CN211749354U - Cleaning execution device and cleaning robot - Google Patents

Abstract

The application discloses wash final controlling element. The cleaning execution device comprises a motor, a universal transmission part, a transmission part and a cleaning execution part. The motor includes an output shaft. The universal transmission part comprises an input end and an output end, and the input end is connected with an output shaft of the motor. The transmission part comprises an input shaft and a transmission part, and the input shaft is connected with the output end of the universal transmission part. The cleaning execution part is connected with the transmission part. The motor is installed on washing the execution portion, and there is the difference in height output shaft and input shaft, and the input shaft is closer to washing the execution portion than the output shaft. The utility model also discloses a cleaning machines people. The power of the motor is transmitted to the universal transmission part, the universal transmission part changes the transmission angle of the power and then transmits the power to the input shaft, so that the height difference exists between the input shaft and the output shaft of the motor, the input shaft is closer to the cleaning execution part than the output shaft, the structure of the cleaning execution device is more compact, and the occupied space of the cleaning execution device is smaller.

Description

Cleaning execution device and cleaning robot

Technical Field

The invention relates to the technical field of intelligent cleaning robots, in particular to a cleaning execution device and a cleaning robot.

Background

With the progress of science and technology, people pay more and more attention to quality of life and environmental sanitation level, but the work pressure of people is larger, the time is tighter, and then a plurality of cleaning robots are manufactured to improve the environmental sanitation and help people to save time and energy.

The existing cleaning robot comprises a frame, a cleaning device, a water tank, a water sucking rake and the like. The existing cleaning device mainly comprises a motor, a transmission unit and a cleaning execution part, wherein no matter where the motor is placed, the transmission unit is required to be arranged on one side of the cleaning execution part. At present, the motor is generally arranged beside the transmission unit, and the motor directly drives the transmission unit so as to drive the cleaning part to move. Therefore, the output shaft of the motor and the input end of the transmission unit are necessarily at the same height, so that the structure of the cleaning device is not compact, and the occupied space is larger.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a cleaning execution device and a cleaning robot.

The cleaning execution device comprises a motor, a universal transmission part, a transmission part and a cleaning execution part, wherein the motor comprises an output shaft; the universal transmission part comprises an input end and an output end, and the input end is connected with the output shaft; the transmission part comprises an input shaft and a transmission part, and the input shaft is connected with the output end; the cleaning execution part is connected with the transmission part; the motor is installed on the cleaning execution part, the input shaft and the output shaft have a height difference, and the input shaft is closer to the cleaning execution part than the output shaft.

The cleaning execution device of the embodiment of the application adopts the universal transmission part to connect the motor and the transmission part, so that the height difference exists between the input shaft and the output shaft, the input shaft is closer to the cleaning execution part than the output shaft, the structure of the cleaning execution device is more compact, and the occupied space of the cleaning execution device is less.

In some embodiments, the cleaning executing portion includes a cleaning member and a bracket, the cleaning member is connected to the transmission member, and the motor is mounted on the bracket and at a middle position in a length direction of the bracket.

In this embodiment, the motor is installed at the middle position in the length direction of the bracket, which is more favorable for the layout of each part of the cleaning execution device.

In some embodiments, the universal transmission portion includes a first joint, a second joint, a universal joint, and a connecting shaft, the first joint being connected with the output shaft; the second joint is connected with the input shaft; the universal joint comprises a first universal joint and a second universal joint; two ends of the connecting shaft are respectively connected with the first universal joint and the second universal joint; one end of the connecting shaft is connected with the first joint through the first universal joint, and the other end of the connecting shaft is connected with the second joint through the second universal joint.

In the present embodiment, the universal transmission part is used to change the transmission angle of the motor power, so that the height difference exists between the output shaft of the motor and the input shaft of the transmission part.

In some embodiments, the angle formed between the connecting shaft and the input shaft is (0 °, 30 °).

In the embodiment, the included angle formed between the connecting shaft and the input shaft is (0 degrees and 30 degrees), so that the universal joint has high transmission efficiency and good transmission effect.

In some embodiments, the connecting shaft includes a spline shaft sleeve and a spline shaft, the spline shaft is at least partially sleeved in the spline shaft sleeve, and the spline shaft is movably connected with the spline shaft sleeve to adjust the length of the connecting shaft.

In the embodiment, the connecting shaft adopts a combination mode of the spline shaft sleeve and the spline shaft, the length of the connecting shaft can be adjusted, the installation is convenient, the angle is easy to adjust, and the fault tolerance is good.

In some embodiments, the spline shaft is connected to the first hub by the first universal joint and the spline housing is connected to the second hub by the second universal joint; or the spline shaft sleeve is connected with the first joint through the first universal joint, and the spline shaft is connected with the second joint through the second universal joint.

In the embodiment, the universal joint is connected with the connecting shaft, so that the angle of power transmission is changed, and the power transmission is facilitated. Two ends of the connecting shaft are respectively provided with a universal joint, namely a double-universal joint structure, so that the transmission angles at the two ends of the connecting shaft are equal, and the instant angular speeds of the input shaft and the output shaft are always equal.

In some embodiments, the transmission comprises a drive pulley, a belt, and a driven pulley, the drive pulley is connected to the input shaft, the driven pulley is connected to the drive pulley, and the driven pulley is connected to the cleaning implement; or

The transmission part comprises a driving gear and a driven gear, the driving gear is connected with the input shaft, the driven gear is meshed with the driving gear, and the driven gear is connected with the cleaning execution part; or

The driving part comprises a driving chain wheel, a chain and a driven chain wheel, the driving chain wheel is connected with the input shaft, the driven chain wheel is connected with the driving chain wheel through the chain, and the driven chain wheel is connected with the cleaning execution part.

In the embodiment, the transmission part adopts a belt transmission mode, so that the transmission is stable, the structure is simple, and the cost is low; the transmission part adopts a transmission form of gear transmission, and has compact structure and high transmission efficiency; the transmission part adopts a chain transmission form, so that the transmission efficiency is high, and the transmission ratio is relatively large.

The cleaning robot of the embodiment of the application comprises a housing and the cleaning execution device of any one of the embodiments, wherein the cleaning execution device is arranged on the housing, and the inner side wall of the housing is closer to the cleaning execution part than the position corresponding to the motor.

In the cleaning machines people of this application embodiment, wash actuating device and adopt universal transmission portion to be connected motor and transmission portion, can change the transmission angle of motor power, there is the difference in height between the output shaft that makes the motor and the input shaft of transmission portion, and the input shaft is closer to washing actuating portion than the output shaft, wash actuating device's structure more compact, wash actuating device's space that occupies is less, in addition, wash actuating device is established to the housing cover, and the position that the inside wall of housing and the position that the input shaft corresponds of housing are closer to washing actuating portion than the position that the motor corresponds, the space that the housing occupies still less from this.

In some embodiments, the outer contour of the housing is left-right symmetric along the length direction of the cleaning implement.

In the embodiment, the outer contour of the housing is arranged in a bilateral symmetry mode, the housing is more reasonable in arrangement, and the housing is more attractive in contour.

In some embodiments, the housing includes a body and the protrusion protrudes from the body, the transmission portion corresponds to a position of the body, and the protrusion corresponds to a position of the motor.

In this embodiment, the positions of the body and the protruding portion of the housing correspond to the positions of the transmission portion and the motor, so that the housing occupies less space, and the structure is more compact.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a perspective assembly view of a cleaning robot according to an embodiment of the present application;

FIG. 2 is a plan assembly schematic view from one perspective of a cleaning robot of an embodiment of the present application;

FIG. 3 is a schematic plan view of a cleaning implement and a housing according to an embodiment of the present application;

FIG. 4 is a plan assembly view from one perspective of a wash implement according to an embodiment of the present application;

FIG. 5 is a schematic cross-sectional view of the wash implement of FIG. 4 taken along line V-V;

FIG. 6 is a perspective assembly view of the universal drive section of an embodiment of the present application;

FIG. 7 is a plan assembly view from one perspective of a universal drive section of an embodiment of the present application;

FIG. 8 is a cross-sectional view VIII-VIII of the universal drive section shown in FIG. 7;

FIG. 9 is an enlarged schematic view of section IX of the wash implement of FIG. 3;

fig. 10 is an enlarged schematic view of a portion X of the wash implement shown in fig. 5.

Description of the main element symbols:

the cleaning robot 100, the housing 10, the body 11, the protruding part 12, the cleaning implement 20, the motor 21, the output shaft 211, the main body 212, the universal transmission part 22, the input end 221, the output end 222, the first joint 223, the first universal joint 224, the connecting shaft 225, the spline shaft 2251, the spline shaft sleeve 2252, the second universal joint 226, the second joint 227, the transmission part 23, the input shaft 231, the transmission part 232, the driving pulley 2321, the belt 2322, the driven pulley 2323, the cleaning implement 24, the cleaning element 241, the bracket 242, the water tank 30, the water absorption rake 40, and the frame 50.

Detailed Description

Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.

In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 to 3, a cleaning robot 100 according to an embodiment of the present disclosure includes a housing 10 and a cleaning actuator 20, wherein the housing 10 houses the cleaning actuator 20. The cleaning robot 100 is used for cleaning a surface to be cleaned. The surface to be cleaned may be a floor, a table, a glass surface, a wall surface, etc., without limitation. The cleaning robot 100 may be a floor scrubber, a floor sweeping robot, a glass cleaning robot, or the like. The embodiment of the present application is described by taking a floor washing machine as an example, and it is understood that the type of the cleaning robot 100 may be other, and is not to be construed as limiting the present application.

In one example, the cleaning robot further includes a water tank 30, a suction paddle 40, and a frame 50. A water tank 30 is installed above the frame 50, and the water tank 30 is used for supplying a cleaning solution to the cleaning performing device 20 or containing sewage. The cleaning liquid can be clear water, a mixed liquid of clear water and cleaning liquid, a liquid filtered by sewage and the like. The contaminated water may be the liquid after the cleaning liquid has cleaned the surface to be cleaned. The frame 50 serves as a support. The cleaning execution device 20 is arranged below the frame 50, the water absorption rake 40 is arranged at the rear part of the cleaning execution device 20, and after the cleaning execution device 20 cleans the surface to be cleaned, the water absorption rake 40 is contacted with the surface to be cleaned to absorb the liquid on the surface to be cleaned.

Referring to fig. 3 to 5, the cleaning executing device 20 includes a motor 21, a universal transmission part 22, a transmission part 23, and a cleaning executing part 24. The motor 21 includes an output shaft 211. The universal joint section 22 includes an input end 221 and an output end 222, and the input end 221 is connected to the output shaft 211. The transmission part 23 includes an input shaft 231 and a transmission member 232, and the input shaft 231 is connected to the output end 222 of the universal transmission part 22. The cleaning execution part 24 is connected to the transmission member 232. The motor 21 is mounted on the washing implement 24. The input shaft 231 has a height difference (H height difference shown in fig. 3) from the output shaft 211, and the input shaft 231 is closer to the cleaning performing part 24 than the output shaft 211.

In the cleaning robot 100 of the embodiment of the present application, the motor 21 drives the universal transmission part 22 to rotate, so as to drive the transmission part 23 to move, the transmission part 23 drives the cleaning execution part 24 to move, and the cleaning execution part 24 cleans the surface to be cleaned. The universal transmission part 22 changes the power transmission angle of the motor 21, the height difference exists between the output shaft 211 and the input shaft 231, and the input shaft 231 is closer to the cleaning execution part 24 than the output shaft 211, so that the structure of the cleaning execution device 20 is more compact, and the space occupied by the cleaning execution device 20 is less.

In particular, when the cleaning robot is a floor washer, the wash implement 20 may be a roller brush type wash assembly that cleans the floor; when the cleaning robot is a glass cleaning robot, the wash actuator 20 may be a glass washing assembly that cleans the glass surface. The cleaning actuator 20 may be specifically cleaned by friction, water washing, air impact, or the like.

The cleaning execution device 20 includes a motor 21, a universal transmission unit 22, a transmission unit 23, and a cleaning execution unit 24.

The motor 21 may be used to convert electrical energy into mechanical energy for powering the universal drive 22, the drive 23, and the wash implement 24. The type of the motor 21 may be a servo motor, a stepping motor, etc., and is not limited herein. The motor 21 includes a main body 212 and an output shaft 211. The main body 212 includes a stator, a rotor, an end cover, etc., wherein the rotor is connected with the output shaft 211 to transmit power to the output shaft 211. The output shaft 211 is connected to a rotor in the main body 212 to output power generated by the motor 21.

Referring to fig. 2 and 5, the cleaning executing part 24 is used for executing a cleaning function to perform a cleaning operation on a surface to be cleaned. The cleaning implement unit 24 may further support the motor 21, the universal transmission unit 22, and the transmission unit 23. The cleaning execution unit 24 includes a cleaning tool 241 and a holder 242. The cleaning member 241 may be a cleaning member such as a roll brush or a disc brush, and is not limited thereto. In the embodiment of the present application, the cleaning member 241 is a roll brush. The cleaning member 241 cleans the surface to be cleaned. The bracket 242 is used to provide support for components on the wash implement 20. The holder 242 may separate the cleaning member 241 from the motor 21 and the universal driving unit 22 so that the cleaning member 241 does not directly contact the motor 21 and the universal driving unit 22. The bracket 242 separates the cleaning member 241 from the motor 21 and the universal driving part 22 so that the cleaning liquid is not splashed out when the cleaning member 241 is operated. The main body 212 is fixedly mounted at a middle position in a length direction (e.g., a direction B in fig. 4) of the bracket 242. The intermediate position may mean that the distance between the center of the main body 212 and both sides of the bracket 242 is substantially equal, or the intermediate position may mean that the center of the main body 212 is near the intermediate position in the longitudinal direction B of the bracket 242.

Referring to fig. 3, 5 and 6, the universal transmission part 22 is connected to the output shaft 211 of the motor 21 for transmitting the driving force output by the motor 21. The universal transmission section 22 can change the transmission angle of the power output from the output shaft 211 and transmit the power to the transmission section 23. The universal joint section 22 includes a first joint 223, a first universal joint 224, a connecting shaft 225, a second universal joint 226, and a second joint 227.

Specifically, the output shaft 211 is connected to a first joint 223. The first joint 223 is connected to a connecting shaft 225 by a first universal joint 224, and the connecting shaft 225 is connected to a second joint 227 by a second universal joint 226. The first joint 223 and the second joint 227 may be provided with inner holes, and the shape of the inner holes may be a circular hole, a circular hole key slot, a square hole, a hexagonal hole, or the like, which is not limited herein. The shape of the inner bore of the first joint 223 and the second joint 227 may be different, for example, the shape of the inner bore of the first joint 223 may be a circular hole, and the shape of the inner bore of the second joint 227 may be a square hole. If the inner hole of the first joint 223 is a round hole and is provided with a key slot, the output shaft 211 can also be provided with a corresponding key slot, and at the moment, the connection mode of the first joint 223 and the output shaft 211 is key connection.

Referring to fig. 6 to 8, the connecting shaft 225 is used for connecting the first joint 223 and the second joint 227, and the connecting shaft 225 is used for transmitting power from the first joint 223 to the second joint 227. The connecting shaft 225 includes a spline shaft sleeve 2251 and a spline shaft 2252. Spline shaft 2252 is at least partially sleeved in spline shaft sleeve 2251, spline shaft 2252 is movably connected to spline shaft sleeve 2251, and the length of connecting shaft 225 can be adjusted. The length of the connecting shaft 225 can be adjusted to facilitate the installation of the universal transmission part 22.

Specifically, the connection manner of the connection shaft 225, the first joint 223 and the second joint 227 can be at least two of the following manners: spline shaft sleeve 2251 is connected to first joint 223 via first universal joint 224, and spline shaft 2252 is connected to second joint 227 via second universal joint 226. Or spline shaft sleeve 2251 is connected to second joint 227 via second universal joint 226 and spline shaft 2252 is connected to first joint 223 via first universal joint 224. In the embodiment shown in the drawings of the present application, spline shaft sleeve 2251 is connected to first joint 223 via first universal joint 224, and spline shaft 2252 is connected to second joint 227 via second universal joint 226.

Referring to fig. 8 and 10, an included angle α is formed between the input shaft 211 and the connecting shaft 225, an included angle β is formed between the connecting shaft 225 and the output shaft 211, and the included angle α and the included angle β are equal. Preferably, the angle between the included angle α and the included angle β is (0 °, 30 °), for example, the angle between the included angle α and the included angle β may be any angle within the above range, such as 5 °, 10 °, 12 °, 18 °, 22 °, 25 °, 28 °, and 30 °, the angle between the included angle α and the included angle β is (0 °, 30 °), the transmission efficiency of the universal transmission portion 22 is high, the transmission effect is good, the length of the connection shaft 225 can be adjusted, the angle between the included angle α and the included angle β can be changed, and the fault tolerance of the universal transmission portion 22 is good.

Referring to fig. 5 and 9, the input side and the output side of the transmission part 23 are respectively connected to the universal transmission part 22 and the cleaning execution part 24. The transmission portion 23 is used for transmitting power from the universal transmission portion 22 to the cleaning execution portion 24. The transmission unit 23 includes an input shaft 231 and a transmission member 232. Specifically, both ends of the input shaft 231 are connected to the second joint 227 and the transmission member 232, respectively. The input shaft 231 is fixedly mounted on a bracket 242. The transmission member 232 is connected to the input shaft 231, and the input shaft 231 transmits power to the transmission member 232 to drive the transmission member 232 to move. The driving member 232 is fixedly installed at one side of the bracket 242. The transmission member 232 may be a mechanical transmission member that performs transmission through belt transmission, gear transmission, chain transmission, etc., and is not limited herein. In the embodiment shown in fig. 5 and 9, the transmission member 232 is driven by a belt drive. The transmission 232 includes a driving pulley 2321, a belt 2322 and a driven pulley 2323. The driving pulley 2321 is connected to the input shaft 231. The driving pulley 2321 and the input shaft 231 may be splined. The driving pulley 2321 receives power through the input shaft 231. The strap 2322 may be a V-belt, a flat belt, a V-ribbed belt, a circular belt, or the like. The belt 2322 shown in fig. 5 is a V-belt. The driven pulley 2323 is connected to the driving pulley 2321 via a belt 2322. The driven pulley 2323 receives power from the driving pulley 2321 through the belt 2322. The driven pulley 2323 is connected to the cleaning member 241, and the driven pulley 2323 transmits power to the cleaning member 241.

The transmission member 232 may also be geared by gearing. Specifically, the transmission member 232 includes a driving gear and a driven gear, the driving gear is connected to the input shaft 231, and the driving gear and the input shaft 231 may be connected by a key. The drive gear is powered through input shaft 231. The driven gear is meshed with the driving gear, so that power is obtained through the driving gear. The driven gear is connected to the cleaning member 241, and transmits power to the cleaning member 241.

The transmission 232 may also be driven by a chain drive. Specifically, the transmission member 232 includes a driving sprocket, a chain and a driven sprocket, the driving sprocket is connected to the input shaft 231, and the driving sprocket and the input shaft 231 can be connected by a key. The drive sprocket is connected to the input shaft 231 in a keyed connection. The input shaft 231 transmits power to the drive sprocket. The driven chain wheel is connected with the driving chain wheel through a chain, and the driving chain wheel transmits power to the driven chain wheel through the chain. The driven sprocket is connected to the cleaning member 241 and transmits power to the cleaning member 241.

The transmission member 232 adopts a belt transmission mode, and the whole structure of the transmission part 23 is simpler and the transmission is stable. The transmission member 232 adopts a transmission form of gear transmission, and the transmission part 23 has a compact structure and high transmission efficiency. The transmission member 232 adopts a chain transmission mode, and the transmission efficiency of the transmission part 23 is high, and the transmission ratio is large.

Referring to fig. 3 and 5, the height difference H exists between the output shaft 211 and the input shaft 231, and the input shaft 231 is closer to the cleaning executing portion 24 than the output shaft 211. It may be in the horizontal direction with the input shaft 231 below the output shaft 211.

Referring to fig. 1 to 3, the housing 10 is disposed below the frame 50. The housing 10 is used for housing the cleaning actuator 20. The housing 10 houses the cleaning actuator 20 and insulates the cleaning actuator 20. The position M of the inner wall of the housing 10 corresponding to the input shaft 231 of the cleaning actuator 20 is closer to the cleaning actuator 24 than the position L corresponding to the motor 21. The distance between the inner side wall of the housing 10 and the cleaning implement 20 along the length direction (direction a shown in fig. 3) may be equal everywhere or may not be equal. In this way, the housing 10 will occupy less space. The outer contour of the housing 10 is symmetrical along the length direction A of the cleaning execution device 20, so that the manufacturing of the manufacturing die of the housing 10 is simpler. The housing 10 includes a body 11 and a protrusion 12, the protrusion 12 protrudes from the body 11, the transmission portion 23 corresponds to the body 11, and the protrusion 12 corresponds to the motor 21. The body 11 extends continuously in the longitudinal direction a of the wash implement 20 with the projection 12 at an intermediate position of the body 11. Wherein the middle position may be that the distance between the center of the protrusion 12 and both sides of the body 11 is equal.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.

Claims (10)

1. A wash implement, comprising:

a motor including an output shaft;

the universal transmission part comprises an input end and an output end, and the input end is connected with the output shaft;

the transmission part comprises an input shaft and a transmission part, and the input shaft is connected with the output end; and

a cleaning execution part connected with the transmission part;

the motor is installed on the cleaning execution part, the input shaft and the output shaft have a height difference, and the input shaft is closer to the cleaning execution part than the output shaft.

2. The cleaning actuator according to claim 1, wherein the cleaning actuator includes a cleaning member and a bracket, the cleaning member is mounted on the bracket, the cleaning member is connected to the transmission member, and the motor is mounted on the bracket and is mounted at a middle position in a longitudinal direction of the bracket.

3. The wash implement of claim 1, wherein the universal drive comprises:

a first joint connected with the output shaft;

a second joint connected with the input shaft;

a gimbal including a first gimbal and a second gimbal; and

the two ends of the connecting shaft are respectively connected with the first universal joint and the second universal joint;

one end of the connecting shaft is connected with the first joint through the first universal joint, and the other end of the connecting shaft is connected with the second joint through the second universal joint.

4. The wash implement of claim 3, wherein the connection axis and the input axis form an included angle between (0 °, 30 ° ].

5. The cleaning implement of claim 3, wherein the connecting shaft comprises a spline shaft sleeve and a spline shaft, the spline shaft is at least partially sleeved in the spline shaft sleeve, and the spline shaft is movably connected with the spline shaft sleeve so that the length of the connecting shaft can be adjusted.

6. The wash implement of claim 5, wherein the spline shaft is connected to the first joint by the first universal joint and the spline shaft sleeve is connected to the second joint by the second universal joint; or

The spline shaft sleeve is connected with the first joint through the first universal joint, and the spline shaft is connected with the second joint through the second universal joint.

7. The wash implement of claim 1, wherein the transmission comprises:

a drive pulley connected with the input shaft;

a belt; and

a driven pulley connected with the driving pulley through the belt, the driven pulley being connected with the cleaning execution part; or

The transmission member includes:

a drive gear coupled to the input shaft; and

the driven gear is meshed with the driving gear and is connected with the cleaning execution part; or

The transmission member includes:

a drive sprocket connected to the input shaft;

a chain; and

and the driven chain wheel is connected with the driving chain wheel through the chain, and the driven chain wheel is connected with the cleaning execution part.

8. A cleaning robot, characterized by comprising:

the wash execution device of any one of claims 1 to 7; and

the shell covers the cleaning execution device, and the position of the inner side wall of the shell corresponding to the input shaft is closer to the cleaning execution part than the position corresponding to the motor.

9. The cleaning robot according to claim 8, wherein an outer contour of the housing is bilaterally symmetrical in a length direction of the washing implement part.

10. The cleaning robot of claim 8, wherein the housing comprises:

a body; and

the protruding portion, the protruding portion certainly the body protrusion, the transmission portion with the position of body corresponds, the protruding portion with the position of motor corresponds.

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