured to be detachably connected to a body of the cleaning device.

Description

Cleaning modules, cleaning equipment and cleaning systems Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510096818.6 filed on January 21, 2025, and Chinese patent application No. 202520144492.5 filed on January 21, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning technology, and in particular to a cleaning module, cleaning equipment and cleaning system. Background Technology

[0003] In related technologies, robotic vacuum cleaners are used to clean the ground, and they can mop the ground through a mop structure; the mop structure of robotic vacuum cleaners needs to be cleaned frequently. Summary of the Invention

[0004] In view of this, the present disclosure aims to provide a cleaning module, cleaning equipment, and cleaning system.

[0005] To achieve the above objectives, the technical solution disclosed herein is implemented as follows:

[0006] This disclosure provides a cleaning module, including:

[0007] A cleaning bracket has a first mating part and a second mating part arranged opposite to each other in the axial direction;

[0008] A cleaning component is disposed at the first end of the cleaning bracket; the cleaning component has a clearance through hole corresponding to the position of the first mating part.

[0009] The first mating part is used to be detachably connected to the first output part of the drive assembly of the cleaning base station through the clearance through hole; the second mating part is used to be detachably connected to the body of the cleaning equipment.

[0010] In some alternative implementations, the first mating part includes a first connecting structure, which is detachably connected to the first defining structure of the first output part and fixedly disposed with the first defining structure in the rotation direction.

[0011] In some optional implementations, the first connection structure includes:

[0012] A first concave-convex structure is radially disposed at the first end of the cleaning bracket; the first concave-convex structure is used to cooperate with the first convex-concave structure of the first output part.

[0013] In some alternative implementations, the third protrusion of the first concave-convex structure includes:

[0014] The second mating top surface is inclined along the axis of the first mating part to the periphery of the first mating part and away from the second mating part.

[0015] Two second mating sides are located on opposite sides of the second mating top surface in the circumferential direction; the distance between the two second mating sides gradually increases in the direction from the top end of the third protrusion to the bottom end of the third protrusion.

[0016] In some alternative implementations, the second mating side surface and the second mating top surface are connected by an arc surface.

[0017] In some alternative implementations, the second mating top surface is a plane; or, the second mating top surface is an arc surface.

[0018] In some optional implementations, the first connection structure further includes:

[0019] The second concave-convex structure is disposed on the outer periphery of the first mating part and corresponds to the position of the first concave-convex structure; the third convex part of the first concave-convex structure extends to the fourth convex part of the second concave-convex structure, and the second concave-convex structure is used to mate with the second convex-concave structure of the first output part.

[0020] In some alternative implementations, the first concave-convex structure includes:

[0021] The second guide bottom surface is located at the first end of the cleaning bracket; the second guide bottom surface is inclined away from the second mating part along the axis of the first mating part to the circumferential direction of the first mating part.

[0022] In some alternative implementations, the first mating part has a second mounting groove at the axis, and the first concave-convex structure is disposed on the outer periphery of the second mounting groove;

[0023] The cleaning module also includes:

[0024] The second connector is disposed in the second mounting slot;

[0025] The second connector is used to connect with the first connector of the clean base station via magnetic attraction.

[0026] In some optional implementations, the first connection structure includes:

[0027] The second connector is disposed on the first mating part; the second connector is used to connect with the first connector of the first output part by magnetic attraction, and the first output part is used to fix the cleaning module in the rotation direction position by magnetic attraction.

[0028] In some alternative implementations,

[0029] The first mating part is used to connect with the first output part of the cleaning base station by magnetic attraction, and the first output part is used to fix the cleaning module in the rotation direction position by magnetic attraction.

[0030] Some alternative implementations also include:

[0031] A third connector is disposed at the second mating part; the third connector is used to be detachably connected to a fourth connector of the body of the cleaning equipment.

[0032] In some alternative implementations, the third connector is used to connect with the fourth connector via magnetic attraction.

[0033] In some alternative implementations, the first mating portion is a recessed structure; and / or, the second mating portion is a protruding structure.

[0034] In some alternative implementations, the second mating part is used to drive the cleaning bracket to rotate;

[0035] During the rotation of the cleaning bracket driven by the second mating part, the cleaning component is used to contact the bearing surface to clean the bearing surface.

[0036] This disclosure also provides a cleaning device, including: a body and the cleaning module described in this disclosure, wherein a second mating part of the cleaning module is detachably connected to the body.

[0037] In some alternative implementations, the cleaning module includes:

[0038] The third connector is disposed at the second mating part;

[0039] The fuselage has a fourth connector, and the third connector is used to be detachably connected to the fourth connector.

[0040] Some alternative implementations also include:

[0041] A lifting device is installed on the machine body to drive the cleaning module to move;

[0042] The fourth connector is disposed on the lifting device.

[0043] Some alternative implementations also include:

[0044] A separation structure is provided on the lifting device; the separation structure is used to separate the cleaning module and the lifting device; or...

[0045] The fourth connector is an electromagnetic structure, which allows the fourth connector and the third connector to be in a connected or disconnected state.

[0046] In some alternative implementations, the lifting device further includes:

[0047] A lifting assembly is disposed on the body and defines a limiting hole; a fourth connecting member is disposed on the lifting assembly and located at the bottom of the limiting hole; a second mating part is used to be detachably inserted into the limiting hole;

[0048] A second motor is installed in the machine body;

[0049] A second transmission component is disposed on the machine body; the second motor is used to drive the lifting component to move through the second transmission component.

[0050] In some optional implementations, the cross-section of the limiting hole is non-circular;

[0051] The lifting device also includes:

[0052] The housing is rotatably mounted on the body;

[0053] The lifting assembly is disposed in the housing;

[0054] The second motor is disposed in the housing;

[0055] The second transmission component is disposed in the housing;

[0056] A third motor is used to drive the housing to rotate relative to the body about the axis of the limiting hole;

[0057] When the second mating part is separated from the limiting hole, the third motor is used to drive the housing to rotate so that the limiting hole and the second mating part correspond in the circumferential position.

[0058] In some alternative implementations, the magnetic attraction force of the second mating part detachably connected to the body is greater than the magnetic attraction force of the first mating part detachably connected to the first output part.

[0059] This disclosure also provides a cleaning system, including a cleaning base station and the cleaning device described in this disclosure, wherein the cleaning base station includes a driving component;

[0060] In the cleaning state, the cleaning module is separated from the body and is detachably connected to the first output of the drive assembly, which is used to drive the cleaning module to rotate. Attached Figure Description

[0061] Figure 1 is a schematic diagram of an optional structure of the cleaning system in an embodiment of this disclosure;

[0062] Figure 2 is a schematic diagram of an optional structure of the cleaning device in an embodiment of this disclosure, wherein the cleaning module is in a raised position;

[0063] Figure 3 is a schematic diagram of an optional structure of the cleaning device in an embodiment of this disclosure, wherein the cleaning module is in the cleaning position;

[0064] Figure 4 is a schematic diagram of an optional structure of a clean base station in an embodiment of this disclosure;

[0065] Figure 5 is a partial structural schematic diagram of Figure 4;

[0066] Figure 6 is a schematic diagram of an optional structure of the first output section in an embodiment of this disclosure;

[0067] Figure 7 is a cross-sectional view of Figure 4;

[0068] Figure 8 is a partial view of Figure 7;

[0069] Figure 9 is a partial view of Figure 7;

[0070] Figure 10 is a schematic diagram of an optional partial structure of a clean base station in an embodiment of this disclosure;

[0071] Figure 11 is a schematic diagram of an optional partial structure of a clean base station in an embodiment of this disclosure;

[0072] Figure 12 is a schematic diagram of an optional structure of the cleaning assembly in an embodiment of this disclosure;

[0073] Figure 13 is an exploded view of an optional structure of the cleaning assembly in an embodiment of this disclosure;

[0074] Figure 14 is an optional structural cross-sectional view of the cleaning module in an embodiment of this disclosure;

[0075] Figure 15 is a schematic diagram of an optional structure of the cleaning module in an embodiment of this disclosure;

[0076] Figure 16 is a schematic diagram of an optional partial structure of the cleaning module in an embodiment of this disclosure;

[0077] Figure 17 is a schematic diagram of an optional partial structure of the cleaning device in an embodiment of this disclosure;

[0078] Figure 18 is a cross-sectional view of Figure 17.

[0079] Reference numerals: 10, Cleaning base station; 100, Body assembly; 101, First space; 110, Fixed shaft; 120, Connecting frame; 200, Cleaning assembly; 210, Cleaning disc; 211, First connecting through hole; 212, First cylindrical part; 213, Cleaning space; 220, Cleaning component; 221, Stepped cylindrical part; 222, Cleaning section; 230, Cleaning bracket; 231, First mounting hole; 240, Bearing; 250, Shielding component; 251, First through hole; 300, Drive assembly; 3 10. First output section; 311. First mounting groove; 320. First limiting structure; 321. First convex-concave structure; 3211. First protrusion; 3212. First mating top surface; 3213. First mating side surface; 322. Second convex-concave structure; 3221. Second protrusion; 330. First guide bottom surface; 351. First connector; 360. First output shaft; 370. First motor; 380. First transmission assembly; 381. Second transmission component; 382. Third transmission component; 390. 40. Output section; 40. Cleaning equipment; 400. Body; 500. Cleaning module; 510. Cleaning bracket; 520. First mating part; 530. Second mating part; 540. Cleaning component; 541. Clearance through hole; 550. First connecting structure; 551. First concave-convex structure; 5511. Third protrusion; 5512. Second mating top surface; 5513. Second mating side surface; 552. Second concave-convex structure; 5521. Fourth protrusion; 560. Second guide bottom surface; 570. Second mounting groove 581. Second connecting member; 582. Third connecting member; 600. Lifting device; 610. Second motor; 620. Second transmission assembly; 621. Output gear; 6211. Second slide groove; 630. Lifting assembly; 631. First lifting cylinder; 632. Second lifting cylinder; 633. Damping element; 634. Elastic element; 640. Housing; 641. First slide groove; 650. Separation structure; 660. Fourth connecting member; 710. Driving wheel; 720. Driven wheel; 730. Bearing surface. Detailed Implementation

[0080] The technical solution of this disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0081] In the embodiments described in this disclosure, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can refer to an electrical connection, or the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0082] It should be noted that the terms "first," "second," and "third" used in the embodiments of this disclosure are merely used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first," "second," and "third" can be interchanged in a specific order or sequence where permitted. It should be understood that the objects distinguished by "first," "second," and "third" can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein.

[0083] The cleaning base station, cleaning module, cleaning equipment and cleaning system described in the embodiments of this disclosure are described in detail below with reference to Figures 1 to 18.

[0084] In related technologies, robotic vacuum cleaners are used to clean floors, and they mop the floor using a mop structure. This mop structure requires frequent cleaning. Typically, the robotic vacuum cleaner works in conjunction with a cleaning station to clean the mop structure. As an example, the cleaning station provides a cleaning tank, and the robotic vacuum cleaner rotates the mop structure within the tank to clean it. Because the robotic vacuum cleaner needs to work with the cleaning station to clean the mop structure, the process is relatively complex.

[0085] As shown in Figure 1, this embodiment of the present disclosure provides a cleaning system, including a cleaning base station 10 and a cleaning device 40. The cleaning device 40 includes a body 400 and a cleaning module 500 detachably disposed on the body 400. The cleaning base station 10 includes a drive assembly 300.

[0086] In the cleaning state, the cleaning module 500 is separated from the body 400 and is detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10. The drive component 300 is used to drive the cleaning module 500 to rotate in order to clean the cleaning module 500.

[0087] Here, the cleaning base station 10 may have a cleaning space 213, and the drive component 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0088] Here, the cleaning module 500 can be cleaned by the cleaning base station 10 without the need for the cleaning equipment 40, which greatly simplifies the structure of the cleaning module 500.

[0089] In this embodiment, the structure of the cleaning device 40 is not limited. For example, the cleaning device 40 can be a robotic vacuum cleaner.

[0090] In this embodiment of the disclosure, in the cleaning state, at least a portion of the cleaning device 40 may be located in the first space 101 defined by the cleaning base station 10, as shown in FIG1. ​​Of course, in the cleaning state, the cleaning device 40 may also be located outside the cleaning base station 10. Here, the cleaning device 40 may be in a non-operating state, or it may be in an operating state; for example, the cleaning device 40 may be in a cleaning state.

[0091] In this embodiment of the present disclosure, as shown in Figures 2 and 3, the cleaning device 40 may further include a drive wheel 710 and a driven wheel 720 disposed at the bottom of the body 400. The drive wheel 710 is used to drive the body 400 to move, and the driven wheel 720 is used to support the body 400 together with the drive wheel 710. Of course, in other embodiments, the cleaning device 40 may only include the drive wheel 710, without including the driven wheel 720.

[0092] In this embodiment of the present disclosure, the cleaning device 40 may further include a cleaning device disposed at the bottom of the body 400, the cleaning device being used to clean the bearing surface 730.

[0093] The cleaning module 500 is vertically and flexibly mounted at the bottom of the body 400, and has a raised position and a cleaning position relative to the body 400. As shown in Figure 2, when the cleaning module 500 is in the raised position, the cleaning module 500 does not clean the bearing surface 730. As shown in Figure 3, when the cleaning module 500 is in the cleaning position, the cleaning module 500 can clean the bearing surface 730; here, the cleaning module 500 can rotate relative to the body 400 to contact the bearing surface 730 and clean it.

[0094] As shown in Figure 4, this embodiment of the present disclosure describes a cleaning base station 10, including a body component 100, a cleaning component 200, and a driving component 300. The cleaning component 200 is disposed on the body component 100 and defines a cleaning space 213; the driving component 300 is disposed on the body component 100; the first output portion 310 of the driving component 300 is located within the cleaning space 213; the first output portion 310 of the driving component 300 is detachably connected to the cleaning module 500 of the cleaning device 40 to drive the cleaning module 500 to rotate in the cleaning space 213; the cleaning of the cleaning module 500 can be completed by the cleaning base station 10 without the participation of the cleaning device 40, thereby greatly simplifying the structure of the cleaning module 500.

[0095] In this embodiment, the structure of the body component 100 is not limited. For example, the body component 100 may define a receiving space, in which the cleaning component 200 is disposed and defines a cleaning space 213; and in which the driving component 300 is disposed, so that the body component 100 can protect the cleaning component 200 and the driving component 300. Of course, in other embodiments, the cleaning component 200 may also be directly disposed on the top side of the body component 100, and a portion of the driving component 300 may also be disposed on the top side of the body component 100.

[0096] In this embodiment, the structure of the drive assembly 300 is not limited. For example, the drive assembly 300 may include a first motor 370, which may be fixed to the body assembly 100 by a snap-fit ​​structure, screw structure, or the like. The drive shaft of the first motor 370 may directly form the first output portion 310, or the first output portion 310 may be disposed on the drive shaft of the first motor 370. As another example, the drive assembly 300 may further include a first motor 370 and a first transmission assembly 380, with the first motor 370 connected to the first output portion 310 via the first transmission assembly 380.

[0097] As an example, as shown in Figures 4 and 5, the cleaning assembly 200 defines two cleaning spaces 213, and the body assembly 100 defines a first receiving space and a second receiving space for accommodating the cleaning assembly 200. The drive assembly 300 further includes a first motor 370 and a first transmission assembly 380. The first motor 370 is disposed in the second receiving space and is connected to two first outputs 310 via the first transmission assembly 380. The two first outputs 310 are located in the two cleaning spaces 213 respectively. By driving the two first outputs 310 to rotate simultaneously with one motor, it is possible to clean two cleaning modules 500 simultaneously with one motor.

[0098] Here, the second accommodating space and the first accommodating space are at least partially overlapped in the height direction, and the projection areas of the second accommodating space and the first accommodating space on the bearing surface 730 are staggered. That is to say, the second accommodating space and the first accommodating space can be located at the same level in the height direction, thereby reducing the setting size of the body component 100 in the height direction and realizing the thinning of the body component 100 in the area of ​​the cleaning component 200 and the driving component 300.

[0099] In some optional implementations of the embodiments of this disclosure, after the driving component 300 drives the cleaning module 500 to rotate forward for a set time, the driving component 300 is also used to drive the cleaning module 500 to rotate in the reverse direction; so that the driving component 300 can realize bidirectional rotation of the cleaning module 500, thereby improving the cleaning effect of the cleaning module 500.

[0100] There is no limitation on the time setting here. For example, the time can be 1 minute, 30 seconds, or 2 minutes.

[0101] In this embodiment, the structure of the first output portion 310 is not limited, as long as the first output portion 310 can be detachably connected to the cleaning module 500 of the cleaning device 40, and the drive assembly 300 can drive the cleaning module 500 to rotate through the first output portion 310. For example, the first output portion 310 is used to connect with the first mating portion 520 of the cleaning module 500 by magnetic attraction, and the first output portion 310 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction. Here, both the first output portion 310 and the first mating portion 520 can be magnetic structures, and the magnetism of the first output portion 310 and the first mating portion 520 can be opposite. Of course, only one of the first output portion 310 and the first mating portion 520 can be a magnetic structure, and the other can be an iron structure.

[0102] Example 1: The first output section 310 may include a first limiting structure 320; the first limiting structure 320 is detachably connected to the first connecting structure 550 of the cleaning module 500 and is fixedly disposed with the first connecting structure 550 in the rotation direction.

[0103] When the first limiting structure 320 is detachably connected to the first connecting structure 550 of the cleaning module 500, the first output section 310 can drive the cleaning module 500 to rotate through the connection between the first limiting structure 320 and the first connecting structure 550.

[0104] In Example 1, the form of the first qualifier structure 320 is not limited.

[0105] For example, as shown in FIG6, the first limiting structure 320 may include: a first convex-concave structure 321, which is radially disposed on the top side of the first output portion 310; the first convex-concave structure 321 is used to cooperate with the first concave-convex structure 551 of the cleaning module 500.

[0106] When the first convex-concave structure 321 cooperates with the first concave-convex structure 551 of the cleaning module 500, the first output part 310 and the cleaning module 500 are fixedly arranged in the rotation direction. The first output part 310 can drive the cleaning module 500 to rotate through the cooperation of the first convex-concave structure 321 and the first concave-convex structure 551, thereby realizing the cleaning of the cleaning module 500.

[0107] In this example, the specific shape of the first convex-concave structure 321 is not limited. For example, as shown in FIG6, the first protrusion 3211 of the first convex-concave structure 321 may include: a first mating top surface 3212 and two first mating side surfaces 3213. The first mating top surface 3212 is inclined towards the bottom side of the first output portion 310 along the axis of the first output portion 310 to the circumferential direction of the first output portion 310; the two first mating side surfaces 3213 are located on opposite sides of the first mating top surface 3212 in the circumferential direction; the distance between the two first mating side surfaces 3213 gradually increases in the direction from the top end of the first protrusion 3211 to the bottom end of the first protrusion 3211. Thus, the first mating top surface 3212 and the two first mating side surfaces 3213 can provide a guiding function for the mating of the first convex-concave structure 551 and the first convex-concave structure 321.

[0108] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output section 310, the first connecting structure 550 of the cleaning module 500 is located directly above the first output section 310. When the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-convex structure 321 based on the guiding effect provided by the first mating top surface 3212 and the two first mating side surfaces 3213 of the first convex-convex structure 321. Here, the protruding part of the first concave-convex structure 551 can automatically slide into the recessed area of ​​the first convex-convex structure 321 based on the guiding effect provided by the first mating top surface 3212 and the two first mating side surfaces 3213, thereby realizing the automatic cooperation and connection between the first concave-convex structure 551 and the first convex-convex structure 321.

[0109] In this example, the first mating side surface 3213 and the first mating top surface 3212 can be connected by an arc surface to allow the first concave-convex structure 551 and the first convex-concave structure 321 to automatically and smoothly engage. Of course, the first mating side surface 3213 and the first mating top surface 3212 can also be connected by an inclined surface.

[0110] In this example, the first mating top surface 3212 can be a flat surface for ease of processing. Here, during the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321, if the third protrusion 5511 of the first concave-convex structure 551 is in contact with the first mating top surface 3212 but cannot enter the recessed area of ​​the first convex-concave structure 321, after the first output part 310 of the drive assembly 300 starts to rotate, the first convex-concave structure 321 will rotate to a position offset from the first concave-convex structure 551. Based on the gravity of the cleaning module 500, the third protrusion 5511 of the first concave-convex structure 551 will enter the recessed area of ​​the first convex-concave structure 321, thereby achieving the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321. Of course, the first mating top surface 3212 can also be an arc surface. Here, the third protrusion 5511 of the first concave-convex structure 551 will directly enter the recessed area of ​​the first convex-concave structure 321 based on the guiding effect of the first mating top surface 3212.

[0111] In this example, the first convex-concave structure 321 may include a first guide bottom surface 330. The first guide bottom surface 330 is located on the top side of the first output portion 310; the first guide bottom surface 330 is inclined towards the bottom side of the first output portion 310 along the axis of the first output portion 310 to the circumferential direction of the first output portion 310, so that the first convex-concave structure 321 and the first concave-convex structure 551 can fit more tightly through the first guide bottom surface 330.

[0112] Here, the first guide bottom surface 330 is an inclined surface. The first convex and concave structure 321 is formed into a frustum-shaped structure through the first guide bottom surface 330, so that the axis of the first convex and concave structure 321 and the axis of the first concave and convex structure 551 are more aligned, and the first convex and concave structure 321 and the first concave and convex structure 551 are more closely connected.

[0113] Of course, in other examples, the first guide bottom surface 330 can also be a plane.

[0114] In this example, the first limiting structure 320 may further include: a second convex-concave structure 322, which is disposed on the outer periphery of the first output portion 310 and corresponds to the position of the first convex-concave structure 321; the first protrusion 3211 of the first convex-concave structure 321 extends to the second protrusion 3221 of the second convex-concave structure 322, and the second convex-concave structure 322 is used to cooperate with the second concave-convex structure 552 of the cleaning module 500.

[0115] When the first convex-concave structure 321 engages with the first concave-convex structure 551 of the cleaning module 500, the second convex-concave structure 322 engages with the second concave-convex structure 552. The first output part 310 and the cleaning module 500 are more reliably fixed in the rotation direction. The first output part 310 can more reliably drive the cleaning module 500 to rotate through the engagement of the first convex-concave structure 321 with the first concave-convex structure 551 and the engagement of the second convex-concave structure 322 with the second concave-convex structure 552, thereby achieving more reliable cleaning of the cleaning module 500.

[0116] Here, since the first protrusion 3211 of the first convex-concave structure 321 extends to the second protrusion 3221 of the second convex-concave structure 322, the second protrusion 3221 of the second convex-concave structure 322 will automatically enter the recessed area of ​​the second convex-concave structure 552 based on the guiding effect of the first convex-concave structure 321.

[0117] In this example, as shown in FIG6, a first mounting groove 311 may be formed on the top side of the first output part 310 at the axis, and a first convex-concave structure 321 is disposed on the outer periphery of the first mounting groove 311; the drive assembly 300 may further include: a first connector 351, the first connector 351 being disposed in the first mounting groove 311; the first connector 351 is used to provide a magnetic attraction force to the second connector 581 of the cleaning module 500 to move toward the side closer to the first connector 351, as shown in FIG7; the magnetic attraction force between the first connector 351 and the second connector 581 enables the first output part 310 and the first connecting structure 550 of the cleaning module 500 to be better aligned and connected, and also enables the axis of the first output part 310 and the axis of the first connecting structure 550 to be better aligned, thereby making the first convex-concave structure 321 and the first concave-convex structure 551 fit more tightly.

[0118] The first connector 351 can be disposed in the first mounting groove 311 by means of adhesive bonding, snap-fit, or other methods. The structure of the first connector 351 and the second connector 581 is not limited. For example, both the first connector 351 and the second connector 581 can be magnetic structures, and their magnetic properties can be opposite. Of course, only one of the first connector 351 and the second connector 581 can be a magnetic structure, while the other is an iron structure.

[0119] In this example, the first mating top surface 3212 and the two first mating side surfaces 3213 enable better alignment and connection between the first output section 310 and the first connection structure 550 of the cleaning module 500; the first guide bottom surface 330 also enables better alignment and connection between the first output section 310 and the first connection structure 550 of the cleaning module 500; the first connector 351 and the second connector 581 further enable better alignment and connection between the first output section 310 and the first connection structure 550 of the cleaning module 500. Here, the cleaning base station 10 can be configured with one of the above three sets of structures, any two of the above three sets of structures, or all three of the above three sets of structures.

[0120] In other examples, an alignment structure may not be provided between the first output section 310 and the first connection structure 550 of the cleaning module 500. As an example, the first defining structure 320 may include a first convex-concave structure 321. The cleaning device 40 is capable of detecting the relative circumferential positions of the first convex-concave structure 321 of the first output section 310 and the relative circumferential positions of the first convex-concave structure 551. Here, the cleaning device 40 drives the first convex-concave structure 551 to rotate relative to each other in the circumferential direction until the positions of the first convex-concave structure 551 and the first convex-concave structure 321 correspond in the circumferential direction, and then separates the cleaning module 500 from the body 400 so that the first convex-concave structure 551 and the first convex-concave structure 321 of the cleaning module 500 are precisely engaged and connected. Here, the cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 321 using a position sensor or an image detection component. The cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 551 using a position sensor or an image detection component. Here, the method by which the cleaning device 40 drives the first concave-convex structure 551 to rotate relative to each other in the circumferential direction until the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction is not limited. For example, the cleaning device 40 may also include a lifting device 600, which may be rotatably disposed on the body 400 of the cleaning device 40. The lifting device 600 is used to drive the cleaning module 500 to work. The cleaning device 40 may drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor so that the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction.

[0121] Of course, in other examples, the first qualifying structure 320 can also be other forms of structure.

[0122] For example, the first limiting structure 320 may include: a first connector 351 disposed on the first output portion 310; the first connector 351 is used to connect with the second connector 581 of the cleaning module 500 by magnetic attraction, and the first output portion 310 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction. Here, the first output portion 310 can drive the cleaning module 500 to rotate by the magnetic attraction between the first connector 351 and the second connector 581. Here, the first output portion 310 does not need to be provided with other limiting structures, thereby greatly simplifying the structure of the first output portion 310.

[0123] Here, the first connector 351 can be directly disposed on the axis of the top side of the first output portion 310. The first connector 351 can be exposed or not. Here, the first output portion 310 can include or not include the first annular inclined surface. When the first output portion 310 includes the first annular inclined surface, the first annular inclined surface can be located on the outer periphery of the first connector 351. The first annular inclined surface is used to mate with the second annular inclined surface of the first mating portion 520 of the cleaning module 500. By mates the first annular inclined surface with the second annular inclined surface of the first mating portion 520, the axis of the first mating portion 520 and the first output portion 310 are more aligned.

[0124] In some optional implementations of the embodiments of this disclosure, the first output unit 310 may include an electromagnetic structure to enable the first output unit 310 and the cleaning module 500 to be in a connected or disconnected state; thereby enabling the cleaning module 500 to be separated from the first output unit 310 and connected to the body 400. Here, when the first output unit 310 and the cleaning module 500 are in contact, under energized conditions, the first output unit 310 and the cleaning module 500 are connected due to magnetic attraction; under de-energized conditions, the first output unit 310 and the cleaning module 500 are disconnected due to the absence of magnetic attraction. In one application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output unit 310 is energized, and after the cleaning module 500 is cleaned, the electromagnetic structure of the first output unit 310 is de-energized so that the cleaning module 500 can be connected to the body 400 of the cleaning device 40.

[0125] In some optional implementations of the embodiments of this disclosure, the drive component 300 may include a first output shaft 360.

[0126] Here, the first output portion 310 can be a part of the first output shaft 360. By forming the first output portion 310, the structure of the drive assembly 300 can be greatly simplified. Of course, the first output portion 310 can also be disposed on the first output shaft 360 by means of snap-fit, plug-in, or adhesive bonding, thereby facilitating the processing and manufacturing of the drive assembly 300.

[0127] In this embodiment, the structure of the cleaning component 200 is not limited. For example, the cleaning component 200 can be detachably mounted on the main body component 100 by means of snap-fit ​​or plug-in, so that the cleaning component 200 can be removed from the cleaning base station 10 for thorough cleaning; the cleaning component 200 has a first connecting through hole 211; the first output part 310 is used to be detachably connected to the cleaning module 500 through the first connecting through hole 211. Of course, the cleaning component 200 can also be directly fixed to the main body component 100 by means of bonding, welding, etc., and cannot be detached.

[0128] In some optional implementations of the embodiments of this disclosure, the cleaning component 200 may include: a cleaning tray 210, which may be detachably disposed on the body component 100 and has a first connecting through hole 211; the cleaning tray 210 defines a cleaning space 213 so as to clean the cleaning module 500 through the cleaning tray 210.

[0129] In this implementation, the cleaning tray 210 can be detachably mounted on the main body component 100 by means of snap-fit ​​or plug-in connection, so that the cleaning tray 210 can be removed from the cleaning base station 10 for thorough cleaning. Of course, in other implementations, the cleaning tray 210 can also be directly fixed to the main body component 100 by means of bonding or welding and cannot be detached.

[0130] In this implementation, the cleaning tray 210 can be used to hold cleaning fluid. The cleaning module 500 performs cleaning by contacting the cleaning fluid. The form of the cleaning fluid is not limited. For example, the cleaning fluid may include at least one of water and a cleaning agent.

[0131] In this implementation, the cleaning assembly 200 may further include: a cleaning component 220, which is rotatably disposed within the cleaning space 213; the cleaning component 220 is used to clean the cleaning space 213; the second output part 390 of the drive assembly 300 is connected to the cleaning component 220 through the first connecting through hole 211 to drive the cleaning component 220 to rotate; the cleaning component 220 can automatically clean the cleaning space 213, thereby greatly improving the automatic cleaning capability of the cleaning assembly 200; at the same time, the drive assembly 300 can drive both the cleaning module 500 to rotate and the cleaning component 220 to rotate, which can greatly simplify the structure of the cleaning base station 10.

[0132] Of course, in other examples, the cleaning assembly 200 may also drive the cleaning component 220 to rotate in other ways. For example, the cleaning assembly 200 may drive the cleaning component 220 to rotate via another drive motor.

[0133] In this implementation, the second output part 390 of the drive component 300 is connected to the cleaning component 220 through the first connecting through hole 211, and the implementation method of driving the cleaning component 220 to rotate is not limited.

[0134] For example, the drive assembly 300 may include: a first output shaft 360 located at the first connecting through hole 211; a second output part 390 disposed on the first output shaft 360; and a first output part 310 disposed at the top end of the first output shaft 360; thereby driving the first output part 310 and the second output part 390 to rotate simultaneously through the first output shaft 360 of the drive assembly 300.

[0135] It should be noted that the top side and bottom side described in the embodiments of this disclosure refer to the side where the device is placed on the bearing surface 730. With the bearing surface 730 as a reference, the bottom side refers to the side closer to the bearing surface 730, and the top side refers to the side away from the bearing surface 730.

[0136] In this example, the second output part 390 and the first output part 310 can be directly fixed to the first output shaft 360 by means of adhesive bonding, snap-fitting, etc.

[0137] In this example, the second output unit 390 and the cleaning component 220 can be connected by snap-fit, plug-in, adhesive or other means.

[0138] Example 2, as shown in Figure 7, the cleaning disc 210 may have a first cylindrical portion 212 located within the cleaning space 213 on the periphery of the first connecting through hole 211; at least a portion of the second output portion 390 is located within the cavity of the first cylindrical portion 212, and the cleaning member 220 is sleeved outside the first cylindrical portion 212 and blocks the gap between the second output portion 390 and the first cylindrical portion 212, so that the cleaning fluid can be prevented from entering the first output shaft 360 through the first cylindrical portion 212, the second output portion 390 and the cleaning member 220.

[0139] In Example 2, the first cylindrical portion 212 prevents cleaning fluid from entering the first output shaft 360 from the first connection hole.

[0140] In Example 2, by fitting the cleaning component 220 outside the first cylindrical portion 212 and blocking the gap between the second output portion 390 and the first cylindrical portion 212, it is possible to prevent the cleaning fluid from entering the first output shaft 360 from the gap between the second output portion 390 and the first cylindrical portion 212 during the cleaning process of the cleaning module 500.

[0141] In Example 2, the shape of the second output section 390 is not limited. For example, the second output section 390 can be a cylindrical structure.

[0142] In Example 2, the shape of the cleaning component 220 is not limited. For example, the cleaning component 220 can be a cylindrical structure.

[0143] As an example, as shown in Figures 8, 9, and 10, the second output portion 390 can be a stepped cylindrical structure. The second output portion 390 is sleeved outside the first output shaft 360. The large end of the second output portion 390 is located inside the cavity of the first cylindrical portion 212, and the small end of the second output portion 390 is located outside the first cylindrical portion 212. At least a portion of the first output portion 310 is located on the side of the small end of the second output portion 390 away from the large end of the second output portion 390. The cleaning member 220 can include a stepped cylindrical portion 221 and a cleaning portion 222. The large end of the stepped cylindrical portion 221 is sleeved outside the first cylindrical portion 212, and the small end of the stepped cylindrical portion 221 is sleeved outside the small end of the second output portion 390. The cleaning portion 222 is strip-shaped and is located outside the large end of the stepped cylindrical portion 221. Thus, the stepped cylindrical portion 221 of the cleaning member 220 can prevent cleaning fluid from entering the first output shaft 360, and the cleaning portion 222 can clean the cleaning space 213.

[0144] In Example 2, as shown in Figure 10, the cleaning assembly 200 may further include: a cleaning bracket 230, which is disposed on the top side of the cleaning tray 210 and is used to contact the cleaning module 500; the cleaning bracket 230 has a first mounting hole 231 corresponding to the position of the first connecting through hole 211, and the small end of the stepped cylindrical portion 221 can be rotatably disposed at the first mounting hole 231.

[0145] Here, the cleaning bracket 230 may be provided with a channel for discharging cleaning fluid so that the cleaning module 500 can be coated with cleaning fluid when it comes into contact with the cleaning bracket 230. The cleaning bracket 230 may also be provided with cleaning protrusions so that the cleaning module 500 can be cleaned by contacting and rubbing against the cleaning protrusions.

[0146] Here, the small end of the stepped cylindrical portion 221 can be rotatably mounted at the first mounting hole 231 via the bearing 240.

[0147] When the cleaning member 220 has a cylindrical structure, it can also be rotatably mounted at the first mounting hole 231 via a bearing structure. Of course, in other examples, the cleaning member 220 can also be rotatably mounted on the first cylindrical portion 212 via a bearing structure.

[0148] In Example 2, as shown in Figures 9 and 10, the cleaning assembly 200 may further include: a shield 250, which provides a cleaning bracket 230; the shield 250 covers the top side of the gap between the cleaning bracket 230 and the small end of the second output portion 390; the shield 250 has a first through hole 251, through which at least a portion of the first output portion 310 is detachably connected to the cleaning module 500; the shield 250 further prevents cleaning fluid from entering the first output shaft 360.

[0149] Here, the shielding component 250 can be installed on the cleaning bracket 230 by means of plugging, snapping, or other methods.

[0150] In this example, the connection method between the second output portion 390 and the first output shaft is not limited. For example, the second output portion 390 is cylindrical and sleeved outside the first output shaft 360. As an example, the second output portion 390 can be directly disposed on the first output shaft by means of bonding, snap-fitting, etc. As another example, the cleaning base station 10 may further include: a first transmission member, which is disposed on the first output shaft and is connected to the second output portion 390. Here, the first transmission member and the second output portion 390 can be connected by a convex-concave structure or a gear structure. As yet another example, as shown in Figures 8 and 11, the cleaning base station 10 may further include: a second transmission member 381 and at least two third transmission members 382. The second transmission member 381 can be disposed on the first output shaft by means of bonding, snap-fitting, etc.; at least two third transmission members 382 are rotatably disposed on the body assembly 100; the third transmission members 382 are respectively connected to the second transmission member 381 and the second output portion 390 by means of a convex-concave structure, gear structure, etc. Here, at least two third transmission components 382 can be rotatably mounted on the main body assembly 100 via a rotating shaft structure.

[0151] In one application, the clean base station 10 may further include: a second transmission member 381, at least two fixed shafts 110, at least two third transmission members 382, ​​and a connecting frame 120. The second transmission member 381 is disposed on the first output shaft 360; the at least two fixed shafts 110 are circumferentially spaced outside the second transmission member 381, with the first end of each fixed shaft 110 fixed to the body assembly 100; the at least two third transmission members 382 are rotatably disposed on the at least two fixed shafts 110 respectively; the connecting frame 120 is connected to the second ends of the at least two fixed shafts 110 respectively; the second output portion 390 is cylindrical and sleeved outside the at least two third transmission members 382; the third transmission members 382 are respectively connected to the second transmission member 381 and the second output portion 390; the connecting frame 120 can improve the stability of the positions of the at least two fixed shafts 110. Of course, the clean base station 10 may also exclude the connecting frame 120.

[0152] Here, the rotation direction of the first output shaft 360 is opposite to that of the second output section 390, which can improve the cleaning ability of the cleaning component 220 to clean the cleaning space 213.

[0153] Here, the second transmission component 381 can be a sun gear, the third transmission component 382 can be a planet gear, and the connecting frame 120 can be a planet carrier.

[0154] In this implementation, as shown in Figure 12, the cleaning component 200 can be directly plugged in so that the cleaning component 200 can be completely removed from the cleaning base station 10 for thorough cleaning.

[0155] In this implementation, as shown in Figure 13, the cleaning bracket 230 can also be directly plugged in, so that the cleaning bracket 230 can be removed separately from the cleaning base station 10 for thorough cleaning. The cleaning component 220 can also be directly plugged in. After removing the cleaning bracket 230, the cleaning component 220 can also be removed separately from the cleaning tray 210 for thorough cleaning.

[0156] Of course, in other embodiments, the cleaning assembly 200 may not include the cleaning bracket 230.

[0157] As an example, the cleaning base station may also include a cleaning bracket 230 disposed on the top side of the cleaning space 213 and for contacting the cleaning module 500 so as to more thoroughly clean the cleaning module 500 by contacting the cleaning bracket 230 with the cleaning module 500.

[0158] Of course, in other examples, the cleaning module 500 can be cleaned by rotating in one or two directions in the cleaning space 213.

[0159] Here, the cleaning bracket 230 can be detachably or fixedly installed. The cleaning bracket 230 can be detachably installed on the main body assembly 100 via plug-in, snap-fit, or threaded connection. The cleaning bracket 230 can also be fixedly installed on the main body assembly 100 via adhesive or welding. When the cleaning bracket 230 is detachable, it facilitates removal for thorough cleaning.

[0160] Embodiment 2, as shown in Figure 14, also describes a cleaning module 500, including a cleaning bracket 510 and a cleaning component 540. The cleaning bracket 510 has a first mating portion 520 and a second mating portion 530 arranged opposite each other in the axial direction; the cleaning component 540 is disposed at the first end of the cleaning bracket 510; the cleaning component 540 has a clearance through hole 541 corresponding to the position of the first mating portion 520; the first mating portion 520 is used to be detachably connected to the first output portion 310 of the drive assembly 300 of the cleaning base station 10 through the clearance through hole 541; the second mating portion 530 is used to be detachably connected to the body 400 of the cleaning device 40.

[0161] In this embodiment, the cleaning module 500 can be detachably connected to the body 400 of the cleaning device 40 to clean the bearing surface 730, and can also be detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10 to clean the cleaning module 500. At the same time, the cleaning base station 10 can directly drive the cleaning module 500 to rotate and clean the cleaning module 500 through the first output 310 of the drive component 300 without the participation of the cleaning device 40, thereby greatly improving the adaptability of the cleaning module 500.

[0162] In this embodiment, the structure of the cleaning support 510 is not limited. For example, the cleaning support 510 can be a disc-shaped structure.

[0163] As an example, the cleaning bracket 510 has a first end and a second end disposed opposite to each other in the axial direction; the first end of the cleaning bracket 510 has a first mating portion 520, and the second end of the cleaning bracket 510 has a second mating portion 530.

[0164] In this embodiment, the structure of the cleaning member 540 is not limited. For example, the cleaning member 540 can be a fabric structure so that the cleaning member 540 cleans the bearing surface 730. As an example, the cleaning member 540 can be a mop.

[0165] Here, the cleaning component 540 can be attached to the first end of the cleaning bracket 510 by means of adhesive bonding, snap-fit, or other methods.

[0166] In this embodiment, the structure of the first mating part 520 is not limited, as long as the first mating part 520 can be detachably connected to the first output part 310 of the driving component 300. For example, the first mating part 520 is used to connect with the first output part 310 of the cleaning base station 10 by magnetic attraction, the first output part 310 is used to fix the cleaning module 500 in the rotation direction position by magnetic attraction, and the first output part 310 can directly drive the cleaning module 500 to rotate based on the magnetic attraction between the first mating part 520 and the first output part 310.

[0167] The shape of the first mating part 520 is not limited. For example, the first mating part 520 can be a recessed structure, and correspondingly, the first output part 310 can be a protruding structure. Or, for example, the first mating part 520 can be a protruding structure, and correspondingly, the first output part 310 can be a recessed structure.

[0168] In this embodiment, the second mating part 530 is used to drive the cleaning bracket 510 to rotate. During the rotation of the cleaning bracket 510 by the second mating part 530, the cleaning component 540 is used to contact the bearing surface to clean the bearing surface. During the contact between the cleaning component 540 and the bearing surface, there is friction between the cleaning component 540 and the bearing surface, and the cleaning component 540 cleans the bearing surface by rubbing against the bearing surface.

[0169] The structure of the second mating part 530 is not limited, as long as the second mating part 530 can be detachably connected to the body 400 of the cleaning device 40. For example, the cleaning device 40 may also include a lifting device 600 disposed on the body 400, which is used to drive the cleaning module 500 to clean the bearing surface 730. The second mating part 530 and the lifting device 600 can be connected by magnetic attraction. The lifting device 600 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction. The lifting device 600 can directly drive the cleaning module 500 to rotate based on magnetic attraction.

[0170] For example, the second mating part 530 can be a recessed structure, and correspondingly, the lifting device 600 of the body 400 can have a protruding structure. As another example, the second mating part 530 can be a protruding structure, and correspondingly, the lifting device 600 of the body 400 can have a recessed structure. As an example, as shown in Figures 14 and 15, the second mating part 530 can be a strip-shaped structure arranged along the axial direction of the cleaning module 500.

[0171] Example 3: The first mating part 520 may include a first connecting structure 550, which is used to be detachably connected to the first limiting structure 320 of the first output part 310 and is fixedly disposed with the first limiting structure 320 in the rotation direction.

[0172] In Example 3, the form of the first connection structure 550 is not limited.

[0173] For example, as shown in FIG16, the first connection structure 550 may include: a first concave-convex structure 551, which is radially disposed at the first end of the cleaning bracket 510; the first concave-convex structure 551 is used to cooperate with the first convex-concave structure 321 of the first output part 310.

[0174] In this example, the specific shape of the first concave-convex structure 551 is not limited. For example, as shown in FIG16, the third protrusion 5511 of the first concave-convex structure 551 includes: a second mating top surface 5512 and two second mating side surfaces 5513. The second mating top surface 5512 is inclined along the axis of the first mating portion 520 to the circumferential side of the first mating portion 520 away from the second mating portion 530; the two second mating side surfaces 5513 are located on opposite sides of the second mating top surface 5512 in the circumferential direction; the distance between the two second mating side surfaces 5513 gradually increases in the direction from the top end of the third protrusion 5511 to the bottom end of the third protrusion 5511. Thus, the second mating top surface 5512 and the two second mating side surfaces 5513 can provide a guiding function for the first concave-convex structure 551 to mate with the first convex-concave structure 321.

[0175] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output section 310, the first connecting structure 550 of the cleaning module 500 is located directly above the first output section 310. When the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513. Here, the protruding part of the first concave-convex structure 551 can automatically slide into the recessed area of ​​the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513, thereby realizing the automatic cooperation and connection between the first concave-convex structure 551 and the first convex-concave structure 321.

[0176] In this example, the second mating side surface 5513 and the second mating top surface 5512 can be connected by an arc surface to allow the first concave-convex structure 551 and the first convex-concave structure 321 to automatically and smoothly engage. Of course, the second mating side surface 5513 and the second mating top surface 5512 can also be connected by an inclined surface.

[0177] In this example, the second mating top surface 5512 can also be a plane to facilitate processing. Here, during the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321, if the second mating top surface 5512 of the first concave-convex structure 551 is in contact with the first mating top surface 3212 but cannot enter the recessed area of ​​the first convex-concave structure 321, after the first output part 310 of the drive component 300 starts to rotate, the first convex-concave structure 321 will rotate to be offset from the first concave-convex structure 551. Based on the gravity of the cleaning module 500, the third protrusion 5511 of the first concave-convex structure 551 will enter the recessed area of ​​the first convex-concave structure 321, thereby realizing the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321. Of course, the second mating top surface 5512 can also be an arc surface. Here, the third protrusion 5511 of the first concave-convex structure 551 will directly enter the recessed area of ​​the first convex-concave structure 321 based on the guiding effect of the second mating top surface 5512.

[0178] In this example, the first concave-convex structure 551 may include a second guide bottom surface 560, which is located at the first end of the cleaning bracket 510. The second guide bottom surface 560 is inclined away from the second mating part 530 along the axis of the first mating part 520 to the circumferential direction of the first mating part 520, so that the first concave-convex structure 321 and the first concave-convex structure 551 can fit more tightly through the second guide bottom surface 560.

[0179] Here, the second guide bottom surface 560 is an inclined surface. The second guide bottom surface 560 makes the first concave-convex structure 551 form a space similar to a frustum, so that the axis of the first convex-concave structure 321 and the axis of the first concave-convex structure 551 are more aligned, and the first convex-concave structure 321 and the first concave-convex structure 551 are more closely connected.

[0180] Of course, the second guide bottom surface 560 can also be a plane.

[0181] In this example, the first connection structure 550 may further include: a second concave-convex structure 552, which is disposed on the outer periphery of the first mating part 520 and corresponds to the position of the first concave-convex structure 551; the third protrusion 5511 of the first concave-convex structure 551 extends to the fourth protrusion 5521 of the second concave-convex structure 552, and the second concave-convex structure 552 is used to mate with the second convex-concave structure 322 of the first output part 310.

[0182] Here, since the third protrusion 5511 of the first concave-convex structure 551 extends to the fourth protrusion 5521 of the second concave-convex structure 552, the fourth protrusion 5521 of the second concave-convex structure 552 will automatically enter the recessed area of ​​the second concave-convex structure 322 based on the guiding effect of the first concave-convex structure 551.

[0183] In this example, the first mating part 520 may have a second mounting groove 570 at the axis, and the first concave-convex structure 551 is disposed on the outer periphery of the second mounting groove 570; the cleaning module 500 may further include: a second connector 581, the second connector 581 being disposed in the second mounting groove 570; the second connector 581 is used to connect with the first connector 351 of the cleaning base station 10 by magnetic attraction, as shown in Figures 7 and 9. The magnetic attraction between the first connector 351 and the second connector 581 enables the first output part 310 and the first connecting structure 550 of the cleaning module 500 to be better aligned and connected, and also enables the axis of the first output part 310 and the axis of the first connecting structure 550 to be better aligned, thereby making the first concave-convex structure 321 and the first concave-convex structure 551 fit more tightly.

[0184] The second connector 581 can be installed in the second mounting slot 570 by means of adhesive bonding, snap-fitting, or other methods.

[0185] In this example, the second mating top surface 5512 and the two second mating side surfaces 5513 enable better alignment and connection between the first output section 310 and the first connecting structure 550 of the cleaning module 500; the second guide bottom surface 560 also enables better alignment and connection between the first output section 310 and the first connecting structure 550 of the cleaning module 500; the first connector 351 and the second connector 581 further enable better alignment and connection between the first output section 310 and the first connecting structure 550 of the cleaning module 500. Here, the cleaning module 500 can be configured with one of the above three sets of structures, any two of the above three sets of structures, or all three of the above three sets of structures.

[0186] In other examples, an alignment structure may not be provided between the first output section 310 and the first connection structure 550 of the cleaning module 500. As an example, the first defining structure 320 may include a first convex-concave structure 321. The cleaning device 40 is capable of detecting the relative circumferential positions of the first convex-concave structure 321 of the first output section 310 and the relative circumferential positions of the first convex-concave structure 551. Here, the cleaning device 40 drives the first convex-concave structure 551 to rotate relative to each other in the circumferential direction until the positions of the first convex-concave structure 551 and the first convex-concave structure 321 correspond in the circumferential direction, and then separates the cleaning module 500 from the body 400 so that the first convex-concave structure 551 and the first convex-concave structure 321 of the cleaning module 500 are precisely engaged and connected. Here, the cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 321 using a position sensor or an image detection component. The cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 551 using a position sensor or an image detection component. Here, the method by which the cleaning device 40 drives the first concave-convex structure 551 to rotate relative to each other in the circumferential direction until the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction is not limited. For example, the cleaning device 40 may also include a lifting device 600, which may be rotatably disposed on the body 400 of the cleaning device 40. The lifting device 600 is used to drive the cleaning module 500 to work. The cleaning device 40 may drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor so that the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction.

[0187] Of course, in other examples, the first connection structure 550 can also be other forms of structure.

[0188] For example, the first connection structure 550 may include a second connector 581 disposed on the first mating part 520; the second connector 581 is used to connect with the first connector 351 of the first output part 310 by magnetic attraction, and the first output part 310 is used to fix the cleaning module 500 in a rotational position by magnetic attraction. Here, the first output part 310 can drive the cleaning module 500 to rotate by the magnetic attraction between the first connector 351 and the second connector 581. Here, the first mating part 520 does not need to be provided with other limiting structures, thereby greatly simplifying the structure of the first mating part 520.

[0189] Here, the second connector 581 can be directly disposed at the axis of the first mating part 520. The second connector 581 may or may not be exposed. Here, the first mating part 520 may or may not include the second annular inclined surface. When the first mating part 520 includes the second annular inclined surface, the second annular inclined surface may be located on the outer periphery of the second connector 581, so that the first annular inclined surface of the first output part 310 engages with the second annular inclined surface of the first mating part 520, thereby making the axes of the first mating part 520 and the first output part 310 more aligned.

[0190] In some optional implementations of the embodiments of this disclosure, the cleaning module 500 may further include: a third connector 582, the third connector 582 being disposed on the second mating part 530; the third connector 582 being used to be detachably connected to the fourth connector 660 of the body 400 of the cleaning device 40.

[0191] Of course, in other implementations, the second mating part 530 can also be detachably connected to the body 400 of the cleaning equipment 40 by means of snap-fit, magnetic attraction, or other methods.

[0192] In this implementation, the third connector 582 can be disposed on the second mating part 530 by means of snap-fit, adhesive or other methods.

[0193] In this implementation, the method by which the third connector 582 and the fourth connector 660 are detachably connected is not limited. For example, the third connector 582 and the fourth connector 660 can be detachably connected by a snap-fit ​​mechanism. Another example is that the third connector 582 is used to connect with the fourth connector 660 via magnetic attraction; here, both the third connector 582 and the fourth connector 660 can be magnetic structures, and their magnetic properties can be opposite. Of course, only one of the third connector 582 and the fourth connector 660 can be a magnetic structure, while the other is an iron structure.

[0194] The cleaning module disclosed herein has a first mating part that is detachably connected to the first output part of the drive component of the cleaning base station through a clearance through hole. The cleaning base station can directly drive the cleaning module to rotate and clean the cleaning module through the first output part of the drive component without the need for the participation of cleaning equipment, thereby greatly improving the adaptability of the cleaning module.

[0195] This disclosure also describes a cleaning device 40, which includes a body 400 and a cleaning module 500 of this disclosure, wherein a second mating part 530 of the cleaning module 500 is detachably connected to the body 400.

[0196] In the embodiments disclosed herein, the implementation of the detachable connection between the second mating part 530 and the body 400 has been described above, and will not be repeated here. As an example, the cleaning module 500 may include: a third connector 582 disposed on the second mating part 530; the body 400 has a fourth connector 660, and the third connector 582 is used for detachable connection with the fourth connector 660.

[0197] In some optional implementations of the embodiments of this disclosure, the cleaning device 40 may further include: a lifting device 600 disposed on the body 400 to drive the cleaning module 500 to move; and a fourth connector 660 disposed on the lifting device 600.

[0198] In this implementation, the fourth connector 660 can be attached to the lifting device 600 by means of snap-fit, adhesive or other methods.

[0199] In this implementation, the lifting device 600 can be fixed to the machine body 400 via a threaded structure or a snap-fit ​​structure. Alternatively, the lifting device 600 can be movably mounted on the machine body 400. As an example, the lifting device 600 can be rotatably mounted on the machine body 400.

[0200] In this implementation, the structure of the lifting device 600 is not limited. The lifting device 600 is similar to the structure of the mop lifting mechanism in related technologies, and will not be described in detail here. The lifting device 600 can drive the cleaning module 500 to move relative to the body 400 to the raised position and the cleaning position, and can also drive the cleaning module 500 to rotate.

[0201] For example, as shown in Figures 17 and 18, the lifting device 600 may include: a lifting assembly 630, a second motor 610, and a second transmission assembly 620. The lifting assembly 630 is disposed on the body 400 and defines a limiting hole; a fourth connector 660 is disposed on the lifting assembly 630 and located at the bottom of the limiting hole; a second mating part 530 is used to be detachably inserted into the limiting hole; the second motor 610 may be disposed on the body 400; the second transmission assembly 620 may be disposed on the body 400; the second motor 610 is used to drive the lifting assembly 630 to move through the second transmission assembly 620.

[0202] In this example, the structure of the second transmission component 620 is not limited. For example, the second transmission component 620 may include at least one gear, and the second motor 610 is used to drive the gear of the second transmission component 620 to rotate. The gear is used to drive the lifting component 630 to move, so as to drive the cleaning module 500 to work.

[0203] In this example, the second motor 610 can be fixed to the machine body 400 by snap-fit, threaded structure, etc., and the lifting assembly 630 can be vertically mounted on the machine body 400. The second transmission assembly 620 can be movably mounted on the machine body 400.

[0204] In this example, the structure of the lifting assembly 630 is not limited. For example, as shown in FIG18, the lifting device 600 may also include a housing 640; the second transmission assembly 620 may include an output gear 621, and the lifting assembly 630 may include a first lifting cylinder 631, a second lifting cylinder 632, a damping element 633, and an elastic element 634. The housing 640 has a through first groove 641 along a first direction. The first lifting cylinder 631 is movably disposed in the first groove 641. The damping element 633 and the elastic element 634 are also disposed in the first groove 641. The elastic element 634 is disposed in the housing 640, and the damping element 633 is sandwiched between the elastic element 634 and the flange of the first lifting cylinder 631 to provide friction to the first lifting cylinder 631. Here, the elastic element 634 is located on the side of the flange of the first lifting cylinder 631 facing the bottom surface of the body 400. The drive shaft of the second motor 610 is used to drive the output gear 621 to rotate. The output gear 621 has a second slide groove 6211 along the first direction. The second slide groove 6211 is coaxially arranged with the first lifting cylinder 631. The second slide groove 6211 is located on the bottom surface of the first slide groove 641 away from the body 400. The second lifting cylinder 632 can be flexibly inserted into the second slide groove 6211 and the cavity of the first lifting cylinder 631. The second lifting cylinder 632 and the first lifting cylinder 631 are engaged by a helical structure. The second motor 610 is used to drive the output gear 621 to drive the second lifting cylinder 632 to rotate. Since the second lifting cylinder 632 and the first lifting cylinder 631 are engaged by a helical structure and there is friction between the first lifting cylinder 631 and the damping member 633, there is a speed difference between the second lifting cylinder 632 and the first lifting cylinder 631. The second lifting cylinder 632 can both rotate and move axially along the second slide groove 6211. A fourth connecting member 660 is disposed on the second lifting cylinder 632, thereby enabling the drive cleaning module 500 to switch between the lifting position and the cleaning position. When the second lifting cylinder 632 rotates to the cleaning position, the second lifting cylinder 632 and the first lifting cylinder 631 can be prevented from rotating relative to the first lifting cylinder 631 by means of the end of the spiral structure or the limiting part disposed on the first lifting cylinder 631. Here, the second lifting cylinder 632 no longer descends, and the second lifting cylinder 632 can drive the cleaning module 500 to rotate in the cleaning position to clean the bearing surface 730. Here, the second motor 610 can be fixed to the housing 640 by means of a snap-fit ​​structure, a threaded structure, etc., and the second transmission component 620 can be rotatably disposed on the housing 640 by means of a rotating shaft assembly structure. Of course, the lifting device 600 may also not include the housing 640. Here, the second motor 610, the second transmission component 620, and the lifting component 630 can be directly disposed on the body 400, and the body 400 has a through first slide groove 641 along the first direction. Here, the first direction is not limited. For example, the first direction can be the height direction of the fuselage 400. Or, for example, the first direction can be the direction perpendicular to the bottom surface of the fuselage 400.

[0205] In this example, the cross-section of the limiting hole can be non-circular so that the second mating part 530 can be limited in the direction of rotation, allowing the lifting assembly 630 to drive the cleaning module 500 to rotate more stably. Of course, the cross-section of the limiting hole can also be circular, in which case the lifting assembly 630 can drive the cleaning module 500 to rotate based on the connection force between the third connector 582 and the fourth connector 660.

[0206] As an example, the cross-section of the limiting hole is non-circular. The lifting device 600 may also include: a housing 640 and a third motor. The housing 640 is rotatably disposed on the body 400; a lifting assembly 630 is disposed on the housing 640; a second motor 610 is disposed on the housing 640; a second transmission assembly 620 is disposed on the housing 640; the third motor is used to drive the housing 640 to rotate relative to the body 400 about the axis of the limiting hole; when the second mating part 530 is separated from the limiting hole, the third motor is used to drive the housing 640 to rotate so that the limiting hole and the second mating part 530 correspond in the circumferential position. Here, the second motor 610 may also be used to drive the lifting assembly 630 to descend so as to realize the automatic connection of the third connector 582 and the fourth connector 660.

[0207] Here, the axis of the cleaning module 500, the axis of the first connecting structure 550, and the axis of the limiting hole can be the same. The third motor is also used to drive the lifting device 600 to rotate about the axis of the first connecting structure 550.

[0208] Of course, in other examples, the cleaning module 500 can also be installed on the body 400 manually, that is, the second mating part 530 and the limiting hole can also be manually aligned by the user.

[0209] The lifting assembly 630, the second motor 610, and the second transmission assembly 620 have already been described above, and will not be repeated here.

[0210] Here, the manner in which the housing 640 is rotatably disposed on the body 400 is not limited. For example, the body 400 defines a first mounting space, which is coaxially arranged with a limiting hole. A portion of the housing 640 can be rotatably disposed within the first mounting space, and the third motor can drive the housing 640 to rotate relative to the first mounting space via a third transmission assembly. Here, the outer side of the housing 640 may have a gear portion that meshes with the gear structure of the third transmission assembly.

[0211] In this implementation, the cleaning device 40 may further include: a separation structure 650, which is disposed on the lifting device 600; the separation structure 650 is used to separate the cleaning module 500 from the lifting device 600, thereby enabling the cleaning module 500 to automatically separate from the body 400.

[0212] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output unit 310, the first mating part 520 of the cleaning module 500 is located directly above the first output unit 310. By automatically separating the cleaning module 500 from the body 400, the first mating part 520 and the first output unit 310 can automatically engage and connect, thereby realizing the automatic cleaning of the cleaning module 500.

[0213] Here, the implementation method for the cleaning device 40 to travel to the position corresponding to the cleaning module 500 and the first output unit 310 is not limited. For example, the cleaning device 40 can travel to the target position based on the navigation structure provided on the body 400, where the first mating part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 correspond to each other. Alternatively, the cleaning device 40 can detect the position of the first output unit 310 based on the detection component provided on the body 400, and travel to the position corresponding to the first mating part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 based on the detection component's position of the first output unit 310.

[0214] In this implementation, the form of the separation structure 650 is not limited. As long as the separation structure 650 can separate the cleaning module 500 and the lifting device 600, it is acceptable.

[0215] For example, as shown in Figure 18, the separation structure 650 can be disposed on the housing 640. Of course, the separation structure 650 can also be disposed on the body 400. When the second motor 610 drives the lifting assembly 630 to rise to the raised position, the second motor 610 can continue to drive the lifting assembly 630 to rise. Here, the separation structure 650 can contact the cleaning bracket 510 of the cleaning module 500 so that the cleaning module 500 can no longer rise with the lifting assembly 630, thereby forcing the cleaning module 500 to automatically separate from the body 400.

[0216] Here, the separation structure 650 can be a cylindrical structure. Of course, the separation structure 650 can also be at least two block-shaped structures arranged along the periphery of the housing 640.

[0217] In other examples, the separation structure 650 can also be slidably disposed outside the lifting device 600. The separation structure 650 can be driven by a telescopic hydraulic cylinder or a telescopic pneumatic cylinder to slide relative to the lifting device 600, so as to contact the cleaning bracket 510 of the cleaning module 500 and force the cleaning module 500 to automatically separate from the body 400. Of course, the separation structure 650 can also be driven by a fourth motor. Here, the fourth motor can drive the turbine to rotate, and the separation structure 650 can be provided with a rack that meshes with the turbine.

[0218] Of course, the cleaning device 40 may not have a separation structure 650. For example, the fourth connector 660 can be an electromagnetic structure, allowing the fourth connector 660 and the third connector 582 to be in a connected or separated state. When the fourth connector 660 is energized, it becomes magnetic, and the fourth connector 660 and the third connector 582 can be connected by magnetic force. When the fourth connector 660 is de-energized, it becomes non-magnetic, and there is no magnetic force between the fourth connector 660 and the third connector 582. In this case, the cleaning module 500 can automatically separate from the body 400 based on gravity.

[0219] In some optional implementations of the embodiments of this disclosure, the magnetic attraction force of the second mating part 530 which is detachably connected to the body 400 is greater than the magnetic attraction force of the first mating part 520 which is detachably connected to the first output part 310, so that after the cleaning module 500 has finished cleaning, the cleaning module 500 is separated from the first output part 310 and automatically connected to the body 400.

[0220] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 aligns with the first output unit 310, the first mating part 520 of the cleaning module 500 is located directly above the first output unit 310. When the cleaning module 500 separates from the body 400 of the cleaning device 40, the first mating part 520 and the first output unit 310 automatically engage and connect. The first output unit 310 drives the cleaning module 500 to clean in the cleaning space 213. Here, the cleaning device 40 can be located inside the cleaning base station 10, or it can be located in... Outside the cleaning base station 10, for example, the cleaning equipment 40 is located outside the cleaning base station 10 to clean the bearing surface 730; after the cleaning module 500 has finished cleaning, the cleaning equipment 40 can travel again to the position corresponding to the cleaning module 500 and the first output part 310. The second motor 610 is used to drive the lifting component 630 to descend until the second mating part 530 contacts the lifting component 630, so that the lifting component 630 is connected to the cleaning module 500. It is also used to drive the lifting component 630 to rise to the raised position so that the first mating part 520 is separated from the first output part 310.

[0221] Of course, in other implementations, the cleaning module 500 can also be separated from the first output unit 310 and connected to the body 400 in other ways.

[0222] For example, the first output portion 310 may include an electromagnetic structure to allow the first output portion 310 and the first mating portion 520 to be in a connected or disconnected state; thereby enabling the first mating portion 520 to separate from the first output portion 310 and connect to the body 400. Here, the first output portion 310 and the first mating portion 520 are in contact. When energized, the first output portion 310 and the first mating portion 520 are connected due to magnetic attraction; when de-energized, the first output portion 310 and the first mating portion 520 are disconnected due to the absence of magnetic attraction. In one application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output portion 310 is energized, and after the first mating portion 520 is cleaned, the electromagnetic structure of the first output portion 310 is de-energized so that the first mating portion 520 can connect to the body 400 of the cleaning device 40.

[0223] Example 3: As shown in Figure 1, this disclosure also describes a cleaning system, which includes a cleaning base station 10 and a cleaning device 40. The cleaning device 40 includes a housing 400 and a cleaning module 500 detachably disposed on the housing 400. The cleaning base station 10 includes a drive assembly 300.

[0224] In the cleaning state, the cleaning module 500 is separated from the body 400 and is detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10. The drive component 300 is used to drive the cleaning module 500 to rotate so as to clean the cleaning module 500.

[0225] Here, the cleaning base station 10 may have a cleaning space 213, and the drive component 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0226] Here, the cleaning module 500 can be cleaned by the cleaning base station 10 without the need for the cleaning equipment 40, which greatly simplifies the structure of the cleaning module 500.

[0227] As an example, in the first cleaning state, the drive assembly 300 drives the cleaning module 500 to rotate in the cleaning space 213, and the cleaning device 40 is located outside the cleaning base station 10, where the cleaning device 40 can be in a cleaning state. As another example, as shown in FIG1, in the second cleaning state, the drive assembly 300 drives the cleaning module 500 to rotate in the cleaning space 213, and the cleaning device 40 is located within the first space 101 defined by the cleaning base station 10, so that after the cleaning module 500 has finished cleaning, the body 400 of the cleaning device 40 can be detachably connected to the cleaning module 500, and the cleaning device 40 continues to clean the bearing surface 730. Here, the bearing surface 730 refers to the surface that supports the cleaning device 40; for example, the bearing surface 730 can be a floor or a tabletop.

[0228] The above embodiments have already described the cleaning base station 10 and the cleaning equipment 40, and will not be repeated here.

[0229] In some optional implementations of the embodiments of this disclosure, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output part 310, the cleaning device 40 controls the cleaning module 500 to separate from the body 400; the first mating part 520 of the cleaning module 500 is detachably connected to the first output part 310, and the driving component 300 is used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0230] In this implementation, the above embodiments have already described how the cleaning device 40 travels to the position corresponding to the cleaning module 500 and the first output unit 310, and will not be repeated here.

[0231] In this implementation, the method by which the cleaning device 40 controls the separation of the cleaning module 500 from the body 400 is not limited. For example, the cleaning device 40 can separate the cleaning module 500 from the lifting device 600 by controlling the movement of the separation structure 650 relative to the cleaning module 500. As an example, the cleaning device 40 drives the lifting assembly 630 to rise via the second motor 610, so that the cleaning module 500 and the separation structure 650 come into contact, and the separation structure 650 separates the cleaning module 500 from the body 400. As another example, the cleaning device 40 can separate the cleaning module 500 from the body 400 by controlling the fourth connector 660 to be in a de-energized state, thereby separating the fourth connector 660 from the third connector 582.

[0232] In some optional implementations of the embodiments of this disclosure, the cleaning module 500 may include: a cleaning bracket 510, the cleaning bracket 510 having a first mating portion 520 and a second mating portion 530 disposed opposite to each other in the axial direction; the first mating portion 520 is used to be detachably connected to the first output portion 310, and the second mating portion 530 is used to be detachably connected to the body 400.

[0233] Here, the first output part 310 may include a first limiting structure 320; the first mating part 520 may include a first connecting structure 550, the first limiting structure 320 being detachably connected to the first connecting structure 550 and fixedly disposed with the first connecting structure 550 in the rotation direction.

[0234] Here, the cleaning system may further include: a first connector 351 and a second connector 581. The first connector 351 is disposed on the first output part 310; the second connector 581 is disposed on the first mating part 520; the first connector 351 is used to connect with the second connector 581 by magnetic attraction, and the first output part 310 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction.

[0235] The cleaning bracket 510, the first mating part 520, the second mating part 530, the first limiting structure 320, the first connecting structure 550, the first connector 351 and the second connector 581 have been described in the above embodiments, and will not be repeated here.

[0236] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A cleaning module, characterized in that, include: A cleaning bracket, wherein the cleaning bracket has a first mating portion and a second mating portion disposed opposite to each other in the axial direction; A cleaning component is disposed at the first end of the cleaning bracket; the cleaning component has a clearance through hole corresponding to the position of the first mating part. The first mating part is used to be detachably connected to the first output part of the drive assembly of the cleaning base station through the clearance through hole; the second mating part is used to be detachably connected to the body of the cleaning equipment.

2. The cleaning module according to claim 1, characterized in that, The first mating part includes a first connecting structure, which is detachably connected to the first limiting structure of the first output part and is fixedly disposed with the first limiting structure in the rotation direction.

3. The cleaning module according to claim 2, characterized in that, The first connection structure includes: A first concave-convex structure is radially disposed at the first end of the cleaning bracket; the first concave-convex structure is used to cooperate with the first convex-concave structure of the first output part.

4. The cleaning module according to claim 3, characterized in that, The third protrusion of the first concave-convex structure includes: The second mating top surface is inclined along the axis of the first mating part to the periphery of the first mating part and away from the second mating part. Two second mating sides are located on opposite sides of the top surface of the second mating part in the circumferential direction; the distance between the two second mating sides gradually increases in the direction from the top end of the third protrusion to the bottom end of the third protrusion.

5. The cleaning module according to claim 4, characterized in that, The second mating side surface and the second mating top surface are connected by an arc surface.

6. The cleaning module according to claim 4 or 5, characterized in that, The second mating top surface is a plane; or, the second mating top surface is an arc surface.

7. The cleaning module according to any one of claims 3 to 6, characterized in that, The first connection structure further includes: The second concave-convex structure is disposed on the outer peripheral side of the first mating part and corresponds to the position of the first concave-convex structure; the third convex part of the first concave-convex structure extends to the fourth convex part of the second concave-convex structure, and the second concave-convex structure is used to mate with the second convex-concave structure of the first output part.

8. The cleaning module according to any one of claims 3 to 7, characterized in that, The first concave-convex structure includes: The second guide bottom surface is located at the first end of the cleaning bracket; the second guide bottom surface is inclined away from the second mating part along the axis of the first mating part to the circumferential direction of the first mating part.

9. The cleaning module according to any one of claims 3 to 8, characterized in that, The first mating part has a second mounting groove at the axis, and the first concave-convex structure is disposed on the outer peripheral side of the second mounting groove; The cleaning module also includes: The second connector is disposed in the second mounting slot; The second connector is used to connect with the first connector of the clean base station via magnetic attraction.

10. The cleaning module according to any one of claims 2 to 8, characterized in that, The first connection structure includes: The second connector is disposed on the first mating part; the second connector is used to connect with the first connector of the first output part by magnetic attraction, and the first output part is used to fix the cleaning module in the rotation direction position by magnetic attraction.

11. The cleaning module according to any one of claims 1 to 10, characterized in that, The first mating part is used to connect with the first output part of the cleaning base station by magnetic attraction, and the first output part is used to fix the cleaning module in the rotation direction position by magnetic attraction.

12. The cleaning module according to any one of claims 1 to 11, characterized in that, Also includes: A third connector is disposed on the second mating part; The third connector is used for detachable connection with the fourth connector of the body of the cleaning equipment.

13. The cleaning module according to claim 12, characterized in that, The third connector is used to connect with the fourth connector by magnetic attraction.

14. The cleaning module according to any one of claims 1 to 13, characterized in that, The first mating part is a recessed structure; and / or, the second mating part is a protruding structure.

15. The cleaning module according to any one of claims 1 to 14, characterized in that, The second mating part is used to drive the cleaning bracket to rotate; During the rotation of the cleaning bracket driven by the second mating part, the cleaning component is used to contact the bearing surface to clean the bearing surface.

16. A cleaning device, characterized in that, include: The body and the cleaning module according to any one of claims 1 to 15, wherein the second mating part of the cleaning module is detachably connected to the body.

17. The cleaning equipment according to claim 16, characterized in that, The cleaning module includes: A third connector is disposed on the second mating part; The fuselage has a fourth connector, and the third connector is used to be detachably connected to the fourth connector.

18. The cleaning equipment according to claim 17, characterized in that, Also includes: A lifting device is provided on the machine body to drive the cleaning module to move; The fourth connector is disposed on the lifting device.

19. The cleaning equipment according to claim 18, characterized in that, Also includes: A separation structure is provided on the lifting device; The separation structure is used to separate the cleaning module and the lifting device; or, The fourth connector is an electromagnetic structure, which allows the fourth connector and the third connector to be in a connected or disconnected state.

20. The cleaning equipment according to claim 18 or 19, characterized in that, The lifting device includes: A lifting assembly is disposed on the body and defines a limiting hole; a fourth connecting member is disposed on the lifting assembly and located at the bottom of the limiting hole; a second mating part is used to be detachably inserted into the limiting hole; A second motor is mounted on the fuselage; The second transmission assembly is disposed on the machine body; the second motor is used to drive the lifting assembly to move through the second transmission assembly.

21. The cleaning equipment according to claim 20, characterized in that, The cross-section of the limiting hole is non-circular; The lifting device also includes: A housing, which is rotatably disposed on the fuselage; The lifting assembly is disposed in the housing; The second motor is disposed in the housing; The second transmission component is disposed in the housing; A third motor is used to drive the housing to rotate relative to the body about the axis of the limiting hole; When the second mating part is separated from the limiting hole, the third motor is used to drive the housing to rotate so that the limiting hole and the second mating part correspond in the circumferential position.

22. The cleaning equipment according to any one of claims 16 to 21, characterized in that, The magnetic attraction force of the second mating part, which is detachably connected to the body, is greater than the magnetic attraction force of the first mating part, which is detachably connected to the first output part.

23. A cleaning system, characterized in that, Includes a cleaning base station and a cleaning device according to any one of claims 16 to 22, wherein the cleaning base station includes a drive component; In the cleaning state, the cleaning module is separated from the body and is detachably connected to the first output of the drive assembly, which is used to drive the cleaning module to rotate.

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