WO2025201075A1 - 清洁模组、清洁模组的清洁方法与清洁设备 - Google Patents

清洁模组、清洁模组的清洁方法与清洁设备

Info

Publication number
WO2025201075A1
WO2025201075A1 PCT/CN2025/082347 CN2025082347W WO2025201075A1 WO 2025201075 A1 WO2025201075 A1 WO 2025201075A1 CN 2025082347 W CN2025082347 W CN 2025082347W WO 2025201075 A1 WO2025201075 A1 WO 2025201075A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
swing arm
bracket
elastic
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/082347
Other languages
English (en)
French (fr)
Inventor
成盼
米长
杨志敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202410383586.8A external-priority patent/CN118078140A/zh
Priority claimed from CN202420647554.XU external-priority patent/CN222815698U/zh
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Publication of WO2025201075A1 publication Critical patent/WO2025201075A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present disclosure aims to provide a cleaning module, a cleaning method for the cleaning module, and a cleaning device.
  • a cleaning module comprising:
  • the cleaning swing arm being rotatably connected to the module body, the cleaning swing arm being able to swing relative to the module body between an extended position, a retracted position, and an end position, the retracted position being located between the extended position and the end position;
  • a detection component is provided on the module body, and the detection component is configured to output a first position signal when the cleaning swing arm is located at the recovery position, output a second position signal when the cleaning swing arm is located at the end position, and output a third position signal when the cleaning swing arm is located at the extended position.
  • the detection component is arranged relative to the elastic bracket, and outputs the first position signal when the elastic bracket is located at the first position, outputs the second position signal when the elastic bracket is located at the second position, and outputs the third position signal when the elastic bracket is located at the third position.
  • the elastic bracket includes a bracket and a first elastic member, the bracket is connected to the first elastic member, and the first elastic member is in a stressed state under the drive of the bracket.
  • the bracket includes a supporting portion and a positioning portion, the positioning portion is provided with a grating hole, and the detection component includes an optical signal transmitter and an optical signal receiver; when the optical signal emitted by the optical signal transmitter passes through the grating hole and is received by the optical signal receiver, the detection component outputs the first position signal.
  • shielding parts are provided on both sides of the grating hole on the positioning part.
  • the detection component outputs the second position signal or the third position signal, and the second position signal is the same as the third position signal.
  • the bracket also includes a guide portion, a guide groove is provided on the module body, and the guide portion is located in the guide groove; when the bracket switches between the first position, the second position and the third position, the guide groove forms a limit for the movement of the guide portion.
  • the cleaning module further includes:
  • An elastic limiting member is provided on the module body and is configured so that the elastic bracket is subjected to a greater force when the elastic bracket moves from the first position toward the second position.
  • the elastic limit member is configured to move between a first limit position and a second limit position.
  • the elastic limit member is located at the first limit position; when the elastic bracket is located at the second position, the elastic limit member is located at the second limit position.
  • the elastic limiting member when the elastic limiting member is located at the first limiting position, the elastic limiting member is in a free state or a stressed state.
  • the elastic limiter includes a limiter and a second elastic member, the limiter is connected to the second elastic member, and the second elastic member is configured to be in a stressed state or a free state under the drive of the limiter.
  • a first limiting structure and a second limiting structure are provided on the module body, the first limiting structure is configured to limit the limiting member from moving from the first limiting position toward a side away from the second limiting position, and the second limiting structure is configured to limit the limiting member from moving from the second limiting position toward a side away from the first limiting position.
  • the cleaning module further includes:
  • a driving assembly is configured to drive the cleaning swing arm to swing between the first and third positions.
  • a limiting portion is provided on the module body.
  • the limiting portion is configured to limit the swing of the elastic bracket from the third position toward a side away from the first position.
  • the cleaning swing arm and the elastic bracket are spaced apart.
  • the cleaning swing arm when the cleaning swing arm is located at the extended position, the cleaning swing arm is arranged in contact with the elastic bracket.
  • a cleaning method for a cleaning module includes a module body, a cleaning swing arm, and an elastic bracket, wherein the cleaning swing arm is rotatably connected to the module body, and the elastic bracket is provided on the module body; the cleaning swing arm is capable of swinging relative to the module body between an extended position, a retracted position, and an end position, wherein the retracted position is located between the extended position and the end position; the cleaning method includes:
  • the cleaning swing arm When the cleaning swing arm swings from the extended position toward the retracted position, the cleaning swing arm pushes the elastic bracket to be located in the first position under force; when the cleaning swing arm swings from the retracted position toward the terminal position, the cleaning swing arm pushes the elastic bracket to be located in the second position under force; when the cleaning swing arm swings from the retracted position toward the extended position, the elastic bracket is located in the third position on the side of the first position away from the second position.
  • the cleaning module further includes a detection component, and the detection component is provided on the module body; the cleaning method further includes:
  • the elastic bracket In the process of swinging to the retracted position, the elastic bracket is squeezed by the cleaning arm and is in a stressed state, thereby achieving a buffering effect when the elastic bracket is swung by external force; further, when the cleaning arm is in the retracted position for cleaning operations, if it is squeezed by the outside world, the cleaning arm continues to push the elastic bracket to swing toward the end position.
  • the elastic bracket When the cleaning arm swings toward the end position, the elastic bracket further provides a buffering effect, effectively buffering the external squeezing force on the cleaning arm when it is in the retracted position, thereby improving the reliability of the cleaning arm during the swinging process when it is subjected to external force.
  • FIG1 is a schematic diagram of a cleaning device provided by an embodiment of the present disclosure.
  • FIG2 is a front view of a cleaning device provided by an embodiment of the present disclosure.
  • FIG3 is a schematic diagram of a cleaning swing arm provided in an embodiment of the present disclosure in a recovery position.
  • FIG4 is a schematic diagram of a cleaning swing arm provided in an embodiment of the present disclosure in an extended position.
  • FIG5 is a schematic diagram of a cleaning swing arm provided in accordance with an embodiment of the present disclosure.
  • FIG6 is a schematic diagram of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure being located in a recovery position.
  • FIG7 is a partially opened enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure when the cleaning swing arm is in a retracted position.
  • FIG8 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided by an embodiment of the present disclosure is in the retracted position.
  • FIG10 is a partially opened enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure when the cleaning swing arm is located at the end position.
  • FIG11 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided by an embodiment of the present disclosure is at the end position.
  • FIG13 is a partially opened enlarged view of a cleaning swing arm in a cleaning module provided by an embodiment of the present disclosure when the cleaning swing arm is in an extended position.
  • FIG14 is a partial enlarged view of the detection assembly after opening when the cleaning swing arm in the cleaning module provided by an embodiment of the present disclosure is in the extended position.
  • FIG16 is a partially opened exploded view of an elastic swing arm provided in an embodiment of the present disclosure.
  • the cleaning device 10 includes a device body 100 and a cleaning module.
  • One end of the swing cleaning arm 200 of the cleaning module is rotatably mounted on the device body 100, and the swing arm can be positioned in a recovery position, an extended position, and a terminal position by swinging relative to the device body 100;
  • a cleaning head 220 is provided on the free end of the cleaning swing arm 200, and the cleaning operation is performed by the cleaning head 220;
  • the cleaning device 10 can be, for example, a mopping/brushing robot, a vacuum suction robot, a window climbing robot, etc.
  • an embodiment of the present disclosure provides a cleaning module, as shown in Figures 5 to 14, the cleaning module includes: a module body 600, a cleaning swing arm 200 and an elastic bracket 300, one end of the cleaning swing arm 200 is rotatably connected to the module body 600, and the cleaning swing arm 200 can be positioned at an extended position, a retracted position and a terminal position relative to the module body 600 by swinging, and the retracted position is located between the extended position and the terminal position; the elastic bracket 300 is arranged on the module body 600, when the cleaning swing arm 200 is located at the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located at a first position in a force state; when the cleaning swing arm 200 is located at the terminal position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located at a second position in a force state; when the cleaning swing arm 200 is located at the extended position, the elastic bracket 300 is located at a third position on the side of the first position away from the second position.
  • the cleaning module provided by the present disclosure has a cleaning arm 200 that can be located in the extended position for cleaning operations, which increases the cleaning area and can clean sanitary blind corners such as wall corners and table and chair legs, thereby improving the cleaning effect; the cleaning arm 200 can also be located in the retracted position for cleaning operations.
  • the cleaning arm 200 encounters an obstacle and collides with it, the cleaning arm 200 is subjected to external force and can swing to the retracted position.
  • the elastic bracket 300 is squeezed by the cleaning arm 200 and is in a stressed state.
  • the elastic bracket 300 thus achieves a buffering effect when the elastic bracket 300 is swung by the external force; further, when the cleaning arm 200 is performing cleaning operations in the retracted position, if it is squeezed by the external force, the cleaning arm 200 continues to push the elastic bracket 300 to swing toward the end position.
  • the elastic bracket 300 further provides a buffering effect, effectively buffering the external squeezing force on the cleaning arm 200 when it is in the retracted position, thereby improving the reliability of the cleaning arm 200 during the swinging process when it is subjected to external force.
  • the elastic bracket 300 includes a bracket 310 and a first elastic member 320.
  • the bracket 310 is connected to the first elastic member 320.
  • the first elastic member 320 can be in a stressed state or a free state under the drive of the bracket 310.
  • the first elastic member 320 may be a spring, one end of which is connected to the module body 600 and the other end is connected to the bracket 310.
  • the bracket 310 moves from the third position toward the first position, and when the bracket 310 moves from the first position toward the second position, the bracket 310 continuously exerts a tensile force on the elastic member, causing the spring to be in a tensile state.
  • the bracket 310 includes a support portion 311 and a guide portion 313.
  • the support portion 311 is configured to abut against the cleaning swing arm 200.
  • the module body 600 is provided with a guide groove 610, in which the guide portion 313 is located.
  • the guide groove 610 limits the movement of the guide portion 313.
  • the provision of the guide portion 313 and the guide groove 610 improves the stability and reliability of the bracket 310's rotation on the module body 600.
  • the bracket 310 provides a buffering force to the cleaning swing arm 200, it can more stably provide a supporting force to the cleaning swing arm 200, thereby improving the stability of the cleaning swing arm 200 when it is returned to its original position by an external force.
  • one end of the support part 311 is rotatably connected to the module body 600, and the other end is connected to the guide part 313, that is, the rotating ends of the guide part 313 and the support part 311 are located at opposite ends of the support part 311, which can avoid the support part 311 from being misaligned after being squeezed by the cleaning swing arm 200, thereby further improving the stability of the support part 311.
  • the cleaning swing arm 200 and the elastic bracket 300 are spaced apart, that is, when the cleaning swing arm 200 is in the extended position, there is no acting force between the cleaning swing arm 200 and the elastic bracket 300, and the cleaning swing arm 200 performs a normal cleaning function.
  • the cleaning swing arm 200 swings toward the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 into a stressed state, thereby providing a buffering effect through the elastic bracket 300.
  • the elastic bracket 300 when the elastic bracket 300 is in the third position, the elastic bracket 300 may be in a stressed state, that is, the first elastic member 320 is in a stressed state driven by the bracket 310; by making the elastic bracket 300 in a stressed state, the stability of the elastic bracket 300 in the third position can be improved by the elastic force; of course, when the elastic bracket 300 is in the third position, the elastic bracket 300 may be in a free state, that is, the first elastic member 320 is in a free state; when the bracket 310 is in the third position, the first elastic member 320 is in a free state, which facilitates the assembly and setting of the elastic bracket 300; when the bracket 310 is in the third position, the first elastic member 320 is in a stressed state, which can enhance the buffering force provided by the elastic bracket 300.
  • the module body 600 is provided with a limiting portion.
  • the limiting portion is configured to limit the swinging of the elastic bracket 300 from the third position toward the side away from the first position.
  • the module body 600 is provided with a limiting portion 630, and the bracket 310 is provided with an abutting portion 314.
  • the abutting portion 314 abuts the limiting portion 630, i.e., the limiting portion 630 limits the swinging of the bracket 310 from the third position toward the side away from the first position.
  • the abutment portion 314 is located at one end of the guide portion 313 away from the support portion 311, and the abutment portion 314 moves under the drive of the guide portion 313, forming a limit on the movement of the abutment portion 314 toward the third position, thereby limiting the bracket 310 at the third position, forming a limit on the rotation range of the bracket 310.
  • the cleaning module further includes a drive assembly 230 configured to drive the cleaning swing arm 200 to swing between a first position and a third position.
  • the drive assembly 230 drives the swing arm body 210 to rotate via the gear set 250 so that the swing arm body 210 is in the extended position relative to the module body 600.
  • the drive assembly 230 drives the swing arm body 210 to rotate to the retracted position via the gear set 250.
  • the module body 600 also includes another drive assembly, and the first end of the swing arm is connected to the drive assembly; the swing arm can be provided with another gear set to achieve the purpose of the drive assembly output shaft driving the cleaning head 220 to rotate at high speed.
  • the rotation speed of the cleaning head 220 can be 500 rpm to 3000 rpm to improve cleaning efficiency and cleaning effect.
  • the rotation speed is, for example, 500 rpm, 800 rpm, 1000 rpm, 2000 rpm, 3000 rpm, etc., which are not listed one by one in this disclosure.
  • the rotation speed of the cleaning head 220 can also be less than 500 rpm or greater than 3000 rpm, and this disclosure does not limit this.
  • the swing arm body 210 may have a receiving space formed therein to allow the gear set to be installed therein.
  • the swing arm body 210 may be in the shape of a rectangular parallelepiped, and the swing arm body 210 may extend in its length direction.
  • the swing arm body 210 may swing in its width direction.
  • the receiving space formed in the thickness direction of the swing arm body 210 may only need to be able to accommodate the gear set, so as to avoid the swing arm body 210 being too large.
  • the swing arm body 210 swings back and forth within a preset angle range, and the preset angle can be 20° ⁇ 120°, such as 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, etc., which are not listed one by one in this disclosure.
  • the driving component that drives the swing arm body 210 to swing and the driving component that drives the cleaning head 220 can be two independent driving components, or a clutch structure can be used to adopt one driving component to achieve the purpose of swinging the swing arm body 210 and driving the cleaning head 220 to rotate.
  • This disclosure does not impose any restrictions on this.
  • a slide rod 240 is provided on the swing arm body 210, and a slide groove 620 is provided on the module body 600.
  • the end of the slide rod 240 is located in the slide groove 620, forming a guide for the swing arm body 210 to swing relative to the module body 600, thereby improving the stability of the swing arm body 210 during swinging.
  • the cleaning module further includes an elastic limiter 400, which is provided on the module body 600.
  • the elastic limiter 400 is configured so that the elastic support 300 is subjected to a greater force when it moves from the first position toward the second position.
  • a buffering force is provided at the same time, thereby improving the buffering effect on the cleaning swing arm 200.
  • a travel limit is formed for the rotation of the support 310 relative to the module body 600, so that the cleaning swing arm 200 can swing to the maximum end position relative to the module body 600, thereby avoiding damage caused by excessive swing angle of the swing arm.
  • the elastic limit member 400 is configured to move between a first limit position and a second limit position.
  • the elastic limit member 400 is in the first limit position; when the elastic bracket 300 is in the second position, the elastic limit member 400 is in the second limit position, so that the elastic limit member 400 only provides a buffering force when the bracket 310 moves from the second position toward the third position, that is, it provides a buffering force when the cleaning swing arm 200 is subjected to external force in the recovery position and swings toward the terminal position.
  • the module body 600 may be provided with a first limiting structure and a second limiting structure, wherein the first limiting structure is configured to limit the movement of the limiting member 410 from the first limiting position toward the side away from the second limiting position, and the second limiting structure is configured to limit the movement of the limiting member 410 from the second limiting position toward the side away from the first limiting position.
  • the second elastic member 420 provides an elastic buffering force when the bracket 310 rotates toward the second position, thereby limiting the bracket 310 to the third position.
  • the first limiting structure and the second limiting structure may be protruding structures on the module body 600 or other detachable structures; of course, the first limiting structure and the second limiting structure may also be omitted, and the second elastic member 420 may limit the rotation range of the limiting member 410 by its own free state and maximum force state, thereby limiting the rotation position of the bracket 310.
  • the elastic limiting member 400 When the elastic limiting member 400 is in the first limiting position, it is in a free state or a stressed state.
  • the free state of the elastic limiting member 400 in the first limiting position facilitates assembly and setting of the elastic limiting member 400; the stressed state of the elastic limiting member 400 in the first limiting position enhances the buffering force provided by the second elastic member 420.
  • the cleaning module further includes: a detection component 500.
  • the detection component 500 is provided on the module body 600, and the detection component 500 is configured to output a first position signal when the cleaning swing arm 200 is in the recovery position, output a second position signal when the cleaning swing arm 200 is in the end position, and output a third position signal when the cleaning swing arm 200 is in the extended position.
  • the cleaning swing arm 200 is in the recovery position and can continue to move to the end position when impacted by an external force.
  • the detection component 500 is arranged relative to the bracket 310.
  • a first position signal is output;
  • a second position signal is output;
  • a third position signal is output.
  • the position of the swing arm body 210 can be output by judging the position of the bracket 310.
  • a positioning portion 312 is provided on the bracket 310, a grating hole 3121 is provided on the positioning portion 312, and the detection component 500 includes an optical signal transmitter 510 and an optical signal receiver 520; when the optical signal emitted by the optical signal transmitter 510 is received by the optical signal receiver 520 through the grating hole 3121, the detection component 500 outputs a first position signal.
  • a first blocking portion 3122 and a second blocking portion 3123 are provided on both sides of the grating hole 3121 on the positioning portion 312.
  • the detection component 500 outputs a second position signal; when the optical signal emitted by the optical signal transmitter 510 is blocked by the second blocking portion 3123, the detection component 500 outputs a third position signal; wherein the second position signal and the third position signal may be the same.
  • the bracket 310 can reciprocate between a first position and a second position.
  • a first position signal is output
  • a second position signal is output.
  • the detection assembly 500 can directly output the second position signal. That is, the detection assembly 500 outputs the second position signal both when the bracket 310 moves from the first position toward the second position and when the bracket 310 is in the second position.
  • the detection assembly 500 may continue to output the second position signal until the bracket 310 is located at the first position, at which time the detection assembly 500 outputs the first position signal.
  • a first position signal is output; when the bracket 310 is located at the second position, a second position signal is output; when the bracket 310 moves from the first position toward the second position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the second position, at which time the detection component 500 outputs the second position signal.
  • the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the second position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.
  • the first position signal is output when the bracket 310 is in the first position
  • the second position signal is output when the bracket 310 is in the second position
  • the detection component 500 outputs a fourth position signal when the bracket 310 is between the first position and the second position, that is, the detection component 500 outputs the fourth position signal when the bracket 310 moves from the first position toward the second position and when the bracket 310 moves from the second position toward the first position.
  • the detection component 500 may output a fourth position signal; when the bracket 310 moves from the second position to the first position, the detection component 500 may output a fifth position signal.
  • the bracket 310 can reciprocate between the first position and the third position.
  • a first position signal is output
  • a third position signal is output.
  • the detection assembly 500 can directly output the third position signal. That is, the detection assembly 500 outputs the third position signal both when the bracket 310 moves from the first position toward the third position and when the bracket 310 is in the third position.
  • the detection assembly 500 may continue to output the third position signal until the bracket 310 is located at the first position, at which time the detection assembly 500 outputs the first position signal.
  • a first position signal is output; when the bracket 310 is located at the third position, a third position signal is output; when the bracket 310 moves from the first position toward the third position, the detection component 500 may continue to output the first position signal until the bracket 310 is located at the third position, at which time the detection component 500 outputs the third position signal.
  • the detection component 500 can directly output the first position signal, that is, when the bracket 310 moves from the third position toward the first position and is located at the first position, the detection component 500 outputs the first position signal.
  • the first position signal is output when the bracket 310 is in the first position
  • the third position signal is output when the bracket 310 is in the third position
  • the detection component 500 outputs a fifth position signal when the bracket 310 is between the first position and the third position, that is, the detection component 500 outputs a sixth position signal when the bracket 310 moves from the first position toward the third position and when the bracket 310 moves from the third position toward the first position.
  • the detection component 500 may output a sixth position signal; when the bracket 310 moves from the third position to the first position, the detection component 500 may output a seventh position signal.
  • the second position signal and the third position signal are the same signal.
  • the first position signal may indicate a switch state of "1" in the detection assembly 500
  • the second position signal and the third position signal may indicate a switch state of "0" in the detection assembly 500.
  • the detection assembly 500 can be used to determine whether the bracket 310 has been retracted to the first position.
  • the second position signal and the third position signal may be different signals, that is, the specific position of the cleaning swing arm 200 may be determined by the first position signal, the second position signal and the third position signal.
  • the detection component 500 is connected to the bracket 310, and the detection component 500 determines the position of the bracket 310 based on the obtained stroke of the bracket 310, that is, the cleaning swing arm 200 pushes the bracket 310 to move, thereby obtaining the rotation stroke of the bracket 310 through the detection component 500 to determine the position of the bracket 310.
  • the detection assembly 500 may include a trigger switch, which can be triggered by the rotation of the bracket 310, so that the switch state of the trigger switch indicates 1 or 0.
  • a trigger switch which can be triggered by the rotation of the bracket 310, so that the switch state of the trigger switch indicates 1 or 0.
  • the switch is triggered when the cleaning swing arm 200 is retracted to the retracted position, and the switch state indicates 1; when the cleaning swing arm 200 is impacted by an external force and continues to retract to the end position, the switch state changes to 0; when the cleaning swing arm 200 is not fully retracted or is pulled out by an external force, the switch state is 0.
  • the detection component 500 can also be set with multiple detection points. After the bracket 310 is connected to the detection component 500, when the bracket 310 is located at different positions, different detection points can be triggered, thereby determining the position information of the cleaning swing arm 200 when it is located at different positions.
  • the embodiments of the present disclosure further provide a cleaning method for a cleaning module, wherein the cleaning module includes a module body 600, a cleaning swing arm 200, and an elastic bracket 300.
  • the cleaning swing arm 200 is rotatably connected to the module body 600, and the elastic bracket 300 is provided on the module body 600.
  • the cleaning swing arm 200 can swing relative to the module body 600 between an extended position, a retracted position, and an end position, wherein the retracted position is located between the extended position and the end position.
  • the cleaning method includes:
  • the cleaning swing arm 200 When the cleaning swing arm 200 swings from the extended position toward the retracted position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the first position under force; when the cleaning swing arm 200 swings from the retracted position toward the end position, the cleaning swing arm 200 pushes the elastic bracket 300 to be located in the second position under force; when the cleaning swing arm 200 swings from the retracted position toward the extended position, the elastic bracket 300 is located in the third position on the side of the first position facing away from the second position.
  • the cleaning method of the cleaning module can enable the cleaning swing arm 200 to be located in the extended position for cleaning operations, and can clean sanitary blind corners such as wall corners and table and chair legs, thereby improving the cleaning effect; the cleaning swing arm 200 can also be located in the retracted position for cleaning operations.
  • the cleaning swing arm 200 encounters an obstacle and collides, the cleaning swing arm 200 is subjected to external force and can swing to the retracted position.
  • the elastic bracket 300 is squeezed by the cleaning swing arm 200 and is in a stressed state.
  • the elastic bracket 300 achieves a buffering effect when the elastic bracket 300 is swung by the external force; further, when the cleaning swing arm 200 is performing a cleaning operation in the retracted position, if it continues to be squeezed by the external environment, the cleaning swing arm 200 continues to squeeze the elastic bracket 300 and swings toward the end position.
  • the elastic bracket 300 further provides a buffering effect, which can effectively buffer the external squeezing force on the cleaning swing arm 200 when it is in the retracted position, thereby improving the reliability of the cleaning swing arm 200 during the swinging process when it is subjected to external force.
  • the cleaning module further includes a detection assembly 500, which is disposed on the module body 600.
  • the cleaning method further includes:
  • the detection assembly 500 When the cleaning swing arm 200 is in the retracted position, the detection assembly 500 outputs a first position signal; when the cleaning swing arm 200 is in the final position, the detection assembly 500 outputs a second position signal; and when the cleaning swing arm 200 is in the extended position, the detection assembly 500 outputs a third position signal.
  • the detection assembly 500 it is possible to determine whether the cleaning swing arm 200 is in the extended position, the retracted position, or the final position, thereby determining the operating state of the cleaning swing arm 200.
  • the detection component 500 is arranged opposite to the bracket 310.
  • the bracket 310 When the bracket 310 is in the first position, it outputs a first position signal; when the bracket 310 is in the second position, it outputs a second position signal; when the elastic bracket 300 is in the third position, it outputs a third position signal.
  • the position of the swing arm body 210 can be output by judging the position of the bracket 310.
  • the cleaning module in this embodiment may be the cleaning module provided in the above-mentioned device embodiment.
  • the cleaning module please refer to the detailed discussion in the device embodiment of the present disclosure.
  • the cleaning device 10 has a cleaning head 220 that can swing within a preset angle range relative to the device body 100 under the drive of the swing arm to perform cleaning operations at the target position, which can improve the coverage of the cleaning area formed by the cleaning head 220, thereby improving the cleaning effect of the cleaning device 10; at the same time, the swing arm is located in the recovery position and can continue to move to the end position when hit by external force, which serves as a safety function to avoid direct damage to the swing arm by external force when working in the recovery position.
  • the cleaning head 220 when the cleaning head 220 is in the recovery position, the cleaning head 220 can perform normal cleaning operations and clean the debris in the cleaning area of the cleaning head 220 to the sewage suction port; when the cleaning head 220 is in the extended position, the cleaning area corresponding to the cleaning head 220 is also extended to the outside of the cleaning equipment 10, and more areas can be cleaned, avoiding the occurrence of cleaning dead corners and improving the cleaning effect of the cleaning equipment 10.
  • the cleaning device 10 when it is necessary to clean corners such as wall corners, if the cleaning head 220 is in the recovery position, the cleaning area of the cleaning head 220 cannot cover the wall corners, resulting in the inability to clean the wall corners, forming a sanitary dead corner; at this time, by making the cleaning head 220 in the extended position, the cleaning head 220 is located outside the cleaning device 10, and the cleaning area formed by the cleaning head 220 is also moved toward the outside of the cleaning device 10, thereby increasing the area of the cleaning area corresponding to the cleaning head 220, thereby achieving the purpose of cleaning sanitary dead corners such as wall corners, and improving the cleaning effect of the cleaning device 10.
  • the cleaning device 10 includes an outer shell, which serves as the shell of the entire machine.
  • the outer shell includes a top cover portion and an annular side wall portion.
  • the top cover portion and the annular side wall portion enclose a receiving space to form a receiving space.
  • the receiving space is used to assemble various modules, such as a drive module, a liquid supply module, a battery module, a control module, a dirt suction module, a mopping module, a sensing module, etc.
  • the drive module can manipulate the cleaning device 10 to travel across the ground in the forward direction based on a drive command with distance and angle information (such as x, y and ⁇ components).
  • the drive module can include a first drive wheel module and a second drive wheel module.
  • the first drive wheel module and the second drive wheel module are arranged along the transverse axis defined by the cleaning device 10, and the extension direction of the transverse axis is the forward direction of the cleaning device 10.
  • the cleaning device 10 may include one or more driven wheels, which include but are not limited to universal wheels.
  • the drive wheel module includes a running wheel and a drive motor and a control circuit for controlling the drive motor.
  • the drive wheel module can also be connected to a circuit and an odometer for measuring the drive current.
  • the drive wheel module can be detachably connected to the bottom shell for convenient disassembly and maintenance.
  • the drive wheel can have a biased drop-down suspension system, fastened in a movably manner, for example, attached in a rotatable manner, connected to the bottom shell, and receive a spring bias that is biased downward and away from the bottom shell.
  • the spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning head 220 of the cleaning device 10 also contacts the ground with a certain pressure.
  • the sensing module includes a position determination device located on the housing, a collision sensor located on the bumper of the forward portion of the housing, a proximity sensor located on the housing, a cliff sensor located at the bottom of the housing, and sensing devices such as a magnetometer, accelerometer, gyroscope, and odometer located within the housing. These sensing devices are used to provide the control module with various position and motion status information of the cleaning device 10.
  • the position determination device may be a camera or a laser rangefinder.
  • control module is provided on a circuit board inside the housing, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, and a communication computing processor, such as a central processing unit, an application processor.
  • the application processor uses a positioning algorithm, such as real-time positioning and map construction, based on the obstacle information fed back by the laser ranging device to draw a real-time map of the environment in which the cleaning device 10 is located.
  • control module is combined with the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensor devices provided on the buffer to comprehensively judge the current working state and position of the cleaning device 10, as well as the current posture of the cleaning device 10, such as passing the threshold, being on the carpet, being on the cliff, being stuck above or below, the suction tank is full, being picked up, etc., and a specific next action strategy is given for different situations, so that the cleaning device 10 has better cleaning performance and user experience.
  • the cleaning equipment 10 is provided with a sewage suction module, which includes a negative pressure fan, a sewage suction box and a sewage suction channel.
  • the outlet of the sewage suction channel is connected to the sewage suction box, and the inlet of the sewage suction channel is exposed from the cover plate.
  • the negative pressure fan is connected to the sewage suction box so that the sewage suction box maintains a negative pressure state when the cleaning equipment 10 performs cleaning operations, thereby making the inlet of the sewage suction channel in a negative pressure state.
  • the cleaning head 220 is arranged adjacent to the sewage suction port. Through the high-speed rotation of the cleaning head 220, the debris can be cleaned to the vicinity of the sewage suction port. Then, due to the negative pressure, the debris is sucked into the sewage suction channel through the sewage suction port and then enters the sewage suction box, thereby realizing the debris cleaning operation on the surface to be cleaned.
  • the sewage suction port is located in the middle position of the bottom of the cleaning device 10, and the cleaning head 220 is located in the front side of the sewage suction port, so that the debris swept by the cleaning head 220 can basically be located in the middle position of the sewage suction port, so that the swept debris can better enter the sewage suction port.
  • the negative pressure provided by the negative pressure fan can be 3000Pa ⁇ 7000Pa to enhance the negative pressure absorption effect of debris.
  • the negative pressures are, for example, 3000Pa, 4000Pa, 5000Pa, 6000Pa, 7000Pa, etc., which are not listed one by one in this disclosure; of course, the negative pressure provided by the negative pressure fan can also be less than 3000Pa or greater than 7000Pa, which is not limited in this disclosure.
  • a roller brush rotating around an axis parallel to the ground can be set at the sewage suction port.
  • the roller brush with a certain interference with the ground sweeps up the debris on the ground and rolls it into the sewage suction channel, and then it is sucked into the sewage suction box by the suction gas generated by the negative pressure fan and passing through the sewage suction box.
  • the cleaning device 10 further includes a mopping module and a liquid supply module.
  • the mopping module includes a wet cleaning head
  • the liquid supply module includes a liquid supply assembly that delivers cleaning liquid to the wet cleaning head.
  • the wet cleaning head can be positioned below the liquid supply assembly, with the cleaning liquid within the liquid supply assembly being transferred to the wet cleaning head via a water supply mechanism, allowing the wet cleaning head to wet clean the surface to be cleaned.
  • the cleaning liquid within the liquid supply assembly can also be sprayed directly onto the surface to be cleaned, with the wet cleaning head cleaning the surface by evenly applying the cleaning liquid.
  • the wet cleaning head can be arranged at the bottom of the cleaning device 10, and the wet cleaning head can be, for example, a cleaning pad arranged parallel to the surface to be cleaned.
  • the wet cleaning head is used to clean the surface to be cleaned, and the driving assembly is used to drive the wet cleaning head to basically reciprocate along the target surface, and the target surface is a part of the surface to be cleaned.
  • the wet cleaning head reciprocates along the surface to be cleaned, and the contact surface between the wet cleaning head and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned.
  • the friction frequency is close to that of sound waves, and the cleaning effect will be much higher than that of rotational friction cleaning of dozens of revolutions per minute.
  • the hair tufts on the surface of the wet cleaning head will extend in the same direction more uniformly under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of just applying downward pressure to increase friction and improve the cleaning effect under low-frequency rotation.
  • the downward pressure alone will not make the hair tufts extend in nearly the same direction.
  • the effect is that the water marks on the surface to be cleaned after high-frequency vibration cleaning are more uniform, and no messy water stains are left.
  • the battery module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery.
  • the rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit.
  • the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip microcomputer control circuit.
  • the cleaning device 10 can be charged by connecting a charging station to a charging electrode located on the body, such as on the side, bottom, or top of the body.

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  • Cleaning In General (AREA)

Abstract

本公开提供了一种清洁模组、清洁模组的清洁方法与清洁设备，清洁模组包括：模组本体、清洁摆臂和弹性支架，所述清洁摆臂与所述模组本体转动连接，所述清洁摆臂相对所述模组本体能够在伸出位置、回收位置和终止位置之间摆动，所述回收位置位于所述伸出位置与所述终止位置之间；所述弹性支架设于所述模组本体上；当所述清洁摆臂位于所述回收位置，所述清洁摆臂推动所述弹性支架位于处于拉伸状态的第一位置；当所述清洁摆臂位于所述终止位置，所述清洁摆臂推动所述弹性支架位于处于拉伸状态的第二位置；当所述清洁摆臂位于所述伸出位置，所述弹性支架位于所述第一位置远离所述第二位置一侧的第三位置。本公开提供的清洁模组，清洁摆臂能够两次回位。

Description

清洁模组、清洁模组的清洁方法与清洁设备
相关申请的交叉引用
本申请要求于2024年03月29日递交的、名称为《清洁模组、清洁模组的清洁方法与清洁设备》的中国专利申请第202410383586.8号，以及于2024年03月29日递交的、名称为《清洁模组与清洁设备》的中国专利申请第202420647554.X号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及智能家具技术领域，具体而言，涉及一种清洁模组、清洁模组的清洁方法与清洁设备。
背景技术
随着现代社会的发展，现在越来越多的人的生活重心都投入在工作中，人们很少有时间对家庭卫生进行清洁，而家庭卫生每天的清洁维护又时刻影响着人们的生活质量，为了节省时间，保持家庭卫生，越来越多的人开始购买清洁设备，以便及时、方便地对家庭内部卫生做清理。清洁设备能凭借一定的人工智能，自动在房间内完成地面的清理工作。
相关技术中的清洁设备多为扫地机器人，扫地机器人执行清洁任务过程中，清洁机器人摆臂上的清洁头实现对地面的有效清扫。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
本公开的目的在于提供一种清洁模组、清洁模组的清洁方法与清洁设备。
根据本公开的一个方面，提供了一种清洁模组，该清洁模组包括：
模组本体；
清洁摆臂，所述清洁摆臂与所述模组本体转动连接，所述清洁摆臂相对所述模组本体能够在伸出位置、回收位置和终止位置之间摆动，所述回收位置位于所述伸出位置与所述终止位置之间；
弹性支架，所述弹性支架设于所述模组本体上；当所述清洁摆臂位于所述回收位置，所述清洁摆臂推动所述弹性支架位于处于受力状态的第一位置；当所述清洁摆臂位于所述终止位置，所述清洁摆臂推动所述弹性支架位于处于受力状态的第二位置；当所述清洁摆臂位于所述伸出位置，所述弹性支架位于所述第一位置远离所述第二位置一侧的第三位置。
在本公开的一种示例性实施例中，所述清洁模组所包括的清洁摆臂包括摆臂本体与清洁头，所述摆臂本体的一端与所述模组本体转动连接，所述清洁头设于所述摆臂本体的另一端上。
在本公开的一种示例性实施例中，所述清洁模组还包括：
探测组件，所述探测组件设于所述模组本体上，所述探测组件被配置为当所述清洁摆臂位于所述回收位置时输出第一位置信号，当所述清洁摆臂位于所述终止位置时输出第二位置信号，当所述清洁摆臂位于所述伸出位置时输出第三位置信号。
在本公开的一种示例性实施例中，所述探测组件与所述弹性支架相对设置，当所述弹性支架位于所述第一位置时输出所述第一位置信号，当所述弹性支架位于所述第二位置时输出所述第二位置信号，当所述弹性支架位于所述第三位置时输出所述第三位置信号。
在本公开的一种示例性实施例中，所述弹性支架包括支架和第一弹性件，所述支架与所述第一弹性件连接，所述第一弹性件在所述支架的带动下处于受力状态。
在本公开的一种示例性实施例中，所述支架包括支撑部和定位部，所述定位部上设有光栅孔，所述探测组件包括光信号发射器和光信号接收器；当所述光信号发射器发出的光信号通过所述光栅孔被所述光信号接收器接收后，所述探测组件输出所述第一位置信号。
在本公开的一种示例性实施例中，在所述支架的转动方向上，所述定位部上所述光栅孔的两侧设有遮挡部，当所述光信号发射器发出的光信号被所述遮挡部遮挡后，所述探测组件输出所述第二位置信号或所述第三位置信号，所述第二位置信号与所述第三位置信号相同。
在本公开的一种示例性实施例中，所述支架还包括导向部，所述模组本体上设有导向槽，所述导向部位于所述导向槽中；所述支架在所述第一位置、所述第二位置与所述第三位置之间切换时，所述导向槽形成对所述导向部运动的限位。
在本公开的一种示例性实施例中，所述清洁模组还包括：
弹性限位件，所述弹性限位件设于所述模组本体上，所述弹性限位件被配置为所述弹性支架从所述第一位置朝向所述第二位置的方向移动时受力变大。
在本公开的一种示例性实施例中，所述弹性限位件被配置为在第一限位位置和第二限位位置之间运动，当所述弹性支架位于所述第一位置，所述弹性限位件位于所述第一限位位置；当所述弹性支架位于所述第二位置，所述弹性限位件位于所述第二限位位置。
在本公开的一种示例性实施例中，当所述弹性限位件位于所述第一限位位置时，所述弹性限位件处于自由状态或受力状态。
在本公开的一种示例性实施例中，所述弹性限位件包括限位件和第二弹性件，所述限位件与所述第二弹性件连接，所述第二弹性件被配置为在所述限位件的带动下能够处于受力状态或自由状态。
在本公开的一种示例性实施例中，所述模组本体上设有第一限位结构和第二限位结构，所述第一限位结构被配置为限制所述限位件从所述第一限位位置朝向远离所述第二限位位置一侧运动，所述第二限位结构被配置为限制所述限位件从所述第二限位位置朝向远离所述第一限位位置一侧运动。
在本公开的一种示例性实施例中，所述清洁模组还包括：
驱动组件，所述驱动组件被配置为驱动所述清洁摆臂在所述第一位于所述第三位置之间摆动。
在本公开的一种示例性实施例中，所述模组本体上设有限位部，当所述弹性支架位于所述第三位置，所述限位部被配置为形成对所述弹性支架从所述第三位置朝向远离所述第一位置一侧摆动的限位。
在本公开的一种示例性实施例中，所述清洁摆臂位于所述第三位置时，所述清洁摆臂与所述弹性支架间隔设置。
在本公开的一种示例性实施例中，所述清洁摆臂位于所述伸出位置时，所述清洁摆臂与所述弹性支架接触设置。
根据本公开的另一个方面，提供了一种清洁模组的清洁方法，所述清洁模组包括模组本体、清洁摆臂与弹性支架，所述清洁摆臂与所述模组本体转动连接，所述弹性支架设于所述模组本体上；所述清洁摆臂相对所述模组本体能够在伸出位置、回收位置和终止位置之间摆动，所述回收位置位于所述伸出位置与所述终止位置之间；所述清洁方法包括：
在所述清洁摆臂从所述伸出位置朝向所述回收位置摆动时，使所述清洁摆臂推动所述弹性支架位于处于受力状态的第一位置；当所述清洁摆臂从所述回收位置朝向所述终止位置摆动时，使所述清洁摆臂推动所述弹性支架位于处于受力状态的第二位置；当所述清洁摆臂从所述回收位置朝向所述伸出位置摆动时，使所述弹性支架位于所述第一位置朝向远离所述第二位置的一侧的第三位置。
在本公开的一种示例性实施例中，所述清洁模组还包括探测组件，所述探测组件设于所述模组本体上；所述清洁方法还包括：
当所述清洁摆臂位于所述回收位置时，通过所述探测组件输出第一位置信号；当所述清洁摆臂位于所述终止位置时，通过所述探测组件输出第二位置信号；当所述清洁摆臂位于所述伸出位置时，通过所述探测组件输出第三位置信号。
根据本公开的又一个方面，提供了一种清洁设备，该清洁设备包括上述任一实施例所述清洁模组。
本公开提供的清洁模组，清洁摆臂可位于伸出位置进行清洁作业，增加了清洁面积，能够对墙角、桌椅腿等卫生死角区域进行清洁作业，进而提升了清洁效果；清洁摆臂也可位于回收位置进行清洁作业，当清洁摆臂遇到障碍物发生碰撞时，清洁摆臂受到外力可摆动至回收位置，在摆动至回收位置的过程中，弹性支架受到清洁摆臂的挤压处于受力状态，则通过弹性支架实现了对弹性支架受到外力而摆动时的缓冲作用；进一步地，在清洁摆臂在回收位置进行清洁作业时，若受到外界的挤压，清洁摆臂继续推动弹性支架朝向终止位置进行摆动，在清洁摆臂朝向终止位置进行摆动时，弹性支架进一步提供缓冲作用，有效地缓冲了清洁摆臂在回收位置时受到的外界挤压力，提升了清洁摆臂受到外力时在摆动过程中的可靠性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开的一种实施例提供的清洁设备的示意图。
图2为本公开的一种实施例提供的清洁设备的主视图。
图3为本公开的一种实施例提供的清洁摆臂位于回收位置的示意图。
图4为本公开的一种实施例提供的清洁摆臂位于伸出位置的示意图。
图5为本公开的一种实施例提供的清洁摆臂的示意图。
图6为本公开的一种实施例提供的清洁模组中清洁摆臂位于回收位置的示意图。
图7为本公开的一种实施例提供的清洁模组中清洁摆臂位于回收位置时的局部打开放大图。
图8为本公开的一种实施例提供的清洁模组中清洁摆臂位于回收位置时的探测组件打开后的局部放大图。
图9为本公开的一种实施例提供的清洁模组中清洁摆臂位于终止位置的示意图。
图10为本公开的一种实施例提供的清洁模组中清洁摆臂位于终止位置时的局部打开放大图。
图11为本公开的一种实施例提供的清洁模组中清洁摆臂位于终止位置时的探测组件打开后的局部放大图。
图12为本公开的一种实施例提供的清洁模组中清洁摆臂位于伸出位置的示意图。
图13为本公开的一种实施例提供的清洁模组中清洁摆臂位于伸出位置时的局部打开放大图。
图14为本公开的一种实施例提供的清洁模组中清洁摆臂位于伸出位置时的探测组件打开后的局部放大图。
图15为本公开的一种实施例提供的弹性限位件的示意图。
图16为本公开的一种实施例提供的弹性摆臂的局部打开爆炸图。
附图标记说明：
10、清洁设备；
100、设备本体；
200、清洁摆臂；210、摆臂本体；220、清洁头；230、驱动组件；240、滑杆；
250、齿轮组；
300、弹性支架；310、支架；311、支撑部；312、定位部；3121、光栅孔；3122、
第一遮挡部；3123、第二遮挡部；313、导向部；314、抵接部；320、第一弹性件；
400、弹性限位件；410、限位件；420、第二弹性件；
500、探测组件；510、光信号发射器；520、光信号接收器；
600、模组本体；610、导向槽；620、滑槽；630、限位部。
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的实施方式；相反，提供这些实施方式使得本公开将全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。图中相同的附图标记表示相同或类似的结构，因而将省略它们的详细描述。
虽然本说明书中使用相对性的用语，例如“上”“下”来描述图标的一个组件对于另一组件的相对关系，但是这些术语用于本说明书中仅处于方便，例如根据附图中所述的示例的方向。能理解的是，如果将图标的装置翻转使其上下颠倒，则所叙述在“上”的组件将会成为在“下”的组件。当某结构在其它结构“上”时，有可能是指某结构一体形成于其它结构上，或指某结构“直接”设置在其它结构上，或指某结构通过另一结构“间接”设置在其它结构上。
用语“一个”、“一”、“该”、“所述”和“至少一个”用以表示存在一个或多个要素/组成部分/等；用语“包括”和“具有”用以表示开放式的包括在内的意思并且是指除了列出的要素/组成部分/等之外还可存在另外的要素/组成部分/等；用语“第一”、“第二”和“第三”等仅作为标记使用，不是对其对象的数量限制。
如图1～图4所示，清洁设备10包括设备本体100和清洁模组，清洁模组的摆清洁摆臂200的一端可转动地装配于设备本体100上，摆臂相对设备本体100通过摆动能够位于回收位置、伸出位置和终止位置；清洁摆臂200的自由端上设有清洁头220，通过清洁头220实现清洁作业；该清洁设备10例如可为拖地/刷地机器人、真空吸地机器人、爬窗机器人等。
本公开的实施例提供了一种清洁模组，如图5～图14所示，清洁模组包括：模组本体600、清洁摆臂200和弹性支架300，清洁摆臂200的一端与模组本体600转动连接，清洁摆臂200相对模组本体600能够通过摆动位于伸出位置、回收位置和终止位置，回收位置位于伸出位置与终止位置之间；弹性支架300设于模组本体600上，当清洁摆臂200位于回收位置，清洁摆臂200推动弹性支架300位于处于受力状态的第一位置；当清洁摆臂200位于终止位置，清洁摆臂200推动弹性支架300位于处于受力状态的第二位置；当清洁摆臂200位于伸出位置，弹性支架300位于第一位置远离第二位置一侧的第三位置。
本公开提供的清洁模组，清洁摆臂200可位于伸出位置进行清洁作业，增加了清洁面积，能够对墙角、桌椅腿等卫生死角区域进行清洁作业，进而提升了清洁效果；清洁摆臂200也可位于回收位置进行清洁作业，当清洁摆臂200遇到障碍物发生碰撞时，清洁摆臂200受到外力可摆动至回收位置，在摆动至回收位置的过程中，弹性支架300受到清洁摆臂200的挤压处于受力状态，则通过弹性支架300实现了对弹性支架300受到外力而摆动时的缓冲作用；进一步地，在清洁摆臂200在回收位置进行清洁作业时，若受到外界的挤压，清洁摆臂200继续推动弹性支架300朝向终止位置进行摆动，在清洁摆臂200朝向终止位置进行摆动时，弹性支架300进一步提供缓冲作用，有效地缓冲了清洁摆臂200在回收位置时受到的外界挤压力，提升了清洁摆臂200受到外力时在摆动过程中的可靠性。
在一个实施例中，如图7、图10和图13所示，弹性支架300包括支架310和第一弹性件320，支架310与第一弹性件320连接，第一弹性件320在支架310的带动下能够处于受力状态或自由状态。
其中，第一弹性件320可为弹簧，弹簧的一端与模组本体600连接，另一端与支架310连接。当支架310在第三位置朝向第一位置运动的过程中，以及第一位置朝向第二位置运动的过程中，支架310持续对弹性产生拉伸作用力，使得弹簧处于拉伸状态。
如图8、图11和图14所示，支架310包括支撑部311和导向部313，支撑部311用于与清洁摆臂200抵接；模组本体600上设有导向槽610，导向部313位于导向槽610中；支架310在所述第一位置、第二位置与第三位置之间切换时，导向槽610形成对导向部313运动的限位。通过导向部313与导向槽610的设置，提升了支架310在模组本体600上转动的稳定性和可靠性，在支架310对清洁摆臂200提供缓冲作用力时，能够更加稳定地对清洁摆臂200提供支撑作用力，从而提升清洁摆臂200受到外力作用回位时的稳定性。
其中，如图8、图11和图14所示，支撑部311的一端与模组本体600转动连接，另一端与导向部313连接，即导向部313与支撑部311的转动端位于支撑部311相反的两端，能够避免支撑部311受到清洁摆臂200挤压后出现错位的情况，从而能够进一步提升支撑部311的稳定性。
如图12所示，清洁摆臂200位于伸出位置时，清洁摆臂200与弹性支架300间隔设置，即清洁摆臂200位于伸出位置时，清洁摆臂200与弹性支架300不存在作用力，清洁摆臂200进行正常清洁作用，在清洁摆臂200朝向回收位置摆动时，清洁摆臂200推动弹性支架300处于受力状态，从而通过弹性支架300提供缓冲效果。当然，清洁摆臂200位于伸出位置时，清洁摆臂200也可与弹性支架300接触设置，即弹性支架300可持续对清洁摆臂200提供弹性作用力，能够提升清洁摆臂200在伸出位置进行清洁作业时的稳定性。
其中，当弹性支架300位于第三位置，弹性支架300可处于受力状态，即第一弹性件320在支架310的带动下处于受力状态；通过使弹性支架300处于受力状态，能够通过弹性力提高弹性支架300在第三位置时的稳定性；当然，当弹性支架300位于第三位置，弹性支架300可处于自由状态，即第一弹性件320处于自由状态；使支架310位于第三位置时第一弹性件320处于自由状态，便于弹性支架300的装配和设定；使支架310位于第三位置时第一弹性件320处于受力状态，能够提升弹性支架300所提供的缓冲作用力。
其中，模组本体600上设有限位部，当弹性支架300位于第三位置，限位部被配置为形成对弹性支架300从第三位置朝向远离第一位置一侧摆动的限位。如图7～图14所示，模组本体600上设有限位部630，支架310上设有抵接部314，当支架310位于第三位置，抵接部314与限位部630抵接在一起，即通过限位部630形成支架310从第三位置朝向远离第一位置一侧摆动的限位。
其中，抵接部314位于导向部313远离支撑部311的一端，抵接部314在导向部313的带动下进行运动，形成对抵接部314朝向第三位置一侧移动的限位，从而将支架310限位在第三位置，形成对支架310转动范围的限位。
如图5和图16所示，清洁模组还包括：驱动组件230，驱动组件230被配置为驱动清洁摆臂200在第一位于第三位置之间摆动。当清洁头220需要伸出去进行清洁作业时，驱动组件230通过齿轮组250驱动摆臂本体210进行转动，以相对模组本体600位于伸出位置；当清洁头220需要位于回收位置进行清洁作业时，可通过驱动组件230通过齿轮组250驱动摆臂本体210转动至回收位置。
其中，模组本体600还包括另一驱动组件，摆臂的第一端与驱动组件连接；摆臂中可通过设置另一齿轮组，实现驱动组件输出轴驱动清洁头220高速转动的目的，清洁头220的转速可为500转/分钟～3000转/分钟，以提升清洁效率和清洁效果，转速例如500转/分钟、800转/分钟、1000转/分钟、2000转/分钟、3000转/分钟等，本公开在此不一一列举。当然，清洁头220的转速也可小于500转/分钟或大于3000转/分钟，本公开对此不做限制。
其中，摆臂本体210中可形成容纳空间，以将齿轮组安装于摆臂本体210中。摆臂本体210可呈类长方体，摆臂本体210的延伸方向可为其长度方向，摆臂本体210在其宽度方向上进行摆动，摆臂本体210在厚度方向的形成的容纳空间，能够容纳齿轮组即可，以避免摆臂本体210的尺寸过大。
其中，摆臂本体210在预设角度范围内进行往复摆动，预设角度可为20°～120°，例如20°、30°、40°、50°、60°、70°、80°、90°、100°、110°、120°等，本公开在此不一一列举。
其中，驱动摆臂本体210摆动的驱动组件与驱动清洁头220的驱动组件可为两个独立的驱动组件，或者通过离合器结构以采用一个驱动组件实现对摆臂本体210摆动与驱动清洁头220转动的目的，本公开对此不做限制。
其中，如图14所示，摆臂本体210上设有滑杆240，模组本体600上设有滑槽620，滑杆240的端部位于滑槽620中，形成了摆臂本体210相对模组本体600摆动的导向，提升了摆臂本体210摆动时的稳定性。
在一个实施例中，如图6～图14所示，清洁模组还包括：弹性限位件400，弹性限位件400设于模组本体600上，弹性限位件400被配置为弹性支架300从第一位置朝向第二位置的方向移动时受力变大。通过弹性限位件400的设置，在支架310从第一位置朝向第二位置的方向移动时，第一弹性件320与弹性限位件400同时受力变大，即同时提供缓冲作用力，提升了对清洁摆臂200的缓冲效果；同时，通过设置限位件410，形成对支架310相对模组本体600转动的行程限制，从而使清洁摆臂200相对模组本体600能够最大摆动至终止位置，避免了摆臂摆动角度过大造成损坏。
其中，如图15所示，弹性限位件400包括限位件410和第二弹性件420，限位件410与第二弹性件420连接，第二弹性件420被配置为在限位件410的带动下能够处于受力状态或自由状态。如图15所示，第二弹性件420可为扭簧，限位件410可带动扭簧产生扭转力。通过设置扭簧与限位件410配合，一方面可减少弹性限位件400占用的空间，另一方面可提升第二弹性件420所能提供的弹性作用力。当然，第二弹性件420也可为弹簧、缓冲橡胶等弹性件，本公开对此不做限制。
其中，弹性限位件400被配置为在第一限位位置和第二限位位置之间运动，当弹性支架300位于第一位置，弹性限位件400位于第一限位位置；当弹性支架300位于第二位置，弹性限位件400位于第二限位位置，使得弹性限位件400仅在支架310从第二位置朝向第三位置运动时提供缓冲作用力，即在清洁摆臂200在回收位置受到外力朝向终止位置摆动时提供缓冲作用力。
其中，模组本体600上可设有第一限位结构和第二限位结构，第一限位结构被配置为限制限位件410从第一限位位置朝向远离第二限位位置一侧运动，第二限位结构被配置为限制限位件410从第二限位位置朝向远离第一限位位置一侧运动。通过第一限位结构和第二限位结构，使得第二弹性件420在支架310朝向第二位置转动时提供弹性缓冲作用力，将支架310限位在第三位置。第一限位结构和第二限位结构可为模组本体600上的凸出结构或可拆卸设置的其他结构；当然，也可不设置第一限位结构和第二限位结构，通过第二弹性件420自身的自由状态和最大受力状态，限制限位件410的转动范围，从而限制支架310转动的位置。
其中，当弹性限位件400位于第一限位位置时，弹性限位件400处于自由状态或受力状态。使弹性限位件400位于第一限位位置处于自由状态，便于弹性限位件400的装配和设定；使弹性限位件400位于第一限位位置处于受力状态，能够提升第二弹性件420所提供的缓冲作用力。
在一个实施例中，如图6～图14所示，清洁模组还包括：探测组件500。探测组件500设于模组本体600上，探测组件500被配置为当清洁摆臂200位于回收位置时输出第一位置信号，当清洁摆臂200位于终止位置时输出第二位置信号，当清洁摆臂200位于伸出位置时输出第三位置信号。清洁摆臂200位于回收位置，在受到外力撞击时能够继续移动到终止位置，作为保险功能，避免清洁摆臂200在回收位置工作时受到外力撞击直接损坏；通过设置探测组件500，以实现对清洁摆臂200位于伸出位置、回收位置或终止位置的确定，从而判断清洁摆臂200的工作状态。
在一个实施例中，探测组件500与支架310相对设置，当支架310位于第一位置时输出第一位置信号，当支架310位于第二位置时输出第二位置信号，当弹性支架300位于第三位置时输出第三位置信号，即可通过支架310位置的判断输出摆臂本体210的位置。
其中，如图8、图11和图14所示，支架310上设有定位部312，定位部312上设有光栅孔3121，探测组件500包括光信号发射器510和光信号接收器520；当光信号发射器510发出的光信号通过光栅孔3121被光信号接收器520接收后，探测组件500输出第一位置信号。
其中，如图8、图11和图14所示，在支架310的转动方向上，定位部312上光栅孔3121的两侧设有第一遮挡部3122和第二遮挡部3123，当光信号发射器510发出的光信号被第一遮挡部3122遮挡后，探测组件500输出第二位置信号；当光信号发射器510发出的光信号被第二遮挡部3123遮挡后，探测组件500输出第三位置信号；其中，第二位置信号与第三位置信号可相同。
在一个实施例中，支架310在第一位置与第二位置之间可往复运动，当支架310位于第一位置时输出第一位置信号，当支架310位于第二位置时输出第二位置信号。在支架310离开第一位置朝向第二位置移动时，探测组件500可直接输出第二位置信号，即支架310离开第一位置朝向第二位置移动以及位于第二位置时，探测组件500均输出第二位置信号。
其中，当支架310离开第二位置朝向第一位置移动时，探测组件500可继续输出第二位置信号，直至支架310位于第一位置时，探测组件500输出第一位置信号。
在一个实施例中，当支架310位于第一位置时输出第一位置信号，当支架310位于第二位置时输出第二位置信号，在支架310离开第一位置朝向第二位置移动时，探测组件500可继续输出第一位置信号，直至支架310位于第二位置时，探测组件500输出第二位置信号。
其中，当支架310离开第二位置朝向第一位置移动时，探测组件500可直接输出第一位置信号，即支架310离开第二位置朝向第一位置移动以及位于第一位置时，探测组件500均输出第一位置信号。
在一个实施例中，当支架310位于第一位置时输出第一位置信号，当支架310位于第二位置时输出第二位置信号，当支架310位于第一位置与第二位置之间时探测组件500输出第四位置信号，即在支架310离开第一位置朝向第二位置移动时，以及支架310离开第二位置朝向第一位置移动时探测组件500均输出第四位置信号。
其中，当支架310离开第一位置朝向第二位置移动时，探测组件500可输出第四位置信号；当支架310离开第二位置朝向第一位置移动时，探测组件500可输出第五位置信号。
在一个实施例中，支架310在第一位置与第三位置可往复运动，当支架310位于第一位置时输出第一位置信号，当支架310位于第三位置时输出第三位置信号。在支架310离开第一位置朝向第三位置移动时，探测组件500可直接输出第三位置信号，即支架310离开第一位置朝向第三位置移动以及位于第三位置时，探测组件500均输出第三位置信号。
其中，当支架310离开第三位置朝向第一位置移动时，探测组件500可继续输出第三位置信号，直至支架310位于第一位置时，探测组件500输出第一位置信号。
在一个实施例中，当支架310位于第一位置时输出第一位置信号，当支架310位于第三位置时输出第三位置信号，在支架310离开第一位置朝向第三位置移动时，探测组件500可继续输出第一位置信号，直至支架310位于第三位置时，探测组件500输出第三位置信号。
其中，当支架310离开第三位置朝向第一位置移动时，探测组件500可直接输出第一位置信号，即支架310离开第三位置朝向第一位置移动以及位于第一位置时，探测组件500均输出第一位置信号。
在一个实施例中，当支架310位于第一位置时输出第一位置信号，当支架310位于第三位置时输出第三位置信号，当支架310位于第一位置与第三位置之间时探测组件500输出第五位置信号，即在支架310离开第一位置朝向第三位置移动时，以及支架310离开第三位置朝向第一位置移动时探测组件500均输出第六位置信号。
其中，当支架310离开第一位置朝向第三位置移动时，探测组件500可输出第六位置信号；当支架310离开第三位置朝向第一位置移动时，探测组件500可输出第七位置信号。
在一个实施例中，第二位置信号与第三位置信号为相同信号。例如，第一位置信号可为探测组件500中的开关状态显示“1”，第二位置信号和第三位置信号可为探测组件500中的开关状态显示“0”。通过探测组件500，可判断支架310是否回收到位以位于第一位置。
当然，第二位置信号与第三位置信号可为不同的信号，即通过第一位置信号、第二位置信号和第三位置信号即可判断出清洁摆臂200的具体位置。
在另一个实施例中，探测组件500与支架310连接，探测组件500根据获取支架310的行程以确定支架310的位置，即通过清洁摆臂200推动支架310运动，从而通过探测组件500获取支架310的转动行程以确定支架310的位置。
其中，探测组件500可包括触发时开关，通过支架310的转动可触发开关，以使触发式开关的开关状态显示1或开关状态显示0。例如当第二位置信号与第三位置信号相同时，当清洁摆臂200在回收到回收位置时触发开关，开关状态显示1；在清洁摆臂200受到外力撞击继续回收到终止位置时，开关状态变为0；当清洁摆臂200在回收不到位或受到外力拉出时，开关状态为0。
其中，探测组件500也可设置多个检测点位，支架310与探测组件500连接后，当支架310位于不同位置时，可触发不同的检测点位，从而确定出清洁摆臂200位于不同位置时的位置信息。
本公开的实施例还提供了一种清洁模组的清洁方法，清洁模组包括模组本体600、清洁摆臂200与弹性支架300，清洁摆臂200与模组本体600转动连接，弹性支架300设于模组本体600上；清洁摆臂200相对模组本体600能够在伸出位置、回收位置和终止位置之间摆动，回收位置位于伸出位置与终止位置之间；清洁方法包括：
在清洁摆臂200从伸出位置朝向回收位置摆动时，使清洁摆臂200推动弹性支架300位于处于受力状态的第一位置；当清洁摆臂200从回收位置朝向终止位置摆动时，使清洁摆臂200推动弹性支架300位于处于受力状态的第二位置；当清洁摆臂200从回收位置朝向伸出位置摆动时，使弹性支架300位于第一位置朝向远离第二位置的一侧的第三位置。
本公开提供的清洁模组的清洁方法，能够使清洁摆臂200位于伸出位置进行清洁作业，能够对墙角、桌椅腿等卫生死角区域进行清洁作业，提升了清洁效果；清洁摆臂200也可位于回收位置进行清洁作业，当清洁摆臂200遇到障碍物发生碰撞时，清洁摆臂200受到外力可摆动至回收位置，在摆动至回收位置的过程中，弹性支架300受到清洁摆臂200的挤压处于受力状态，则通过弹性支架300实现了对弹性支架300受到外力而摆动时的缓冲作用；进一步地，在清洁摆臂200在回收位置进行清洁作业时，若持续受到外界的挤压，清洁摆臂200继续挤压弹性支架300朝向终止位置进行摆动，在清洁摆臂200朝向终止位置进行摆动时，弹性支架300进一步提供缓冲作用，能够有效地缓冲清洁摆臂200在回收位置时受到的外界挤压力，提升清洁摆臂200受到外力时在摆动过程中的可靠性。
其中，清洁模组还包括探测组件500，探测组件500设于模组本体600上；清洁方法还包括：
当清洁摆臂200位于回收位置时，通过探测组件500输出第一位置信号；当清洁摆臂200位于终止位置时，通过探测组件500输出第二位置信号；当清洁摆臂200位于伸出位置时，通过探测组件500输出第三位置信号。通过设置探测组件500，以实现对清洁摆臂200位于伸出位置、回收位置或终止位置的确定，从而判断清洁摆臂200的工作状态。
其中，探测组件500与支架310相对设置，当支架310位于第一位置时输出第一位置信号，当支架310位于第二位置时输出第二位置信号，当弹性支架300位于第三位置时输出第三位置信号，即可通过支架310位置的判断输出摆臂本体210的位置。
本方式实施例中的清洁模组可为上述装置实施例中提供的清洁模组，关于清洁模组的更多的细节参见本公开装置实施例中的详细论述。
本公开的实施例还提供了一种清洁设备10，如图1～图4所示，清洁设备10包括：设备本体100和上述实施例提供的清洁模组，清洁模组的摆臂的第一端可转动地装配于设备本体100上，摆臂相对设备本体100通过摆动能够位于回收位置、伸出位置和终止位置；摆臂的第二端上设有清洁头220。
本公开提供的清洁设备10，清洁头220在摆臂的带动下可相对设备本体100进行预设角度范围内的摆动，以在目标位置进行清洁作业，能够提升清洁头220形成的清洁区域覆盖，从而提升清洁设备10的清洁效果；同时，摆臂位于回收位置在受到外力撞击时能够继续移动到终止位置，作为保险功能，避免摆臂在回收位置工作时受到外力撞击直接损坏。
其中，在清洁头220位于回收位置时，清洁头220可进行正常清扫作业，将清洁头220清扫区域内的杂物清扫至吸污口；在清洁头220位于伸出位置时，清洁头220对应的清扫区域也扩展至清洁设备10外侧，能够对更多区域进行清扫作业，避免了出现清扫死角，提升了清洁设备10的清扫效果。例如，清洁设备10整体呈类圆形时，当需要对墙角等角落进行清扫时，此时若清洁头220位于回收位置，则清洁头220的清扫区域无法覆盖墙角，导致无法对墙角处进行清扫作业，形成了卫生死角；此时，通过使清洁头220位于伸出位于，使得清洁头220位于清洁设备10外围，进而使得清洁头220形成的清扫区域也朝向清洁设备10外围移动，提升了清洁头220对应的清扫区域面积，从而实现对墙角等卫生死角进行清扫的目的，提升了清洁设备10的清洁效果。
在一个实施例中，清洁设备10包括外壳，外壳作为整机壳体，当清洁设备10整体呈圆形、椭圆形、类圆形等形状时，外壳包括有顶盖部和环形侧壁部，顶盖部与环形侧壁部围合形成容纳空间，容纳空间用于装配各种模组，例如驱动模组、供液模组、电池模组、控制模组、吸污模组、拖地模组、感应模组等。
在一个实施例中，驱动模组可基于具有距离和角度信息(例如x、y及θ分量)的驱动命令而操纵清洁设备10跨越地面沿前进方向行驶。驱动模组可以包含第一驱动轮模块和第二驱动轮模块。第一驱动轮模块和第二驱动轮模块沿着由清洁设备10界定的横向轴设置，横向轴的延伸方向即为清洁设备10的前进方向。为了清洁设备10能够在地面上更为稳定地运动或者更强的运动能力，清洁设备10可以包括一个或者多个从动轮，从动轮包括但不限于万向轮。驱动轮模块包括行走轮和驱动马达以及控制驱动马达的控制电路，驱动轮模块还可以连接测量驱动电流的电路和里程计。驱动轮模块可以可拆卸地连接到底壳上，方便拆装和维修。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接，连接到底壳，且接收向下及远离底壳偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时清洁设备10的清洁头220也以一定的压力接触地面。
在一个实施例中，感应模组包括位于壳体上的位置确定装置、设置于壳体的前向部分的缓冲器上的碰撞传感器、设置于壳体上的近距离传感器，设置于壳体下部的悬崖传感器，以及设置于壳体内部的磁力计、加速度计、陀螺仪、里程计等传感装置，用于向控制模组提供清洁设备10的各种位置信息和运动状态信息。位置确定装置可为摄像头、激光测距装置。
在一个实施例中，控制模组设置在壳体内的电路主板上，包括有非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如即时定位与地图构建，绘制清洁设备10所在环境中的即时地图。并且结合缓冲器上所设置传感器、悬崖传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断清洁设备10当前处于何种工作状态、位于何位置，以及清洁设备10当前位姿等，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，吸污箱满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得清洁设备10有更好地清扫性能和用户体验。
在一个实施例中，清洁设备10上设有吸污模组，吸污模组包括负压风机、吸污箱与吸污通道，吸污通道的出口与吸污箱连通，吸污通道的进口从盖板露出，负压风机与吸污箱连通，以使清洁设备10进行清扫作业时吸污箱保持负压状态，从而使吸污通道的进口处处于负压状态。
其中，清洁头220与吸污口相邻设置，通过清洁头220高速转动，可将杂物清扫至吸污口附近，接着杂物由于负压作用通过吸污口吸入吸污通道，进而进入到吸污箱中，实现对待清洁面的杂物清扫作业。
其中，如图5所示，吸污口位于清洁设备10底部的中间位置，清洁头220位于吸污口的侧前方，以使清洁头220清扫过来的杂物能够基本上位于吸污口的中间位置，从而使得清扫过来的杂物能够更好地进入到吸污口中。
其中，负压风机提供的负压可为3000Pa～7000Pa，以提升对杂物的负压吸收效果，负压例如3000Pa、4000Pa、5000Pa、6000Pa、7000Pa等，本公开在此不一一列举；当然，负压风机提供的负压也可小于3000Pa或大于7000Pa，本公开对此不做限制。
其中，吸污口处还可设置绕平行于地面的轴旋转的滚刷，与地面具有一定干涉的滚刷将地面上的杂物扫起并卷带进吸污通道，然后被负压风机产生并经过吸污箱的有吸力的气体吸入吸污箱。
在一个实施例中，清洁设备10还包括拖地模组和供液模组，拖地模组包括湿式清洁头，供液模组包括供液组件，供液组件将清洗液体送入湿式清洁头。湿式清洁头可以设置于供液组件下方，供液组件内部的清洁液通过送水机构传输至湿式清洁头，以使湿式清洁头对待清洁平面进行湿式清洁。当然，供液部内部的清洁液也可以直接喷洒至待清洁平面，湿式清洁头通过将清洁液涂抹均匀实现对平面的清洁。
其中，湿式清洁头可以设置于清洁设备10的底部，湿式清洁头例如可以是平行于待清洁表面设置的清洁垫。湿式清洁头用于清洁待清洁表面，驱动组件用于驱动湿式清洁头沿着目标面基本上往复运动的，目标面为待清洁表面的一部分。湿式清洁头沿待清洁表面做往复运动，湿式清洁头与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。摩擦频率越高，代表单位时间内的摩擦次数越多，高频往复运动，清洁能力要远大于普通的往复运动，比如转动，摩擦清洗，可选地，摩擦频率接近声波，清洁效果会远高于每分钟几十圈的转动摩擦清洗。另一方面，湿式清洁头表面的毛簇会在高频震动的抖动下更加整齐划一朝同一方向延展，因此整体清洁效果更加均匀，而不是在低频率转动的情况下仅仅被施加下压力增大摩擦力而提高清洁效果，仅仅下压力并不会使毛簇们朝接近同一方向延展，在效果上的体现就是高频震动清洁后的待清洁表面水痕更加均匀，不会留下混乱的水渍。
在一个实施例中，电池模组包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。清洁设备10可以通过设置在机身上，例如机身侧方、机身底部或者机身顶部的充电电极与充电桩连接进行充电。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由所附的权利要求指出。

Claims (19)

  1. 一种清洁模组，其特征在于，包括：
    模组本体；
    清洁摆臂，所述清洁摆臂与所述模组本体转动连接，所述清洁摆臂相对所述模组本体在伸出位置、回收位置和终止位置之间摆动，其中，所述回收位置位于所述伸出位置与所述终止位置之间；以及
    弹性支架，所述弹性支架设于所述模组本体上，其中，
    当所述清洁摆臂位于所述回收位置，所述清洁摆臂推动所述弹性支架位于处于受力状态的第一位置，
    当所述清洁摆臂位于所述终止位置，所述清洁摆臂推动所述弹性支架位于处于受力状态的第二位置，
    当所述清洁摆臂位于所述伸出位置，所述弹性支架位于所述第一位置远离所述第二位置一侧的第三位置。
  2. 根据权利要求1所述的清洁模组，其中，所述清洁模组还包括：
    探测组件，所述探测组件设于所述模组本体上，所述探测组件被配置为：
    当所述清洁摆臂位于所述回收位置时输出第一位置信号，
    当所述清洁摆臂位于所述终止位置时输出第二位置信号，以及
    当所述清洁摆臂位于所述伸出位置时输出第三位置信号。
  3. 根据权利要求2所述的清洁模组，其中，所述探测组件与所述弹性支架相对设置，
    当所述弹性支架位于所述第一位置时，所述探测组件输出所述第一位置信号，
    当所述弹性支架位于所述第二位置时，所述探测组件输出所述第二位置信号，
    当所述弹性支架位于所述第三位置时，所述探测组件输出所述第三位置信号。
  4. 根据权利要求3所述的清洁模组，其中，所述弹性支架包括支架和第一弹性件，所述支架与所述第一弹性件连接，所述第一弹性件在所述支架的带动下处于受力状态。
  5. 根据权利要求4所述的清洁模组，其中，所述支架包括支撑部和定位部，所述定位部上设有光栅孔，所述探测组件包括光信号发射器和光信号接收器；当所述光信号发射器发出的光信号通过所述光栅孔被所述光信号接收器接收后，所述探测组件输出所述第一位置信号。
  6. 根据权利要求5所述的清洁模组，其中，在所述支架的转动方向上，所述定位部上所述光栅孔的两侧设有遮挡部，当所述光信号发射器发出的光信号被所述遮挡部遮挡后，所述探测组件输出所述第二位置信号或所述第三位置信号，所述第二位置信号与所述第三位置信号相同。
  7. 根据权利要求4所述的清洁模组，其中，所述支架还包括导向部，所述模组本体上设有导向槽，所述导向部位于所述导向槽中；所述支架在所述第一位置、所述第二位置与所述第三位置之间切换时，所述导向槽形成对所述导向部运动的限位。
  8. 根据权利要求1所述的清洁模组，其中，所述清洁模组还包括：
    弹性限位件，所述弹性限位件设于所述模组本体上，所述弹性限位件被配置为所述弹性支架从所述第一位置朝向所述第二位置的方向移动时受力变大。
  9. 根据权利要求8所述的清洁模组，其中，所述弹性限位件被配置为在第一限位位置和第二限位位置之间运动，当所述弹性支架位于所述第一位置，所述弹性限位件位于所述第一限位位置；当所述弹性支架位于所述第二位置，所述弹性限位件位于所述第二限位位置。
  10. 根据权利要求9所述的清洁模组，其中，当所述弹性限位件位于所述第一限位位置时，所述弹性限位件处于自由状态或受力状态。
  11. 根据权利要求9所述的清洁模组，其中，所述弹性限位件包括限位件和第二弹性件，所述限位件与所述第二弹性件连接，所述第二弹性件被配置为在所述限位件的带动下能够处于受力状态或自由状态。
  12. 根据权利要求11所述的清洁模组，其中，所述模组本体上设有第一限位结构和第二限位结构，所述第一限位结构被配置为限制所述限位件从所述第一限位位置朝向远离所述第二限位位置一侧运动，所述第二限位结构被配置为限制所述限位件从所述第二限位位置朝向远离所述第一限位位置一侧运动。
  13. 根据权利要求1所述的清洁模组，其中，所述清洁模组还包括：
    驱动组件，所述驱动组件被配置为通过齿轮组驱动所述清洁摆臂摆动至所述伸出位置或所述回收位置。
  14. 根据权利要求1所述的清洁模组，其中，所述模组本体上设有限位部，当所述弹性支架位于所述第三位置，所述限位部被配置为形成对所述弹性支架从所述第三位置朝向远离所述第一位置一侧摆动的限位。
  15. 根据权利要求1所述的清洁模组，其中，所述清洁摆臂位于所述伸出位置时，所述清洁摆臂与所述弹性支架间隔设置。
  16. 根据权利要求1所述的清洁模组，其中，所述清洁摆臂位于所述伸出位置时，所述清洁摆臂与所述弹性支架接触设置。
  17. 一种清洁模组的清洁方法，其中，所述清洁模组包括模组本体、清洁摆臂与弹性支架，所述清洁摆臂与所述模组本体转动连接，所述弹性支架设于所述模组本体上；所述清洁摆臂相对所述模组本体能够在伸出位置、回收位置和终止位置之间摆动，所述回收位置位于所述伸出位置与所述终止位置之间；所述清洁方法包括：
    在所述清洁摆臂从所述伸出位置朝向所述回收位置摆动时，使所述清洁摆臂推动所述弹性支架位于处于受力状态的第一位置；当所述清洁摆臂从所述回收位置朝向所述终止位置摆动时，使所述清洁摆臂推动所述弹性支架位于处于受力状态的第二位置；当所述清洁摆臂从所述回收位置朝向所述伸出位置摆动时，使所述弹性支架位于所述第一位置远离所述第二位置的一侧的第三位置。
  18. 根据权利要求17所述的清洁方法，其中，所述清洁模组还包括探测组件，所述探测组件设于所述模组本体上；所述清洁方法还包括：
    当所述清洁摆臂位于所述回收位置时，通过所述探测组件输出第一位置信号；当所述清洁摆臂位于所述终止位置时，通过所述探测组件输出第二位置信号；当所述清洁摆臂位于所述伸出位置时，通过所述探测组件输出第三位置信号。
  19. 一种清洁设备，其中，包括权利要求1～16任一项所述清洁模组。
PCT/CN2025/082347 2024-03-29 2025-03-13 清洁模组、清洁模组的清洁方法与清洁设备 Pending WO2025201075A1 (zh)

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CN118078140A (zh) * 2024-03-29 2024-05-28 北京石头世纪科技股份有限公司 清洁模组、清洁模组的清洁方法与清洁设备
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