Cleaning device

Abstract

The utility model provides cleaning equipment. The cleaning equipment comprises a machine body; the cleaning assembly is movably connected to the machine body, the cleaning assembly comprises a cleaning disc and a first cleaning piece arranged on the cleaning disc, and the side brush and the cleaning assembly are located on the front side and the rear side of the advancing direction of the machine body respectively; the at least one first driving structure is used for driving the side brush and the cleaning assembly, so that the side brush and the cleaning assembly have an inward retracting position and an outward swinging position relative to the machine body, and under driving of the at least one first driving structure, the side brush and the cleaning assembly are both located at the outward swinging position or the inward retracting position, or the side brush and the cleaning assembly are located at the outward swinging position or the outward swinging position; one of the side brush and the cleaning assembly is located at an inward-retracting position, and the other is located at an outward-swinging position. According to the cleaning equipment, the side brush and the cleaning assembly can stretch out of the outer side of the machine body to clean corner areas outside the machine body, the cleaning range of the cleaning equipment is expanded, cleaning dead corners are avoided, and the use experience of a user is improved.

Description

[0001] This application claims the priority of the Chinese patent application filed with the China Patent Office on December 11, 2023, with application number 202323371141.8 and application name “Cleaning Robot”, the Chinese patent application filed with the China Patent Office on January 13, 2024, with application number 202410050718.5 and application name “Control Method, Device, Equipment, Medium and Product of Cleaning Equipment”, the PCT international application filed with the China Patent Office on June 14, 2023, with international application number PCT / CN2023 / 100210 and application name “Cleaning Equipment”, and the PCT international application filed with the China Patent Office on June 14, 2023, with international application number PCT / CN2023 / 100199 and application name “Control Method, Cleaning Equipment and Storage Medium of Cleaning Equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of cleaning appliances, and in particular to a cleaning device. Background Art

[0003] With the continuous improvement of living conditions and scientific and technological levels, cleaning equipment has the advantages of easy use and good cleaning effect. Therefore, cleaning equipment has gradually begun to replace manual cleaning and widely appears in life and work. Cleaning equipment mainly collects dirt on the surface to be cleaned through cleaning parts such as roller brushes or rags.

[0004] However, the cleaning components on the current cleaning equipment are designed to be fixed on the body, resulting in the cleaning equipment being unable to mop the edge when mopping the floor along the edge. Dirty marks are formed along the edge of the house wall for a long time, resulting in a poor user experience. Utility Model Content

[0005] In view of the above problems, an embodiment of the present application provides a cleaning device, whose side brush and cleaning component can be extended out of the body to clean areas that are difficult to clean, such as corners outside the body, thereby expanding the cleaning range of the cleaning device and improving the user experience.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] An embodiment of the present application provides a cleaning device, comprising: a body; a cleaning component and a side brush, wherein the cleaning component is movably connected to the body, the cleaning component comprises a cleaning disc and a first cleaning member arranged on the cleaning disc, the side brush and the cleaning component are respectively located at the front and rear sides of the moving direction of the body; at least one first driving structure, wherein the at least one first driving structure is used to drive the side brush and the cleaning component so that the side brush and the cleaning component have a retracted position and an outward swing position relative to the body, and under the drive of at least one first driving structure, both the side brush and the cleaning component are in the outward swing position or the retracted position, or, one of the side brush and the cleaning component is in the retracted position and the other is in the outward swing position.

[0008] According to the cleaning device of the embodiment of the present application, a side brush and a cleaning component are provided. The side brush is usually used for performing dry cleaning, and the cleaning component is usually used for performing dry cleaning or wet cleaning. The side brush and the cleaning component have a retracted position and an outward swing position, respectively. The first driving structure can drive any one of the side brush and the cleaning component to switch between the outward swing position and the retracted position. In this way, the side brush and the cleaning component can be extended outward from the body as needed to clean the corners and other areas outside the body that are not easy to clean, thereby expanding the cleaning range of the cleaning device, avoiding the existence of cleaning dead corners, and improving the user experience. In addition, the side brush and the cleaning component can be swung outward, so that the corner area can be cleaned in a way of sweeping first and then mopping, thereby improving the cleaning experience of the corners; further, the cleaning component usually has a fixed shape and is fixed to the mop bracket, for example, the cleaning component is formed into a circular structure, and when cleaning the corners, the cleaning component can only perform in-depth cleaning in a limited number of scenarios. In the scenario where the cleaning component cannot perform in-depth cleaning, the side brush can be used to perform cleaning in the corners, thereby avoiding cleaning dead corners and improving the user experience.

[0009] In some embodiments, the cleaning device includes at least one swingable cleaning component and at least one swingable side brush, wherein the swingable cleaning component and the swingable side brush are located on the same side relative to the traveling direction of the machine body.

[0010] In this way, the cleaning component and the side brush can be swung out from the same side of the body to clean the corner areas outside the body. The corner areas on the same side can be cleaned by sweeping first and then mopping, which can avoid the cleaning component and the side brush being located on both sides of the moving direction of the body. When the cleaning component and the side brush need to clean the area on the same side of the body, the body needs to be controlled to turn, which can simplify the control method and improve the cleaning efficiency. In addition, for the corner areas that one of the side brush and the cleaning component cannot clean, the other can perform supplementary cleaning in time to improve the cleaning effect.

[0011] In some embodiments, the at least one first driving structure includes a first mop driving unit, and the first mop driving unit is used to drive the cleaning component to switch between the retracted position and the outward swing position relative to the body.

[0012] Thus, in this embodiment, a driving unit is configured for the swinging action of the cleaning component, which can drive the cleaning component to move between the retracted position and the outward swing position. The swing control principle of the cleaning component is relatively simple and easy to implement. In addition, it is also conducive to independently controlling the outward swing range of the cleaning component, so that the outward swing range of the cleaning component can be flexibly set, thereby improving the cleaning effect of corners.

[0013] In some embodiments, a moving channel is provided at the bottom of the body, the cleaning component is arranged below the moving channel, at least part of the structure of the first mop drive unit is located in the moving channel, and moves along the moving channel to drive the cleaning component to move between the retracted position and the outward swing position.

[0014] By setting up a moving channel, a dedicated swinging space can be divided for the cleaning component to avoid interference with other structures, while also making the swinging of the cleaning component smoother and more reliable. In addition, the moving channel can at least partially guide the outward swinging path of the cleaning component, making the outward swinging of the cleaning component smoother.

[0015] In some embodiments, the at least one first driving structure includes a first side brush driving unit, and the first side brush driving unit is used to drive the side brush to switch between the retracted position and the outward swing position relative to the body.

[0016] Thus, in this embodiment, a driving unit is configured for the swinging action of the side brush, which can independently drive the side brush to move between the retracted position and the outward swing position, so that the outward swing of the cleaning component and the swinging action of the side brush do not interfere with each other, and the motion control of the two can be adjusted independently. The swinging control principle of the side brush is relatively simple and easy to implement. In addition, it is also beneficial to independently control the outward swing range of the side brush, so that the outward swing range of the side brush can be flexibly set, thereby improving the cleaning effect on corners.

[0017] In some embodiments, the side wall of the cleaning device is provided with a notch, and the side brush switches between the retracted position and the outward swing position via the notch. The cleaning device also includes a collision assembly, and the collision assembly includes a collision plate arranged on the body, and the collision plate at least covers the front side wall of the body. When the collision plate contacts an obstacle, the collision plate is subjected to force and displaced to detect a collision, wherein the notch is provided on the collision plate.

[0018] In this way, the collision plate is at the front end of the machine body along the direction of travel, and can first contact and detect obstacles. In addition, by providing a notch on the collision plate, it is possible to avoid interference and collision between the side brush and the collision plate when the side brush moves between the retracted position and the outward swing position. The notch can provide a larger movement space for the side brush. In addition, the side brush is swung outward from the side wall of the machine body, so that the side brush is set higher relative to the vertical direction of the machine body, which is conducive to increasing the height of the side brush from the ground, thereby reducing the contact area between the side brush and the cleaning surface, reducing the friction between the side brush and the cleaning surface, and improving the cleaning effect of the side brush.

[0019] In some embodiments, the body includes a bottom shell, the impact plate extends at least to the bottom shell in the vertical direction, the notch is located in the lower half of the impact plate, and a notch is provided on the bottom shell, and the notch is connected to the notch to at least partially form a accommodating cavity for accommodating the side brush.

[0020] In this embodiment, the striker plate is extended to the chassis, which can better protect the chassis from the impact of external obstacles, and can also enhance the connection stability between the striker plate and the body. In addition, the notch is connected to the gap, so that when the side brush is in the retracted position, the accommodating cavity can at least partially accommodate the side brush, so that the side brush and the body are better embedded, and the structure is compact and beautiful.

[0021] In some embodiments, when the cleaning component and the side brush are both in the outward swing position, the swing range of the side brush is greater than the swing range of the cleaning component; and / or the side brush is further away from the edge of the body relative to the cleaning component.

[0022] This helps to maximize the cleaning needs of the outer space of the machine, and to arrange the cleaning components and side brushes in a reasonable manner according to their volume and structure, making full use of the machine space. In addition, the side brush is farther away from the machine, which helps to move the garbage far away from the machine to the inside of the machine, taking into account both the cleaning range and the cleaning effect.

[0023] In some embodiments, the cleaning device further comprises at least one second driving structure, and the at least one second driving structure is used to drive the side brush and the cleaning component to move for cleaning.

[0024] In this way, it is possible to provide driving force for the side brush and the cleaning assembly to perform cleaning.

[0025] In some embodiments, the at least one second driving structure comprises a second mop driving unit, and the second mop driving unit is at least used to drive the cleaning component to move for cleaning.

[0026] In this way, by configuring a driving unit for the cleaning action of the cleaning component, the cleaning action of the cleaning component and the swinging action of the cleaning component can be prevented from interfering with each other, which is also beneficial to simplifying the cleaning control principle of the cleaning component and making it easier to implement.

[0027] In some embodiments, the first mop drive unit includes a first swing arm, which is rotatably provided on the body around a first rotation axis; the cleaning device includes a first lifting structure, which is used to drive the cleaning component to move between a lifting position and a mopping position, wherein the height of the cleaning component in the lifting position is higher than that in the mopping position; the first mop drive unit is used to drive at least part of the first lifting structure to swing, so as to drive the cleaning component to swing.

[0028] In this way, the cleaning component can swing between the retracted position and the outward swing, and can be raised and lowered between the mopping position and the raised position; and when the cleaning component is not needed to mop the floor, the cleaning component can be raised to the raised position and separated from the surface to be cleaned. This allows the position of the cleaning component to be adaptively adjusted according to various work scenarios, and the cleaning range and cleaning position of the cleaning component to be flexibly adjusted.

[0029] In some embodiments, the second mop drive unit includes a first rotary motor that drives the cleaning component to move, and the second mop drive unit and the first lifting structure share the first rotary motor.

[0030] In this way, the integration of the second mop driving unit and the first lifting structure can be improved, and the overall occupied space can be reduced.

[0031] In some embodiments, the first lifting structure includes: a first fixed body and a second fixed body, the first fixed body is connected to the first rotating motor, the first fixed body and the second fixed body are threadedly matched, the bottom of the second fixed body is provided with a mounting portion, and the top of the cleaning disc is connected to the mounting portion; when the first rotating motor rotates along the first direction, the second fixed body rotates upward relative to the first fixed body, and the second fixed body drives the cleaning component to be lifted from the mopping position to the lifting position; when the first rotating motor rotates along the second direction, the second fixed body rotates downward relative to the first fixed body, and the second fixed body drives the cleaning component to descend from the lifting position to the mopping position; when the cleaning component is in the mopping position, the first rotating motor rotates along the second direction, the second fixed body and the first fixed body have no relative movement, and the second fixed body drives the cleaning component to move to clean the surface to be cleaned.

[0032] In this way, the lifting and lowering of the cleaning component is achieved through the spiral structure, and the lifting structure of the cleaning component is simple and reliable. The lifting and lowering of the cleaning component is achieved by the first rotating motor rotating in the first direction and the second direction, and when the cleaning component is in the mopping position, it keeps rotating in the second direction to achieve self-rotation cleaning in the mopping position, so that the self-rotation and lifting movement of the cleaning component share one motor, and the overall structure is simple and reliable, and easy to implement.

[0033] In some embodiments, when the cleaning component is in the mopping position, the cleaning component is driven by the first driving structure to switch between the outward swing position and the retracted position; and / or, when the cleaning component is in the retracted position, the cleaning component is driven by the second driving structure to switch between the raised position and the mopping position.

[0034] In this way, the switch between the swing-out position and the retracted position is performed in the mopping position, avoiding the switch between the swing-out position and the retracted position in the lifting position, which may cause interference between the cleaning component and the machine body; the switch between the lifting position and the mopping position is performed in the retracted position, avoiding the lifting and lowering in the swing-out position, which may cause the cleaning component to be in the swing-out position when not in use, thereby increasing the risk of collision. In addition, it can be ensured that the cleaning component can directly clean the surface to be cleaned in both the swing-out position and the retracted position.

[0035] In some embodiments, the at least one second driving structure includes a second side brush driving unit, and the second side brush driving unit is used to drive the side brush to move for cleaning.

[0036] In this way, by configuring a driving unit for the cleaning action of the side brush, the cleaning action of the side brush and the swinging action of the side brush can be made non-interfering with each other, which is also beneficial to simplifying the cleaning control principle of the side brush and making it easier to implement.

[0037] In some embodiments, the cleaning device includes at least one downward-looking sensor arranged on the rear side of the side brush, and when the side brush rotates for cleaning, there is a state of blocking the downward-looking sensor; the second side brush drive unit is used to stop the rotation of the side brush when the side brush is in a position not blocking the downward-looking sensor.

[0038] In this way, the side brush has a larger cleaning range, so that the side brush has a state of blocking the downward-looking sensor. The second side brush driving unit is configured to stop the side brush from rotating when the side brush is in a position where it does not block the downward-looking sensor, so that when the side brush is not working and the cleaning component is working, that is, in the single-drag mode, the downward-looking sensor can continue to work without being interfered by the side brush.

[0039] In some embodiments, the side brush has a cleaning position in contact with the surface to be cleaned, and a lifted position separated from the surface to be cleaned; the cleaning device includes a side brush assembly, the side brush assembly includes a side brush housing and a second cleaning member at least partially contained in the side brush housing, when the side brush housing and the second cleaning member are in a first relative motion state, the side brush housing and the second cleaning member move synchronously; when the side brush housing and the second cleaning member are in a second relative motion state, the side brush housing and the second cleaning member produce relative motion, and the second cleaning member switches between the cleaning position and the lifted position under the contact force of the side brush housing, the second cleaning member including the side brush; the second side brush drive unit is used to drive the side brush housing and the second cleaning member to move synchronously, or produce relative motion.

[0040] In this way, the position of the side brush relative to the cleaning surface can be flexibly controlled according to the working conditions only by adjusting the relative movement state of the side brush housing and the cleaning element, so as to avoid contamination of the cleaning surface by dirt on the side brush, resulting in low cleaning efficiency. It can also improve the adaptability of the cleaning equipment to the environment and help improve the user experience.

[0041] In some embodiments, the second side brush drive unit includes a second rotating motor. When the side brush is in a cleaning position and the second rotating motor rotates in a first direction, the side brush housing and the second cleaning member move synchronously, and the second cleaning member cleans the surface to be cleaned. When the side brush is in a cleaning position and the second rotating motor rotates in a second direction, the side brush housing and the second cleaning member move relative to each other, and the second cleaning member is lifted.

[0042] In this way, the side brush can be switched from the first relative motion state to the second relative motion state and from the cleaning position to the raised position only by the second rotating motor, so that the overall structure is relatively simple, easy to implement and low in cost.

[0043] In some embodiments, the side brush housing has a mounting cavity and an extension port connected to the mounting cavity, the second cleaning member is partially disposed in the mounting cavity, and the extension port is suitable for allowing the second cleaning member to extend out, and when the side brush housing and the second cleaning member generate relative movement, at least one of the extension length of the second cleaning member relative to the outside of the side brush housing or the height relative to the surface to be cleaned can be changed, so that the second cleaning member is raised or lowered relative to the surface to be cleaned.

[0044] In this way, the second cleaning member can be implemented in various ways and can better meet the usage requirements. In addition, by changing the length of the part of the second cleaning member that extends out of the side brush shell, the height of the second cleaning member from the ground can be affected, so that the space required to be occupied by the side brush in the height direction can be smaller, the axial space of the side brush can be saved, and the cleaning equipment can flexibly set the position of the side brush. The specific structure of the second cleaning member can be flexibly selected according to actual needs.

[0045] In some embodiments, the second side brush drive unit also includes a one-way bearing and an output shaft, the inner ring of the one-way bearing is connected to the second cleaning member, the inner ring of the bearing is configured to rotate along a first direction, and the output shaft is connected to the side brush housing so that the side brush housing rotates with the rotation direction of the first motor.

[0046] In this way, the second cleaning member and the side brush housing can both rotate synchronously in the first direction driven by the first motor, and the side brush housing can also rotate in the second direction driven by the first motor, thereby generating relative movement with the second cleaning member, and the implementation method is relatively simple and low cost.

[0047] In some embodiments, the first side brush drive unit includes a second swing arm, which is rotatably disposed on the body around a second rotation axis; the side brush is disposed on the second swing arm to follow the second swing arm to move between a retracted position and an outward swing position.

[0048] By setting the second swing arm, the second swing arm has a certain extension length, which can provide an installation support position for the side brush and also facilitate the transport of the side brush to the outward swing position to clean the area outside the machine body.

[0049] In some embodiments, the first side brush drive unit includes: a first drive mechanism, at least the driving force of the first drive mechanism drives the second swing arm to move around the second rotation axis, so that the second swing arm moves toward one of the outward swing position and the retracted position; a second drive mechanism, at least the driving force of the second drive mechanism drives the second swing arm to move toward the other of the outward swing position and the retracted position; wherein, the first drive mechanism includes a first elastic member, one end of the first elastic member is connected to the second swing arm, and the other end of the first elastic member is relatively fixed to the body; the first elastic member drives the second swing arm from the outward swing position to the retracted position by its own elastic force; the second drive mechanism includes a driving member, the driving member is configured to rotate relative to the body, when the driving member rotates around the first direction, at least partially overcomes the elastic force of the first elastic member, so as to push the second swing arm from the retracted position to the outward swing position; when the driving member rotates around the second direction, the first elastic member drives the second swing arm from the outward swing position to the retracted position by its own elastic force; wherein, the first direction and the second direction are opposite.

[0050] In this way, the second swing arm moves between the retracted position and the outward swing position under the driving action of the first drive mechanism and the second drive mechanism respectively, so as to meet the cleaning needs of different scenes, increase the cleaning range, avoid cleaning dead corners, and enhance the user experience.

[0051] In some embodiments, the driving member includes a driving body and a driving portion, wherein the driving portion is connected to the driving body and is eccentrically arranged relative to the rotation axis of the driving member, so as to push the second swing arm to move from the outward swing position to the retracted position when the driving member rotates around its own axis, and the second swing arm has a contact surface matching the driving portion, and when the driving member rotates along the first direction around the second rotation axis, the driving portion is suitable for pushing the contact surface to move the second swing arm from the outward swing position to the retracted position, wherein when the second swing arm is located at the retracted position, the second swing arm applies a force to the matching portion under the drive of the first driving mechanism, and the direction of the force applied by the second swing arm to the matching portion points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

[0052] In this way, the driving body can provide mounting support for the driving part, and the swing arm can be driven to move through the cooperation between the driving part and the abutting surface, and the structure of the driving part is relatively simple and easy to manufacture. In addition, the second swing arm can be stably locked in the retracted position, and the reliability is high.

[0053] In some embodiments, the second swing arm includes an outer side surface and an inner side surface of the swing arm, the side brush is arranged at the outer end of the second swing arm, and the second swing arm includes a flexible member, the flexible member is arranged on the outer side surface of the swing arm and / or the inner side surface of the swing arm, or the flexible member at least partially covers the outer end of the second swing arm.

[0054] In this way, the flexible member can deform to a certain extent when the second swing arm collides with the body or other structures, so as to better absorb the collision energy and play a role in buffering and noise reduction.

[0055] In some embodiments, the cleaning device further includes: a water replenishing mechanism, the cleaning component is configured to perform wet cleaning on the surface to be cleaned, and the water replenishing mechanism is used to provide liquid to the cleaning component at least when the cleaning component is in the retracted position and the outward swing position.

[0056] In this way, when the cleaning component is in the retracted position and the swung-out position for cleaning, the water replenishing mechanism can always provide liquid to the cleaning component, so that the cleaning component can perform wet cleaning.

[0057] In some embodiments, the cleaning assembly includes a cleaning plate on which the first cleaning member is installed; the cleaning plate has a hollow area; the water replenishing mechanism has at least one water outlet, which is arranged on the body, and the liquid flowing out of the water outlet passes through the hollow area to provide liquid to the first cleaning member.

[0058] By providing the hollow area, it can be ensured that the liquid flowing out from the water outlet on the upper side of the cleaning disc reaches the first cleaning member, replenishing water for the first cleaning member to ensure smooth wet cleaning.

[0059] In some embodiments, when the cleaning component is in the retracted position and the swung-out position, at least a portion of the water outlet is in communication with the hollow area.

[0060] In this way, the water outlet is not blocked when the cleaning component is in the retracted position or the swung out position, and the water outlet can always be kept connected with the hollow area, thereby continuously and stably supplying water to the first cleaning part of the cleaning component.

[0061] In some embodiments, when the cleaning component is in the retracted position, the outward swing position and the swinging position, at least a portion of the water outlet is connected to the hollow area, wherein the swinging position is any position of the cleaning component between the retracted position and the outward swing position.

[0062] In this way, by setting a suitable position for the water outlet, when the cleaning component is in any position, it can be ensured that the hollow area and the water outlet are connected, thereby providing a stable water supply to the cleaning component.

[0063] In some embodiments, the hollow area forms an annular channel, and when the cleaning component switches between the retracted position and the outward swing position, the water outlet is connected to different channel sections of the annular channel.

[0064] In some embodiments, the cleaning component has a mopping position and a lifting position, and when the cleaning component is in the lifting position, the water replenishing mechanism does not replenish water to the cleaning component.

[0065] Since the cleaning component is separated from the surface to be cleaned and no longer cleans the surface to be cleaned when the cleaning component is in the raised position, the water replenishing mechanism does not replenish water to the cleaning component to avoid wasting water resources and to prevent liquid from falling and contaminating the surface to be cleaned.

[0066] In some embodiments, the water replenishment mechanism has at least one overflow hole, and the water tank of the water replenishment mechanism and the hollow area are both connected to the overflow hole.

[0067] In this way, excess water in the water tank can be discharged through the overflow hole, and the water from the overflow hole flows through the hollow area to further replenish liquid to the cleaning component, thereby avoiding waste of liquid.

[0068] In some embodiments, a deformation portion is provided on the periphery of the cleaning disk, and the deformation portion includes a plurality of deformation holes provided on the periphery of the cleaning disk, and the deformation portion can be deformed by force.

[0069] In this way, in this embodiment, a deformation part is set on the circumference of the cleaning disk. When the cleaning component is retracted or swung out, or when the cleaning component is in the swung out position, even if it collides with the machine body or other structures at a certain movement speed, it can absorb the impact energy through its own deformation to achieve shock absorption and noise reduction effects. Moreover, the way it is set on the outer ring of the cleaning disk has a simple structure and is easy to implement. In addition, the deformation hole can provide a deformation space, and the deformation hole is used to increase the deformation amount and enhance the collision buffering effect.

[0070] In some embodiments, the multiple deformation holes are distributed along the circumference of the cleaning disc; the cleaning disc includes a disc body, the inner end of the deformation portion is wrapped or sleeved on the outer peripheral edge of the disc body, and the deformation portion is arranged in a ring around the edge of the disc body, or the inner end of the deformation portion is integrally formed on the outer periphery of the disc body, and the deformation portion is arranged in a ring around the edge of the disc body.

[0071] In this way, the deformed portion can better protect the cleaning disc inside and better play a role in buffering and noise reduction.

[0072] In some embodiments, when the cleaning component is in the swing-out position, or in the process of switching between the retracted position and the swing-out position, when the cleaning component contacts an obstacle, the deformation portion can be deformed by an external force.

[0073] In this way, when the cleaning component is in the outward swing position, or in the process of switching between the retracted position and the outward swing position, when the cleaning component collides with the outside world, the collision energy can be absorbed by setting the deformation part, thereby achieving the purpose of buffering and noise reduction.

[0074] In some embodiments, the cleaning disc includes at least one spoke, on which a bonding structure is provided for mounting the first cleaning member; at least one of the spokes is provided between the deformation hole and the hollow area.

[0075] In this way, the first cleaning member can be installed by using the spokes, which facilitates the replacement of the first cleaning member; and the spokes can also be used to connect the deformation holes and the hollow areas to ensure the overall structural strength.

[0076] In some embodiments, the deformation portion is a soft rubber structure.

[0077] In this way, the deformation portion has a higher deformation capacity to better absorb and buffer the collision energy, and the cost is lower.

[0078] In some embodiments, the first driving structure is used to drive the side brush and the cleaning component to be in the retracted position at the same time when the cleaning device is in a first preset working scene, and the first preset working scene includes at least part of the scene of returning to the base station, cleaning device navigation, cleaning device map creation and cleaning device execution of a bow-shaped cleaning route; when the cleaning device is in a second preset working scene, the first driving structure drives the side brush and the cleaning component to be in the outward swing position at the same time for cleaning; when the cleaning device is in a third preset working scene, the first driving structure drives one of the side brush and the cleaning component to be in the outward swing position and the other to be in the retracted position.

[0079] In this way, the cleaning device can flexibly switch the positions of the side brush and the cleaning component according to the working scene to meet the cleaning needs of the corresponding scene. In addition, in the first preset scene, the side brush and the cleaning component are kept in the retracted position to avoid the problem of collision when in the outward swing position.

[0080] In some embodiments, when the cleaning device is in the second preset working scene, the first driving structure drives the side brush and the cleaning component to be in the outward swing position for cleaning, so that the side brush and the cleaning component in the outward swing position clean the first obstacle along the edge, wherein the second preset working scene is a scene in which the first obstacle exists on the cleaning path of the cleaning device when the cleaning device performs a cleaning task, and the first obstacle includes at least one of the following: table and chair legs, columnar objects, and flower pots.

[0081] In this way, when there is a first obstacle such as table and chair legs, columnar objects, flower pots, etc. on the cleaning path of the cleaning equipment, the side brush and the cleaning assembly can be controlled to be in the outward swing position to perform dry cleaning and wet cleaning on the area around the first obstacle respectively.

[0082] In some embodiments, the third preset working scenario is that there is a second obstacle on the edge cleaning path of the cleaning device that requires the cleaning device to turn, and when the cleaning device is in the third preset working scenario, the first drive structure drives the side brush to be in an outward swing position, and the cleaning component is in an inward retracted position to clean the angle between the edge cleaning path and the second obstacle; and / or, the third preset working scenario is that the cleaning device performs edge cleaning on a third obstacle, and the third obstacle has a cavity that can be reached when the side brush is in the outward swing position, and the first drive structure drives the side brush to be in an outward swing position, and the cleaning component is in an inward retracted position to perform edge cleaning on the third obstacle, wherein the depth of the side brush entering the cavity in the outward swing position is greater than the depth of the side brush entering the cavity in the retracted position.

[0083] In this way, compared with the side brush in the retracted position to clean the angle between the edge cleaning path and the preset obstacle, the side brush in the outward swing position can better clean the corner area, thereby improving the user experience. The side brush can be used to clean the angle between the edge cleaning path and the second obstacle, which increases the cleaning range and avoids the problem that when the cleaning component is in the outward swing position, it is difficult to clean deeply in the angle between the edge cleaning path and the second obstacle, and it is easy to collide with the second obstacle and fall off.

[0084] In some embodiments, the angle between the edge cleaning path and the second obstacle includes at least one of an inner right angle and a scene in which table and chair legs exist on the edge path.

[0085] In some embodiments, the third preset working scenario is that there is a positive corner on the travel path of the cleaning device, and the first driving structure is used to drive the cleaning component to be in an outward swing position, and the side brush is in an inward position to clean the positive corner; and / or, the third preset working scenario is that when there are linear obstacles and / or wet stains on the travel path of the cleaning device, the cleaning component is in an outward swing position, and the side brush is in an inward position to avoid the linear obstacles and / or wet stains.

[0086] In this way, when the side brush encounters a positive corner, the cleaning component and the side brush can be used to clean the positive corner respectively, while preventing the second swing arm from interfering with the positive corner when the side brush is in an outward swing state, thereby affecting the steering of the cleaning device; and when encountering linear obstacles and / or wet stains, the side brush can use the cleaning component to clean the wet stains while avoiding obstacles or being contaminated by wet stains.

[0087] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the cleaning robot provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0089] Figure 1 A schematic diagram of a cleaning device provided in an embodiment of the present application when the cleaning assembly and the side brush assembly are both in a retracted position at an angle;

[0090] Figure 2 A schematic diagram of the cleaning device provided in an embodiment of the present application in another angle when the cleaning assembly and the side brush assembly are both in the retracted position;

[0091] Figure 3 A schematic diagram of a cleaning device provided in an embodiment of the present application when the cleaning component is in a retracted position and the side brush component is in an outward swing position at an angle;

[0092] Figure 4 A schematic diagram of the cleaning device provided in an embodiment of the present application in another state at another angle when the cleaning component is in a retracted position and the side brush component is in an outward swing position;

[0093] Figure 5 A schematic diagram of a cleaning device provided in an embodiment of the present application when the cleaning assembly and the side brush assembly are both in an outward swing position at an angle;

[0094] Figure 6 A schematic diagram of the cleaning device provided in an embodiment of the present application in another angle when the cleaning assembly and the side brush assembly are both in an outward swing position;

[0095] Figure 7 A schematic structural diagram of a cleaning device provided in an embodiment of the present application from one angle;

[0096] Figure 8 An exploded view of a cleaning device provided in an embodiment of the present application;

[0097] Fig. 9 A schematic structural diagram of a cleaning device provided in an embodiment of the present application from another angle;

[0098] Fig.10 A schematic structural diagram of a first side brush drive unit of a cleaning device provided in an embodiment of the present application from an angle;

[0099] Fig.11 A schematic structural diagram of a first side brush drive unit of a cleaning device provided in an embodiment of the present application from another angle;

[0100] Fig.12 A schematic diagram of the structure of a second side brush drive unit of a cleaning device provided in an embodiment of the present application;

[0101] Fig.13 A schematic diagram of the structure of a side brush assembly in some embodiments of the present application;

[0102] Fig.14 A schematic diagram of the structure of a second mop drive unit of a cleaning device provided in an embodiment of the present application;

[0103] Fig.15 A schematic diagram of a bottom-up structure of a mobile space on a machine body provided in an embodiment of the present application;

[0104] Fig.16 A schematic diagram of a bottom-up structure of a shielding plate on a body provided in an embodiment of the present application;

[0105] Fig.17 A bottom-up structural schematic diagram of a sliding sealing plate of a cleaning assembly provided in an embodiment of the present application in a retracted position;

[0106] Fig.18 A bottom-up structural schematic diagram of a sliding sealing plate of a cleaning assembly provided in an embodiment of the present application in a state between a retracted position and an outward swing position;

[0107] Fig.19 A schematic diagram of a bottom-up structure of a sliding sealing plate of a cleaning assembly provided in an embodiment of the present application in an outward swing position;

[0108] Fig. 20 A schematic diagram of the structure of a cleaning device according to some embodiments of the present application;

[0109] Fig.21 A schematic diagram of a structure of an overlapping area generated by a hollow area provided in an embodiment of the present application;

[0110] Fig. 22 A schematic diagram of a principle of overlapping areas generated by the hollow areas provided in the embodiment of the present application;

[0111] Fig.23 A schematic diagram of the principle of the always overlapping area generated by the hollow area provided in the embodiment of the present application;

[0112] Fig.24 A schematic diagram of a principle of a retracted overlapping area generated by a hollow area on a cleaning disk in a retracted position provided in an embodiment of the present application;

[0113] Fig.25 A schematic diagram of a principle of an outer swing overlap area generated by a hollow area on a cleaning disc in an outer swing position provided in an embodiment of the present application;

[0114] Fig.26 A schematic diagram of a common overlapping area generated by the hollow areas on the cleaning disc in the retracted position and the swung-out position provided in an embodiment of the present application;

[0115] Fig. 27 A schematic diagram of a bottom-up structure of a cleaning disc of a cleaning assembly provided in an embodiment of the present application;

[0116] Fig.28 A partial cross-sectional structural schematic diagram of a cleaning disc according to an embodiment of the present application;

[0117] Fig.29 This is a schematic diagram of the structure of the water replenishment mechanism according to an embodiment of the present application;

[0118] Fig.30 This is a schematic top view of a first mop drive unit according to an embodiment of the present application.

[0119] Description of reference numerals:

[0120] 100- Cleaning equipment;

[0121] 10-body;

[0122] 11-upper shell; 12-bottom shell; 121-notch; 13-accommodating cavity; 14-impact plate; 141-notch; 15-downward sensor; 16-moving channel;

[0123] 20- Cleaning components;

[0124] 21- first cleaning member;

[0125] 22-cleaning plate; 2200-annular channel; 2201-hollow area; 2202-inner circle; 2203-outer circle; 2204-always overlapping area; 2205-first arc; 2206-second arc; 2207-fixed point; 2209-first tangent point; 2210-second tangent point; 2211-inward vertical projection area; 2212-outward vertical projection area; 2213-common overlapping area; 2214-center circle;

[0126] 221-disk body; 222-spoke; 223-deformation portion; 224-deformation hole; 225-second magnet; 226-fixing portion; 227-disk edge;

[0127] 30-first mop driving unit;

[0128] 31-first motor; 33-first transmission mechanism;

[0129] 34-seal;

[0130] 40- second mop driving unit;

[0131] 41-first rotating motor; 42-first fixed body; 43-second fixed body; 431-installation portion;

[0132] 44-first magnet; 45-second motor; 46-second transmission mechanism;

[0133] 50-side brush assembly;

[0134] 51-side brush housing; 511-installation cavity;

[0135] 52- second cleaning member;

[0136] 53-connecting shaft;

[0137] 60-a first side brush driving unit;

[0138] 61-second swing arm; 611-contact surface; 612-matching notch; 61a-outer side surface of the swing arm; 61b-inner side surface of the swing arm; 61c-outer end portion;

[0139] 62-first driving mechanism; 621-first elastic member;

[0140] 63-second driving mechanism; 631-driving member; 632-driving body; 633-driving part; 634-first cam surface; 635-roller; 636-matching part;

[0141] 70-second side brush drive unit; 71-second rotary motor; 72-one-way bearing; 73-output shaft; 74-clutch sleeve;

[0142] 80- water replenishment mechanism;

[0143] 81 - water outlet; 82 - water pipeline; 83 - overflow hole. DETAILED DESCRIPTION

[0144] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0145] With the continuous improvement of living conditions and technological level, cleaning equipment has the advantages of being easy to use and having good cleaning effects. Therefore, cleaning equipment has gradually begun to replace manual cleaning and widely appear in life and work. Cleaning equipment mainly collects dirt on the surface to be cleaned through cleaning parts such as roller brushes or rags. However, the cleaning components on the current cleaning equipment are designed to be fixed on the body, so that when the cleaning equipment is mopping along the edge, the edge cannot be mopped. For a long time, it will cause dust and dirt to accumulate in the corners of the house, resulting in poor user experience.

[0146] In view of this, an embodiment of the present application provides a cleaning device, wherein the side brush assembly and the cleaning assembly respectively have a retracted position and an outward swing position, and the first driving structure can drive any one of the side brush assembly and the cleaning assembly to switch between the outward swing position and the retracted position. In this way, the side brush assembly and the cleaning assembly can be extended to the outside of the body as needed to clean the corners outside the body and other areas that are difficult to clean, thereby expanding the cleaning range of the cleaning device, avoiding the existence of cleaning dead corners, and improving the user experience.

[0147] Combine the following Figure 1-Figure 30 The cleaning device 100 according to the embodiment of the present application is described.

[0148] refer to Figure 1-Figure 6 as well as Fig. 20The cleaning device 100 of this embodiment may be a cleaning robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc. The cleaning device 100 may include a body 10, a cleaning component 20 and a side brush.

[0149] Among them, the body 10 has an assembly cavity for some structural installation. The shape of the body 10 is not limited, and can be but not limited to circular, D-shaped, triangular, or other shapes. A walking system is provided on the body 10, which is used to drive the body 10 to realize the self-moving walking function on the surface to be cleaned. The walking system generally includes a driver and a walking part, and the driver drives the walking part to move. The walking part can generally be two, and the two walking parts are symmetrically arranged on the body 10. The walking part can be but not limited to a driving wheel, a track wheel or a steering wheel with adjustable steering. For example: the steering wheel is a Mecanum wheel. In addition, the walking system can be swingably arranged on the body 10 so that the cleaning device 100 has an obstacle crossing function during walking. Among them, the surface to be cleaned can be but not limited to the surface or scene of objects such as the ground, a desktop, glass, and a wall. For ease of expression, the surface to be cleaned below is described by taking the ground as an example.

[0150] The machine body 10 is provided with a dry cleaning module, which includes a main brush, a side brush, a dust box and a fan. A main brush chamber is provided at the bottom of the machine body 10, and the main brush is rotatably arranged in the main brush chamber. The dust suction port on the main brush chamber is connected to the dust inlet of the dust box, and the air outlet of the dust box is connected to the fan. During the rotation of the main brush, the garbage around and in front of it is moved to the dust suction port. The garbage at the dust suction port is sucked into the dust box under the negative pressure generated by the fan, so as to realize the cleaning function of the surface to be cleaned.

[0151] refer to Figure 1-Figure 6 The cleaning assembly 20 can be movably connected to the body 10. The cleaning assembly 20 can be a mop assembly, that is, the cleaning assembly 20 can include a cleaning disc 22 and a first cleaning member 21. The first cleaning member 21 can include a rag. The side brush assembly 50 can be one or two. If there are two side brush assemblies 50, the two side brush assemblies 50 are distributed on both sides of the body 10. The side brush assembly 50 includes a side brush housing 51 and a second cleaning member 52. The second cleaning member 52 can include a side brush. At least part of the side brush assembly 50 extends out of the edge of the body 10. The side brush assembly 50 rotates under the drive of the driving mechanism. During the rotation of the side brush assembly 50, the garbage located in front of and around it is moved toward the inside of the body 10, so that the main brush located at the rear can clean the garbage and be sucked into the dust box by the fan. The cleaning assembly 20 can perform wet cleaning on the surface to be cleaned.

[0152] The side brush assembly 50 and the cleaning assembly 20 are respectively located at the front and rear sides of the moving direction of the machine body 10. For example, the side brush assembly 50 is located at the front side of the cleaning assembly 20 along the moving direction of the machine body 10. The side brush assembly 50 is located at one or both sides of the front part of the machine body 10. Along the moving direction of the cleaning device 100, the side brush assembly 50 is located in front of the dry cleaning module. At least part of the side brush assembly 50 extends out of the edge of the machine body 10. The side brush assembly 50 rotates under the drive of the driving mechanism.

[0153] Regarding the arrangement of the dry cleaning module and the wet cleaning module on the machine body 10, when the cleaning device 100 is performing a cleaning task, it can sweep first and then mop the floor. In this case, in the forward direction of the cleaning device 100, the wet cleaning module is located behind the dry cleaning module; when the cleaning device 100 is performing a cleaning task, it can mop the floor first and then sweep. In this case, in the forward direction of the cleaning device 100, the wet cleaning module is located in front of the dry cleaning module.

[0154] The cleaning assembly 20 can be used as a part of the wet cleaning module of the cleaning device 100. For the arrangement of the cleaning assembly 20 and the walking system on the body 10, the cleaning assembly 20 is preferably arranged behind the walking system to prevent the cleaning assembly 20 from cleaning the ground first and then the walking part walking on the cleaned ground, thereby contaminating the cleaned ground. If the ground cleaned by the cleaning assembly 20 can be dried in time, the cleaning assembly 20 can also be arranged in front of the walking part, or between two walking parts.

[0155] At least one first driving structure is used to drive the side brush and the cleaning assembly 20 so that the side brush and the cleaning assembly 20 have a retracted position and an outward swing position, respectively, wherein the retracted position is a position adjacent to the body 10, and the outward swing position is a position away from the body 10. The first driving structure is used to drive the side brush and the cleaning assembly 20 to be in the outward swing position or the retracted position at the same time, or to drive one of the side brush and the cleaning assembly 20 to be in the retracted position, while the other is in the outward swing position.

[0156] For example, during the cleaning process of the cleaning device 100, the side brush and the cleaning assembly 20 can both be in the outward swing position, that is, the side brush is in the outward swing position to clean in front, and the cleaning assembly 20 is in the outward swing position to clean behind the side brush. The two work together to further improve the corner cleaning effect of the cleaning device 100. For example, in a cleaning scenario where an inner right angle is formed between a first obstacle and a second obstacle (i.e., a 90-degree angle is formed between the two obstacles), the outward swing of the side brush and the cleaning assembly 20 is more conducive to cleaning the inner right angle; when the cleaning assembly 20 and the side brush need to be retracted, the side brush and the cleaning assembly 20 are retracted to be in the retracted position.

[0157] In another embodiment, during the cleaning process of the cleaning device 100, the side brush and the cleaning assembly 20 may be in the outward swing position or the inward swing position at the same time, or may be in the outward swing position or the inward swing position at different times.

[0158] For example, one of the side brush and the cleaning component 20 is in the outward swing position, and the other is in the retracted position; or, both the side brush and the cleaning component 20 are in the retracted position, or both are in the outward swing position; or one of the side brush and the cleaning component 20 is in the outward swing position first, and the other is in the outward swing position later; or one of the cleaning component 20 and the side brush is in the retracted position first, and the other is in the retracted position later; or one of the cleaning component 20 and the side brush is in the retracted position first, and the other is in the outward swing position later. In addition, the side brush and the cleaning component 20 being in the outward swing position or the retracted position, as well as the order of the outward swing position or the retracted position, are all selected according to actual needs and are not specifically limited here.

[0159] That is to say, the cleaning device 100 in this embodiment, its cleaning component 20 and the side brush can be swung outward as needed, and when any one of the side brush and the cleaning component 20 is in the swung out position, the area outside the body 10 can be cleaned. For example, it can clean areas with right-angled edges or deep concave areas, and can cover areas that are difficult to clean, such as corners, thereby increasing the cleaning range, avoiding cleaning dead corners, and improving the user experience.

[0160] According to the cleaning device 100 of the embodiment of the present application, a side brush and a cleaning assembly 20 are configured. The side brush is usually used to perform dry cleaning, and the cleaning assembly 20 is usually used to perform dry cleaning or wet cleaning. The side brush and the cleaning assembly 20 have a retracted position and an outward swing position, respectively. The first driving structure can drive any one of the side brush and the cleaning assembly 20 to switch between the outward swing position and the retracted position. In this way, the side brush and the cleaning assembly 20 can be extended to the outside of the body 10 as needed to clean the corners and other areas outside the body 10 that are difficult to clean, thereby expanding the cleaning range of the cleaning device 100, avoiding the existence of cleaning dead corners, and improving the user experience. In addition, the side brush and the cleaning component 20 can be swung outward, so that the corner areas can be cleaned by sweeping first and then mopping, thereby improving the cleaning experience of the corners; further, the cleaning component 20 usually has a fixed shape and is fixed to the mop bracket. For example, the cleaning component 20 is formed into a circular structure. When cleaning the corners, the cleaning component 20 can only perform in-depth cleaning in a limited number of scenarios. In scenarios where the cleaning component 20 cannot perform in-depth cleaning, the side brush can be used to clean the corners, thereby avoiding cleaning dead corners and improving the user experience.

[0161] In one embodiment, reference Figure 1-Figure 6, the cleaning device 100 has at least two wet cleaning modules, one of the cleaning components 20 of the two wet cleaning modules can be swung outward and retracted inward, and the other cannot be swung outward; or both cleaning components 20 cannot be swung outward or can swing. In order to improve the cleaning effect of the cleaning device 100 on the edge of obstacles, the cleaning component 20 of at least one of the two wet cleaning modules in this embodiment can swing relative to the machine body 10, and the cleaning component 20 can swing outward in a direction away from the machine body 10 and retract in a direction close to the machine body 10. When the cleaning component 20 swings outward, the cleaning component 20 is correspondingly in an outward swing state; when the cleaning component 20 swings inward, the cleaning component 20 is correspondingly in a retracted state. The outward swing position and the retracted position can be a fixed position or a range of positions. When the cleaning component 20 moves to the outward swing position, the portion of the cleaning component 20 located outside the peripheral side of the machine body 10 is larger than the portion of the cleaning component 20 located outside the peripheral side of the machine body 10 when the cleaning component 20 is in the retracted position.

[0162] The cleaning device 100 has a sensing system. When the cleaning device 100 performs a cleaning task, the sensor of the sensing system detects the first distance between the body 10 and the edge of the obstacle in real time. If the first distance is less than or equal to a preset threshold, it is necessary to clean the obstacle along the edge, and the cleaning component 20 or the side brush needs to swing outward, and the cleaning component 20 or the side brush swings outward from the retracted position to the swing-out position to clean the edge of the obstacle along the edge. Since the cleaning component 20 or the side brush can extend out of the body 10 to a greater distance in the swing-out position than in the retracted position, the cleaning component 20 or the side brush can be closer to or near the edge of the obstacle in the swing-out position, and clean the edge of the obstacle along the edge to reduce or avoid the missed sweeping area of ​​the obstacle along the edge cleaning. During the cleaning process of the cleaning device 100 along the edge, when the first distance detected by the sensor is greater than the preset threshold, the cleaning component 20 or the side brush needs to swing inward from the swing-out position to the retracted position.

[0163] If the cleaning component 20 or the side brush is continuously kept in the outward swing position, the cleaning component 20 or the side brush is easily interfered or disturbed by obstacles in the environment, resulting in the risk of the cleaning component 20 or the side brush falling off the body 10. The cleaning component 20 or the side brush is usually swung outward toward the body 10 and is in the outward swing state when cleaning along the edge; the cleaning component 20 or the side brush tends to remain in the retracted state when the cleaning device 100 is not cleaning along the edge or in other scenarios. Among them, other scenarios may include but are not limited to the cleaning device 100 needing to return to the base station, the base station charging the cleaning device 100, collecting dust in the dust box into the dust bin of the base station, cleaning cleaning parts, disassembling and / or assembling cleaning parts, filling the water tank of the water replenishment mechanism 80 in the cleaning device 100 with water, etc.; or the cleaning parts of the cleaning device 100 need to be lifted, the cleaning device 100 needs to overcome and avoid obstacles, etc.

[0164] In some embodiments, the first driving structure includes a first side brush driving unit 60 and a first mop driving unit 30. The first side brush driving unit 60 is used to drive the side brush to switch between the retracted position and the outward swing position relative to the machine body 10; the first mop driving unit 30 is used to drive the cleaning component 20 to switch between the retracted position and the outward swing position relative to the machine body 10. In this way, in this embodiment, the driving units are configured for the swinging action of the side brush and the cleaning component 20 respectively, so that the outward swing action of the cleaning component 20 and the swinging action of the side brush do not interfere with each other, and the outward swing and retracting actions of the side brush and the cleaning component 20 can be independently controlled, which is conducive to independent control of the outward swing range of the side brush and the cleaning component 20, so that the outward swing range of the side brush and the cleaning component 20 can be flexibly set, thereby improving the cleaning effect of the corners, and also helping to simplify the swing control principles of the cleaning component 20 and the side brush, making it easier to implement.

[0165] In some embodiments, the cleaning assembly includes at least one swingable cleaning assembly 20 and at least one swingable side brush, and the swingable cleaning assembly 20 and the swingable side brush are located on the same side relative to the moving direction of the machine body 10, for example, the swingable cleaning assembly 20 and the swingable side brush are located on the right side relative to the moving direction of the machine body 10 (top view). In this way, the cleaning assembly 20 and the side brush can be swung out from the same side of the machine body 10 to clean the corner area outside the machine body 10, and the corner area on the same side can be cleaned by sweeping first and then mopping, which can avoid the cleaning assembly 20 and the side brush being located on both sides of the moving direction of the machine body 10 respectively. When the cleaning assembly 20 and the side brush need to clean the area on the same side of the machine body 10, it is necessary to control the steering of the machine body 10, which can simplify the control method and improve the cleaning efficiency; in addition, for the corner area that one of the side brush and the cleaning assembly 20 cannot clean, the other can perform supplementary cleaning in time to improve the cleaning effect.

[0166] In some embodiments, reference Figure 8 and Fig. 9 The side wall of the machine body 10 is provided with a notch 141, and there is at least one notch 141. The side brush switches between the retracted position and the outward swing position through the notch 141; and the side brush can swing outward through the notch 141, or retract through the notch 141. That is, the side brush can extend or retract from the side wall of the machine body 10 to switch between the retracted state and the outward swing state. The notch 141 can provide a larger movement space for the side brush, avoiding interference with the side wall of the machine body 10, thereby increasing the outward swing range of the side brush. In addition, the side brush swings outward from the side wall of the machine body 10, so that the side brush is set higher relative to the vertical direction of the machine body 10, which is conducive to increasing the height of the side brush from the ground, thereby reducing the contact area between the side brush and the cleaning surface, reducing the friction between the side brush and the cleaning surface, and improving the cleaning effect of the side brush.

[0167] The cleaning component 20 is arranged at the bottom of the body 10 and switches between a retracted position and an outward swing position relative to the body 10. In this way, the cleaning component 20 can swing from the bottom of the body 10 to avoid interference with the side wall of the body 10, thereby increasing the outward swing range of the cleaning component 20 and reducing the space occupied by the cleaning component 20 in the height direction of the body 10.

[0168] By arranging the cleaning component 20 at the bottom of the machine body 10, the cleaning component 20 can maintain contact with the cleaning surface during the outward swinging process, thereby avoiding the generation of a missed cleaning area during the outward swinging process of the cleaning component 20.

[0169] In some embodiments, reference Figure 16-Figure 20 A moving channel 16 is provided at the bottom of the machine body 10, and the cleaning assembly 20 is provided below the moving channel 16. At least part of the structure of the first mop drive unit 30 is located in the moving channel 16. The part of the first mop drive unit 30 in the moving channel 16 can move along the moving channel 16 to drive the cleaning assembly 20 to move between the retracted position and the outward swing position. By providing the moving channel 16, a dedicated swinging space can be divided for the cleaning assembly 20 to avoid interference with other structures. The moving channel 16 can also at least partially guide the outward swinging path of the cleaning assembly 20, so that the swinging of the cleaning assembly 20 is smoother and more reliable.

[0170] For example Fig.15 As shown, the bottom of the body 10 is provided with a moving channel 16, and the cleaning component 20 is located at the bottom of the body 10. For example, the moving channel 16 can be defined by the bottom shell 12. The wet cleaning module also includes a mounting portion 431 connected to the first mop drive unit 30, and the mounting portion 431 swings in the moving channel 16; the cleaning component 20 is mounted on the mounting portion 431 and is located below the moving channel 16, and the first mop drive unit 30 is located in the assembly cavity of the body 10. Optionally, the moving channel 16 can be a long strip hole, and the mounting portion 431 swings linearly in the long strip hole; or, as Fig.21 As shown, the movable channel 16 is an arc-shaped hole, and the mounting portion 431 swings in an arc shape in the arc-shaped hole. The length or arc of the movable channel 16 determines the maximum stroke of the cleaning component 20 for swinging outward and retracting inward.

[0171] In some embodiments, reference Figure 8 and Fig. 9The cleaning device 100 further includes a collision assembly, which may include a collision plate 14, which is disposed on the body 10, and which at least covers the front side wall of the body 10. When the collision plate 14 contacts an obstacle, the collision plate 14 is subjected to force to generate displacement to detect a collision. For example, the collision plate 14 may only cover the front side wall of the body 10, or may cover a portion of the top wall or bottom wall of the body 10. In this way, the collision plate 14 is located at the front end of the body 10 along the direction of travel, and can first contact and detect an obstacle. The collision plate 14 has a notch 141, and the notch 141 may be located on the side of the body 10. By providing the notch 141 on the collision plate 14, it is possible to avoid interference and collision between the side brush and the collision plate 14 when the side brush moves between the retracted position and the outward swing position.

[0172] It can be understood that by providing the notch 141 on the strike plate 14, the side brush can reach the retracted position or the outward swing position through the notch 141 during the movement. On the one hand, the side brush will not affect the overall shape of the strike plate 14, so that the strike plate 14 can still maintain a large collision sensing range, and the movement of the side brush itself can be prevented from affecting the function of the strike plate 14; on the other hand, when the side brush is swinging, the strike plate 14 can avoid the moving track of the side brush without causing a large loss to its own anti-collision function. Therefore, the side brush can be set with priority given to its own swing and cleaning functions, so as to be set as a structure with relatively complete swing and cleaning functions. In this way, without affecting the coverage range of the strike plate 14 on the body 10 and the anti-collision function, the structural interference between the side brush and the strike plate 14 can be avoided, so as to ensure that the functions of the strike plate 14 and the side brush are realized at the same time.

[0173] In some embodiments, in combination Figure 7 and Figure 8 The body 10 may include an upper shell 11 and a bottom shell 12, the bottom shell 12 is carried under the upper shell 11, and the impact plate 14 extends at least to the bottom shell 12 in the vertical direction. It can be understood that since the bottom shell 12 needs to carry a large number of functional components of the cleaning device 100, such as a cleaning structure, a battery unit, an electronic control element, a roller brush, etc., the impact plate 14 is extended to the bottom shell 12 in this embodiment, which can better protect the bottom shell 12 from being hit by external obstacles. In addition, the connection stability between the impact plate 14 and the body 10 can also be enhanced.

[0174] The notch 141 is located at the lower half of the striker 14, so that it can correspond to the setting height of the side brush, so that the swing arm can be swung out or retracted through the notch 141. A notch 121 is provided on the bottom shell, and the notch 141 is connected with the notch 121 to at least partially form a receiving cavity 13 for accommodating the side brush. In addition, the notch 141 is connected with the notch 121, so that when the side brush is in the retracted position, the receiving cavity 13 can at least partially accommodate the side brush, so that the side brush and the body 10 have a better embedding effect, and the structure is compact and beautiful.

[0175] Optionally, when the cleaning component 20 and the side brush are both in the outward swing position, the swing range of the side brush is greater than the swing range of the cleaning component 20; and / or the side brush is further away from the edge of the body 10 relative to the cleaning component 20. Since the volume of the cleaning component 20 is larger than the volume of the side brush, the side brush can adapt to the cleaning of a smaller space area relative to the cleaning component 20. In addition, since the cleaning component 20 is part of the wet cleaning module of the cleaning device 100, the components and structures involved in realizing the wet cleaning function are more numerous and more complex. Therefore, in this embodiment, the swing range of the brush component is greater than the swing range of the cleaning component 20; and / or the side brush is further away from the edge of the body 10 relative to the cleaning component 20, which helps to reasonably arrange the respective positions of the cleaning component 20 and the side brush according to the volume and structure of the cleaning component 20 and the side brush, and make full use of the space of the body 10, while meeting the cleaning needs of the outer space of the body 10 to the greatest extent.

[0176] It should be noted that the outward swing position and the retracted position of the side brush, as well as the outward swing position and the retracted position of the cleaning component 20, are only used to indicate the two relative movement positions of the side brush and the cleaning component 20 respectively. The outward swing position and the retracted position of the side brush, and the outward swing position and the retracted position of the cleaning component 20 are not the same.

[0177] In some embodiments, the cleaning device 100 further includes at least one second drive structure, and at least one second drive structure includes a second side brush drive unit 70, and the second side brush drive unit 70 is at least used to drive the side brush to move for cleaning. At least one second drive structure also includes a second mop drive unit 40, and the second mop drive unit 40 is at least used to drive the cleaning component 20 to move for cleaning. In other words, the second side brush drive unit 70 can drive the side brush to perform a cleaning operation on the surface to be cleaned, and the second mop drive unit 40 can drive the cleaning component 20 to perform a cleaning operation on the surface to be cleaned. In this way, by configuring drive units for the cleaning actions of the side brush and the cleaning component 20 respectively, the cleaning action of the cleaning component 20 and the cleaning action of the side brush can be made non-interfering with each other, which is also conducive to simplifying the cleaning control principles of the cleaning component 20 and the side brush, making it easier to implement.

[0178] In some embodiments, the cleaning device 100 includes at least one downward-looking sensor 15 arranged on the rear side of the side brush. When the side brush rotates for cleaning, there is a state in which the downward-looking sensor 15 is blocked; the second side brush drive unit 70 is used to stop the side brush from rotating when the side brush is in a position that does not block the downward-looking sensor 15.

[0179] In this way, the side brush has a larger cleaning range, so that the side brush has a state of blocking the downward-looking sensor. The second side brush driving unit 70 is configured to stop the side brush from rotating when the side brush is in a position where it does not block the downward-looking sensor 15, so that when the side brush is not working and the cleaning component 20 is working, that is, in the single-drag mode, the downward-looking sensor can continue to work without being interfered by the side brush.

[0180] Optionally, the cleaning device 100 may include a controller, and the at least one downward-looking sensor 15 may include a first downward-looking sensor, which may be arranged on the side of the notch 141 and located at the rear side of the side brush. The first downward-looking sensor may be connected to the controller for communication, and the controller is configured to control the working state of the cleaning device 100 according to the detection result of the first downward-looking sensor. The working state of the cleaning robot at least includes the running state of the cleaning member, for example, the start, stop, running speed, rotation direction, etc. of the cleaning member. The second cleaning member 52 of the side brush at least partially blocks the first downward-looking sensor when performing the cleaning action; the controller is adapted to control the second side brush driving unit 70 to stop driving the second cleaning member 52 to rotate when the first downward-looking sensor is blocked by the cleaning member. That is, when the first downward-looking sensor is blocked by the cleaning member, the first downward-looking sensor may feedback a signal to the controller to control the second cleaning member 52 to stop working, so as to avoid the second cleaning member 52 obstructing the recognition work of the first downward-looking sensor in the single-mopping mode.

[0181] Of course, at least one downward-looking sensor 15 may include a second downward-looking sensor, and the second downward-looking sensor is arranged on the side of the body 10 where the collision plate 14 is arranged. By arranging the second downward-looking sensor, the working conditions on the front travel route of the robot can be accurately cleaned, thereby providing a control basis for the operation of the cleaning mechanism. The second downward-looking sensor is located outside the cleaning range of the cleaning member. Here, the cleaning range of the cleaning member refers to the sum of the areas that can be cleaned when the swing arm is in the retracted position and the outward swing position. In this way, it is possible to avoid the swing arm and the cleaning member of the cleaning structure from blocking the second downward-looking sensor when they are swinging or working, so that the operation of the second downward-looking sensor is not affected by the cleaning structure.

[0182] In addition, at least one downward-looking sensor 15 may further include a third downward-looking sensor, which is disposed on the swing arm of the side brush (i.e., the second swing arm 61 described below), and when the swing arm of the side brush is located at the third position, the third downward-looking sensor is adapted to extend out of the body 10 along with the swing arm of the side brush. In this way, the detection function of the original downward-looking sensor 15 can be replaced or enhanced, and when the swing arm of the side brush is in the outward swing state, the third downward-looking sensor can detect faster.

[0183] In some embodiments, the first mop drive unit 30 may include a first swing arm, which is rotatably disposed on the machine body 10 around a first rotation axis, and the cleaning assembly 20 is disposed on the first swing arm to follow the first swing arm to swing between the retracted position and the outward swing position. The motion range of the first swing arm does not exceed the projection of the machine body 10 on the surface to be cleaned, so that the first swing arm does not exceed the machine body 10, thereby making the outward swing range of the cleaning assembly 20 appropriate.

[0184] The first mop drive unit 30 can directly drive the cleaning component 20 to swing, or can indirectly drive the cleaning component 20 to swing by driving the entire wet cleaning module. For ease of description, the first mop drive unit 30 driving the cleaning component 20 to swing is used as an example to illustrate the driving force generated by the first mop drive unit 30 on the swing of the cleaning component 20; of course, this driving force is also applicable to driving the entire wet cleaning module to swing. The first mop drive unit 30 can drive the cleaning component 20 to move in a straight line or in an arc, so that the cleaning component 20 switches between the outward swing position and the retracted position.

[0185] There are many implementations for the driving force of the first mop driving unit 30 to drive the cleaning assembly 20 to swing. Only some implementations are introduced below, specifically:

[0186] The first embodiment is that the outward swing and inward retraction of the cleaning component 20 are driven by a motor. Since the rotation angle of the motor is controllable, the outward swing and inward retraction positions of the cleaning component 20 can be controlled by controlling the rotation angle of the motor, so that the outward swing position and the inward retraction position of the cleaning component 20 are adjustable. When the cleaning component 20 swings along the edge, the distance along the edge is dynamically adjusted based on the first distance between the body 10 and the edge of the obstacle detected in real time by the sensor.

[0187] The second embodiment is: the cleaning component 20 is driven by the motor and the elastic member in cooperation, and the cleaning component 20 is driven by the motor inward. If the cleaning device 100 needs to clean along the edge, the motor rotates in the first direction to drive the cleaning component 20 to swing by an angle θ1 and then stops, and then the elastic member releases the stored energy to drive the cleaning component 20 to continue to swing outward toward the body 10 by an angle θ2. Since the elastic member has a buffering effect, when the cleaning component 20 is subjected to the reverse contact force of the obstacle along the edge, the cleaning component 20 can automatically swing toward the inside of the body 10 to dynamically adjust the angle θ2 of the cleaning component 20 to swing outward, so as to achieve dynamic adjustment of the distance along the edge, and also protect the cleaning component 20. When the cleaning component 20 needs to retract, the motor rotates in the second direction to drive the cleaning component 20 to swing by θ3 toward the inside of the body 10, and θ3 can be equal to the sum of the angle θ1 and the angle θ2, or it can be unequal to the sum of the angle θ1 and the angle θ2. The retracted position of the cleaning component 20 is adjusted by controlling the angle of the motor rotating in the second direction.

[0188] When the motor first drives the cleaning component 20 to swing outward, the driving force of the motor simultaneously applies driving force to the elastic member to store energy in the elastic member, so that after the motor withdraws the driving force, the elastic member releases the stored energy to drive the cleaning component 20 to continue to swing outward.

[0189] For example, refer to Fig.30 The first mop drive unit 30 includes a first motor 31 and a first transmission mechanism 33. The elastic member is arranged between the first transmission mechanism 33 and the cleaning assembly 20. When the first motor 31 drives the cleaning assembly 20 to swing outward, the first motor 31 rotates in the first direction, driving the first transmission mechanism 33 to rotate in the first direction. The first transmission mechanism 33 applies a force to the elastic member, forcing the elastic member to store energy. At this time, the elastic member can store energy first and then drive the cleaning assembly 20 to swing outward, or the elastic member drives the cleaning assembly 20 to swing outward while storing energy. When the motor stops, the elastic member releases the stored energy to drive the cleaning assembly 20 to continue to swing outward. For the elastic member, the elastic member can be a deformable elastic member such as a tension spring, a compression spring, or a torsion spring.

[0190] When the cleaning assembly 20 needs to be retracted, the motor rotates in the second direction, through the hard contact relationship between the first transmission mechanism 33 and the cleaning assembly 20. For example, in the rotation direction of the transmission mechanism, the first transmission mechanism 33 is provided with a first contact portion, and the cleaning assembly 20 is provided with a second contact portion, and the first contact portion contacts the second contact portion, so that the first motor 31 drives the first transmission mechanism 33 to rotate, so as to move the cleaning assembly 20 toward the retracted position and realize the inner swing state.

[0191] In addition, the outer swing of the cleaning component 20 can be driven by an elastic member, and the inner retraction of the cleaning component 20 can be driven by a motor. That is, when the motor is not working, the cleaning component 20 tends to remain in the outer swing position under the action of the elastic member.

[0192] Wherein, the elastic member is preferably a tension spring or a compression spring.

[0193] During the swinging process of the cleaning component 20, the control system needs to control whether the motor of the first mop drive unit 30 stops according to the swinging position of the cleaning component 20. In order to easily know the outward swing position or the retracted position of the cleaning component 20, or any position between the outward swing position and the retracted position, the cleaning device 100 also includes an in-position detection structure; the in-position detection structure can be a micro switch, a Hall sensor, an optical coupler switch, etc.

[0194] The cleaning device 100 is also provided with a locking structure for locking the cleaning component 20 in the retracted position or the outward swing position. The cleaning component 20 can always be kept in the outward swing position or the inward swing position, or any position during the swinging process. When the cleaning component 20 needs to switch positions, the locking structure cancels the locking effect on the cleaning component 20, and the cleaning component 20 swings under the drive of the first mop drive unit 30. The locking structure can be provided on the first mop drive unit 30, or on the second mop drive unit 40 of the wet cleaning module, or on the cleaning component 20.

[0195] refer to Fig.14 The cleaning device 100 may further include a first lifting structure, which is used to drive the cleaning assembly 20 to move between the lifting position and the mopping position, wherein the height of the cleaning assembly 20 in the lifting position is higher than that in the mopping position, and the first mopping cloth driving unit 30 is used to drive at least part of the first lifting structure to swing, so as to drive the cleaning assembly 20 to swing. In this way, the cleaning assembly 20 can swing between the retracted position and the outward swing, and can be lifted and lowered between the mopping position and the lifting position, and when the cleaning assembly 20 is not needed to mop the floor, the cleaning assembly 20 can be lifted to the lifting position and separated from the surface to be cleaned.

[0196] In some embodiments, reference Fig.14 The cleaning assembly 20 includes a cleaning disc 22 and a first cleaning member 21. The first cleaning member 21 is arranged at the bottom of the cleaning disc 22. The second mop driving unit 40 drives the cleaning disc 22 to move, so as to drive the first cleaning member 21 to vibrate or rotate back and forth. The first cleaning member 21 forms friction with the surface to be cleaned during the movement to clean the surface to be cleaned.

[0197] The first lifting structure and the second mop drive unit 40 can share a motor. In a preferred embodiment, the second mop drive unit 40 includes a first rotary motor 41, which is used to drive the side brush to move, such as rotate, to clean the cleaning surface. Fig.14 As shown, the first lifting structure includes a first fixed body 42 and a second fixed body 43, the first fixed body 42 and the second fixed body 43 are threadedly matched, one of the first fixed body 42 and the second fixed body 43 is provided with a thread groove, and the other is provided with a convex rib or thread tooth matched with the thread groove. The bottom of the second fixed body 43 is provided with a mounting portion 431, and the top of the cleaning disc 22 is connected to the mounting portion 431. For example, plug-in fixation or magnetic fixation, the mounting portion 431 is provided with a first magnet 44, and the cleaning disc 22 is provided with a second magnet 225, and the cleaning disc 22 is fixed on the mounting portion 431 through the magnetic attraction of the first magnet 44 and the second magnet 225.

[0198] Fig.14The cleaning component is in the mopping position. When the cleaning component needs to be lifted, the first rotating motor 41 rotates along the first direction, the second fixed body 43 rotates upward relative to the first fixed body 42, and the cleaning component is lifted to the lifting position. If the first rotating motor 41 continues to rotate along the first direction, the second fixed body 43 continues to rotate upward relative to the first fixed body 42, and the cleaning component is lifted to the separation position. At this time, the cleaning component is separated from the mounting portion 431, and the cleaning disc 22 rotates during this process.

[0199] On the contrary, if the first cleaning member 21 needs to be lowered, the first rotary motor 41 rotates in the second direction, which is opposite to the first direction, and the second fixed body 43 rotates downward relative to the first fixed body 42. The cleaning component first descends from the separation position to the lifting position, and then descends to the mopping position. During this process, the cleaning disc 22 rotates. In the mopping position, the second fixed body 43 no longer rotates relative to the first fixed body 42. If the first rotary motor 41 continues to rotate in the second direction, there is no relative rotation between the first fixed body 42 and the second fixed body 43, so that the cleaning component can be driven to rotate as a whole to mop the floor. Among them, the rotation direction of the cleaning component in the lifting is different from the rotation direction of the lowering.

[0200] The separation position set above is to facilitate the cleaning device 100 to return to the base station for automatic disassembly and assembly of the first cleaning component 21; or to automatically disassemble the cleaning component on the body 10. If the automatic disassembly and assembly function of the first cleaning component 21 is not required, the separation position of the above cleaning component can be set, and the mopping position and the lifting position can be set.

[0201] In this way, the lifting and lowering of the cleaning assembly 20 is achieved through the spiral structure, and the lifting structure of the cleaning assembly 20 is simple and reliable. The lifting and lowering of the cleaning assembly 20 is achieved by the first rotary motor 41 rotating in the first direction and the second direction, and when the cleaning assembly 20 is in the mopping position, it keeps rotating in the second direction to achieve self-rotation cleaning in the mopping position, so that the self-rotation and lifting movement of the cleaning assembly 20 share one motor, and the overall structure is simple and reliable, and easy to implement.

[0202] In some embodiments, when the cleaning assembly 20 is in the mopping position, the first mop drive unit 30 drives the cleaning assembly 20 to switch between the swing-out position and the retracted position. When the cleaning assembly 20 is in the retracted position, the second mop drive unit 40 drives the cleaning assembly 20 to switch between the lifting position and the mopping position. For example, when the cleaning device 100 needs to lift the cleaning assembly 20 in the swing-out state, the control system first controls the cleaning assembly 20 to retract to the retracted position, and then the first lifting structure performs a lifting movement, and the cleaning assembly 20 does not rotate during this retraction process. When the cleaning assembly 20 is in the lifting state and the cleaning assembly 20 needs to swing outward, the cleaning assembly 20 is first controlled to descend to the mopping position, and then the cleaning assembly 20 is controlled to swing outward, and the cleaning disc 22 does not rotate during this swinging process. Of course, the cleaning assembly 20 can be swung outward or retracted in the lifting position, and the cleaning assembly 20 does not rotate during the swinging process; after the swing-out or retracted is in place, the first rotary motor 41 drives the cleaning assembly 20 to descend to the mopping position. In this way, the switch between the swing-out position and the retracted position is performed in the mopping position, avoiding the switch between the swing-out position and the retracted position in the lifting position, which may cause interference or even collision between the cleaning component 20 and the body 10; the switch between the lifting position and the mopping position is performed in the retracted position, avoiding lifting and lowering in the swing-out position, where the cleaning component 20 is in the swing-out position when not in use, increasing the risk of collision. For example, in scenes such as carpets, the cleaning component 20 does not work and needs to be lifted. If it is lifted in the swing-out position, the cleaning component 20 is in the swing-out position for a long time and is prone to collision. In addition, it can be ensured that the cleaning component 20 can directly clean the surface to be cleaned in both the swing-out position and the retracted position.

[0203] For example, Fig.30 In the illustrated embodiment, the second mop drive unit 40 for driving the cleaning assembly 20 to rotate includes a second motor 45 and a second transmission mechanism 46 arranged on the output shaft of the second motor 45; the first mop drive unit 30 includes a first motor 31 and a first transmission mechanism 33 arranged on the output shaft of the first motor 31, the first transmission mechanism 33 and the second transmission mechanism 46 are connected through a first swing arm, when the first transmission mechanism 33 swings, the second transmission mechanism 46 is driven to swing as a whole through the first swing arm, and the second motor 45 and the second transmission mechanism 46, the fan and the first avoidance surface surround an area for the distribution of the first motor 31 and the first transmission mechanism 33.

[0204] In some embodiments, reference Fig.10 and Fig.11The first side brush driving unit 60 includes a second swing arm 61, which is rotatably arranged on the machine body 10 around a second rotation axis. The side brush is arranged on the second swing arm 61 to follow the second swing arm 61 to move between the retracted position and the outward swing position. When the swing arm is in the retracted position, the swing arm is outside the outline of the machine body 10, and at this time, the cleaning member at least partially exceeds the outline of the machine body 10. When the swing arm is in the outward swing position, the swing arm at least partially extends outside the outline of the machine body 10 to clean the corner area. At this time, the cleaning member at least partially exceeds the outline of the machine body 10, or the cleaning member is located outside the outline of the machine body 10; or, in the second case, when the swing arm is in the retracted position, part of the structure of the swing arm is outside the outline of the machine body 10, and when the swing arm is in the outward swing position, the distance by which the swing arm exceeds the outline of the machine body 10 is greater than the distance by which the swing arm exceeds the outline of the machine body 10 when the swing arm is in the retracted position.

[0205] In some embodiments, the side brush has a cleaning position and a raised position, wherein in the cleaning position, the side brush contacts the surface to be cleaned to clean the surface, and in the raised position, the side brush is separated from the surface to be cleaned to avoid secondary contamination of the surface to be cleaned by dirt on the side brush.

[0206] For example, when the cleaning device 100 moves to a floor with liquid stains or sticky stains, the side brush can be controlled to switch from a cleaning position to a raised position to prevent the side brush from contacting the stains and carrying the stains to other locations on the floor, such as a cleaned location, thereby preventing secondary contamination of the floor; alternatively, when the side brush has finished cleaning the cleaned floor and there is a lot of dirt attached to the side brush, the side brush can be controlled to switch from a cleaning position to a raised position to prevent the side brush from contacting the surface to be cleaned, thereby preventing secondary contamination of the floor.

[0207] When the side brush housing 51 and the cleaning member are in a first relative motion state, the side brush is in a cleaning position to clean the surface to be cleaned through the cleaning member; when the side brush housing 51 and the cleaning member are in a second relative motion state, the side brush switches between the cleaning position and the raised position. For example, the first relative motion state may be that the cleaning member and the side brush housing 51 rotate synchronously, and the second relative motion state may be that one of the cleaning member and the side brush housing 51 rotates relative to the other.

[0208] refer to Fig.12 The side brush further includes a second cleaning member 52 and a side brush housing 51 . The second cleaning member 52 is at least partially accommodated in the side brush housing 51 . The side brush housing 51 can provide installation support for the second cleaning member 52 .

[0209] In some embodiments, when the side brush housing 51 and the second cleaning member 52 are in the first motion state, the side brush housing 51 and the second cleaning member 52 move synchronously, that is, when the side brush cleans the surface to be cleaned, the side brush housing 51 and the second cleaning member 52 rotate synchronously. When the side brush housing 51 and the second cleaning member 52 are in the second motion state, the side brush housing 51 and the second cleaning member 52 produce relative motion, and the second cleaning member 52 switches between the cleaning position and the lifting position under the contact force of the side brush housing 51. In this way, through the relative motion between the side brush housing 51 and the second cleaning member 52, at least part of the structure of the second cleaning member 52 moves toward the inside of the side brush housing 51, thereby separating from the surface to be cleaned. The action principle is relatively simple and easy to implement.

[0210] When the side brush housing 51 and the second cleaning member 52 are in the second motion state, the side brush housing 51 and the second cleaning member 52 generate relative motion, and the relative motion is a rotational relative motion, for example, the side brush housing 51 generates rotational motion relative to the second cleaning member 52, or the second cleaning member 52 generates relative motion relative to the side brush housing 51. In some embodiments, when the side brush housing 51 and the second cleaning member 52 generate relative motion, the side brush housing 51 and the second cleaning member 52 generate circumferential relative displacement and axial relative displacement.

[0211] refer to Fig.12 In some embodiments, the second side brush driving unit 70 includes a second rotary motor 71. When the side brush is in the cleaning position and the second rotary motor 71 rotates in the first direction, the side brush housing 51 and the second cleaning member 52 move synchronously, and the second cleaning member 52 cleans the surface to be cleaned; when the side brush is in the cleaning position and the second rotary motor 71 rotates in the second direction, the side brush housing 51 and the second cleaning member 52 move relative to each other, and the second cleaning member 52 is lifted. In other words, the second rotary motor 71 can rotate in both directions. In this way, the side brush can be switched from the first relative motion state to the second relative motion state, and from the cleaning position to the lifted position only by the second rotary motor 71. In this way, the position of the side brush relative to the surface to be cleaned can be flexibly controlled according to the working conditions by adjusting the relative motion state between the side brush housing 51 and the second cleaning member 52, so as to avoid the dirt on the side brush from contaminating the surface to be cleaned, resulting in low cleaning efficiency, and can also improve the adaptability of the cleaning device 100 to the environment, which helps to improve the user experience, and the overall structure is relatively simple, easy to implement and low cost.

[0212] When the second cleaning member 52 is in the raised position and the second rotary motor 71 rotates in the first direction, the side brush housing 51 and the second cleaning member 52 rotate at a differential speed so that the side brush moves to the cleaning position. In this way, the side brush can be switched from the raised position to the cleaning position.

[0213] In this way, when the second side brush driving unit 70 drives the side brush shell 51 and the second cleaning member 52 to move synchronously, the second side brush driving unit 70 can drive the second cleaning member 52 to perform cleaning work in the cleaning position; when the second side brush driving unit 70 drives the side brush shell 51 and the second cleaning member 52 to produce relative movement, the side brush can switch between the cleaning position and the lifting position, that is, the cleaning work and lifting action of the side brush can be achieved only by the second side brush driving unit 70, which further simplifies the structural design of the side brush and helps to reduce the manufacturing cost of the cleaning device 100.

[0214] In some embodiments, reference Fig.12 and Fig.13 The side brush housing 51 can be in a disc shape, a cylindrical shape or other shapes. The side brush housing 51 has a mounting cavity 511 and a projection opening, which is connected to the mounting cavity 511. The projection opening can be arranged on the side wall or the bottom wall of the side brush housing 51. The second cleaning member 52 is partially arranged in the mounting cavity 511, and the projection opening is used for the second cleaning member 52 to extend out. In this way, the matching mode of the side brush housing 51 and the second cleaning member 52 is relatively simple and easy to implement. In addition, through the structural combination of the second cleaning member 52 and the side brush housing 51, the space required for the side brush can be saved, and the travel required for the side brush in the height direction is small, so that the height space occupied by the side brush can be reduced, which is conducive to the light and thin design of the cleaning device 100.

[0215] The second cleaning member 52 produces a relative motion state relative to the side brush housing 51, that is, when the two are in the second relative motion state, at least one of the height of the second cleaning member 52 relative to the surface to be cleaned and the extension length of the second cleaning member 52 relative to the outside of the side brush housing 51 can be changed, so that the second cleaning member 52 is lifted or lowered relative to the surface to be cleaned.

[0216] In other words, in the present embodiment, only the height of the second cleaning member 52 relative to the surface to be cleaned can be controlled, such as controlling the second cleaning member 52 to be raised or lowered, so that the second cleaning member 52 and the surface to be cleaned are brought into contact or separated; or, only the change in the extension length of the second cleaning member 52 can be controlled, for example, the second cleaning member 52 is constructed to be in contact with the surface to be cleaned when in an expanded state, and to be separated from the surface to be cleaned when in any of a contracted state, a bent state, and a deformed state; or, the second cleaning member 52 and the surface to be cleaned can be brought into contact or separated by simultaneously controlling the change in the height of the second cleaning member 52 relative to the surface to be cleaned and the change in the extension length of the second cleaning member 52.

[0217] For example, the second cleaning member 52 can rotate relative to the side brush housing 51 to adjust the angular position of the second cleaning member 52 in the circumferential direction, or the second cleaning member 52 can be extended relative to the side brush housing 51 by extending the outlet to adjust the length of the portion of the second cleaning member 52 extending out of the side brush housing 51, thereby achieving the purpose of changing at least one of the height of the second cleaning member 52 relative to the surface to be cleaned and the extension length of the second cleaning member 52. In this way, the side brush housing 51 can be used to provide support and accommodation for the relative position change of the second cleaning member 52, so as to better achieve the purpose of adjusting the distance between the second cleaning member 52 and the surface to be cleaned.

[0218] In this way, the second cleaning member 52 can be implemented in various ways to better meet usage requirements. In addition, by changing the length of the portion of the second cleaning member 52 that extends out of the side brush housing 51, the height of the second cleaning member 52 from the ground can be affected, so that the space required to be occupied by the side brush in the height direction can be smaller, and the axial space of the side brush can be saved, so that the cleaning device 100 can flexibly set the position of the side brush. The specific structure of the second cleaning member 52 can be flexibly selected according to actual needs.

[0219] refer to Fig.12 In some embodiments, the second side brush drive unit 70 includes a stopper and an output shaft 73, the stopper is connected to the second cleaning member 52, the output shaft 73 is connected to the side brush housing 51, and the stopper is configured to rotate along a first direction, so that when the second side brush drive unit 70 is driven along the first direction, the stopper and the output shaft 73 rotate along the first direction, so that the side brush housing 51 and the second cleaning member 52 can move synchronously; when the second side brush drive unit 70 is driven along the second direction, the output shaft 73 rotates along the second direction, and the stopper does not rotate, so that the side brush housing 51 and the second cleaning member 52 can produce relative movement.

[0220] In a specific embodiment, the stopper may include a one-way bearing 72. Since the inner ring of the one-way bearing 72 can only rotate in one direction relative to its outer ring, the one-way bearing 72 can serve as a stopper, wherein the inner ring of the one-way bearing 72 is connected to the second cleaning member 52, and the inner ring of the bearing is configured to rotate in a first direction. The output shaft 73 rotates under the drive of the first motor 31, and the output shaft 73 is connected to the side brush housing 51 so that the side brush housing 51 rotates with the rotation direction of the first motor 31. In this way, the second cleaning member 52 and the side brush housing 51 can both rotate synchronously in the first direction under the drive of the first motor 31, and the side brush housing 51 can also rotate in the second direction under the drive of the first motor 31, thereby generating relative motion with the second cleaning member 52. In addition, the implementation method is relatively simple and the cost is low.

[0221] In other embodiments, the connection relationship between the one-way bearing 72 and the output shaft 73 can also be exchanged. For example, the inner ring of the one-way bearing 72 is connected to the side brush housing 51, and the output shaft 73 is connected to the cleaning strip, and the relative motion state of the side brush also changes accordingly.

[0222] In addition to the one-way bearing 72, the stopper may also be of other structures. For example, the stopper may be configured so that when the second cleaning member 52 rotates in the second direction, the stopper and the second cleaning member 52 interfere with each other in the rotation direction; or the stopper may be configured so that it can only rotate in the first direction but cannot rotate in the second direction. The structure of the stopper may be reasonably designed according to actual needs, such as using a one-way ratchet, a one-way gear rack, or the like.

[0223] In this way, by setting a stopper, one of the second cleaning member 52 or the side brush housing 51 can rotate unidirectionally, and the other following the output shaft 73 can produce bidirectional rotation, thereby realizing relative movement between the side brush housing 51 and the second cleaning member 52. The structure is simple and easy to implement.

[0224] The side brush may also include a connecting shaft 53. Specifically, one end of the connecting shaft 53 (e.g., the lower end of the connecting shaft 53) is located in the mounting cavity 511 and connected to the side brush housing 51, and the other end (e.g., the upper end of the connecting shaft 53) extends from the mounting cavity 511 and is connected to the output shaft 73 of the first drive assembly. The connecting shaft 53 is connected to the cleaning member and is suitable for driving the cleaning member to rotate around the connecting shaft 53. By providing the connecting shaft 53, it is convenient for the side brush to be connected and matched with the first drive assembly, and when the first drive assembly drives the connecting shaft 53 to rotate, the connecting shaft 53 can drive the cleaning member to rotate relative to the side brush housing 51, so as to realize that the cleaning member extends out of the protruding opening.

[0225] The second side brush drive unit 70 also includes a clutch sleeve 74. Specifically, the clutch sleeve 74 can be sleeved on the connecting shaft 53, and the inner ring of the one-way bearing 72 is sleeved on the outer side of the clutch sleeve 74, so that when the connecting shaft 53 rotates around the second direction, the stopper can stop the clutch sleeve 74. In this way, the second cleaning member 52 and the connecting shaft 53 can be rotated together through the clutch sleeve 74, and the cleaning member can be stopped through the cooperation of the one-way bearing 72 and the clutch sleeve 74. The overall cooperation method is relatively simple and easy to implement, and the clutch sleeve 74 is sleeved on the connecting shaft 53, and the stopper is sleeved on the outer side of the clutch sleeve 74. Through the sleeve relationship in the circumferential direction, on the one hand, it is conducive to the cooperation between the structures, and on the other hand, it is conducive to the extreme compression of the axial space required for the side brush, thereby reducing the occupation of the height space of the cleaning device 100, and reducing the height of the cleaning device 100, so that the cleaning device 100 has better passability in low areas.

[0226] refer to Figure 10-11In some embodiments, the first side brush drive unit 60 may include: a first drive mechanism 62 and a second drive mechanism 63. Among them, at least the driving force of the first drive mechanism 62 drives the second swing arm 61 to move around the second rotation axis, so that the second swing arm 61 moves toward one of the outer swing position and the retracted position, and at least the driving force of the second drive mechanism 63 drives the second swing arm 61 to move toward the other of the outer swing position and the retracted position. For example, only the driving force of the first drive mechanism 62 can drive the second swing arm 61 to move around the second rotation axis from the retracted position to the outer swing position, and only the driving force of the second drive mechanism 63 can drive the second swing arm 61 from the outer swing position to the retracted position; or, at least one of the processes of the second swing arm 61 moving from the outer swing position to the retracted position and from the retracted position to the outer swing position can be achieved by the cooperation of the first drive mechanism 62 and the second drive mechanism 63.

[0227] Among them, the first driving mechanism 62 may include a first elastic member 621, one end of the first elastic member 621 is connected to the second swing arm 61, and the other end of the first elastic member 621 is relatively fixed to the body 10. The first elastic member 621 can drive the second swing arm 61 from the retracted position to the outward swing position through its own elastic force. It can be understood that the second swing arm 61 can be driven from the retracted position to the outward swing position through the elastic force of the first elastic member 621 itself. The structure is simple, no other power parts need to be additionally set up, and the cost is low.

[0228] Exemplary, reference Fig.10 and Fig.11 The first elastic member 621 can be one of a torsion spring, a compression spring or a tension spring, as long as it can drive the second swing arm 61 from the retracted position to the outward swing position by its own elastic force. For example, the first elastic member 621 drives the second swing arm 61 by its own elastic force, so that the second swing arm 61 moves from a position retracted relative to the body 10 to a position extended relative to the body 10, so that the cleaning device 100 can clean deeper areas such as the inner recess, thereby increasing the cleaning range.

[0229] Exemplarily, when the first elastic member 621 is a torsion spring, one end of the torsion spring is connected to the second swing arm 61, and the other end of the torsion spring is fixedly connected to the body 10, and the axis of the torsion spring is coaxially arranged with the first rotation axis. For example, the second swing arm 61 rotates around a rotating shaft fixed relative to the body 10, and the central axis of the rotating shaft is the first rotation axis. The torsion spring can be directly sleeved on the rotating shaft. In this way, no other structure is required to limit and fix the torsion spring, and the structure is simple and easy to install. Thereafter, one end of the torsion spring is connected to the second swing arm 61, and the other end of the torsion spring is fixed relative to the body 10. When the second swing arm 61 is in the outward swing position, the torsion spring has a certain elastic torque force. When there is no corresponding structure blocking the movement of the second swing arm 61 on the movement path from the retracted position to the outward swing position, the second swing arm 61 can move from the retracted position to the outward swing position under the action of the elastic torque force of the torsion spring, so that the second swing arm 61 extends relative to the body 10.

[0230] refer to Figure 10-11 The second driving mechanism 63 includes a driving member 631, which is constructed to rotate relative to the body 10. When the driving member 631 rotates in a first direction, it at least partially overcomes the elastic force of the elastic member to push the swing arm from the outward swing position to the retracted position; and when the driving member 631 rotates in a second direction, the elastic member drives the swing arm from the retracted position to the outward swing position through its own elastic force, wherein the first direction and the second direction are opposite.

[0231] refer to Figure 10-11 In some embodiments, the driving member 631 may include a driving body 632 and a driving portion 633. The driving body 632 can provide mounting support for the driving portion 633. The shape of the driving body 632 can be reasonably selected according to actual needs. For example, the driving body 632 can be roughly formed into a cam or a groove wheel structure, or other structures. The driving body 632 can be connected to the body 10, and the driving portion 633 is connected to the driving body 632 and is eccentrically arranged relative to the second rotation axis of the driving member 631, that is, the driving portion 633 is spaced from the second rotation axis. In this way, when the driving member 631 rotates around its own axis (that is, the second rotation axis), the driving portion 633 has a certain arc-shaped motion stroke, and the driving portion abuts against the swing arm. Based on the force of the driving portion on the swing arm, the swing arm is pushed from the outward swing position to the inward retracted position. In this way, the driving member 631 can drive the swing arm to move, and the structure of the driving member 631 is relatively simple and easy to manufacture.

[0232] In some embodiments, reference Fig.10The swing arm has a contact surface 611, which cooperates with the driving part 633. When the driving part 631 rotates along the first direction around the second rotation axis, the driving part 633 is suitable for pushing the contact surface 611 to move the swing arm from the outward swing position to the inward retracted position. Optionally, the driving part 633 and the contact surface 611 can be in surface contact or line contact to ensure that the driving part 633 can stably apply thrust to the swing arm. The cooperation between the swing arm and the driving part 631 is simple and reliable.

[0233] Optional, reference Figure 10-11 , a driving groove is provided on the swing arm, and a notch 121 is provided on the side of the driving groove facing the driving member 631, and the groove wall of the driving groove can constitute an abutting surface 611, and the abutting surface 611 can be formed as an arc surface, and the driving part 633 can be cylindrical, wherein the abutting surface and the driving part can abut to produce a relative action, and the driving part 633 can be arranged on the circumference of the upper surface of the driving body 632, that is, distributed along the edge of the upper surface of the driving body, and staggered with the second rotation axis, and the driving part 633 can enter the driving groove from the notch 121 to push and cooperate with the abutting surface 611. Of course, in some other embodiments, the abutting surface 611 can also be a plane or other shapes, and the driving part 633 can be formed into other shapes suitable for pushing against the abutting surface 611.

[0234] Optionally, in order to reduce the friction between the driving part 633 and the abutting surface 611, a roller 635 may be provided on the outer side of the driving part 633. During the rotation of the driving part 631, the roller 635 rolls along the abutting surface 611, thereby improving the smoothness of the swing arm movement process.

[0235] Optional, such as Fig.10 As shown, the driving portion 633 can be arranged at the edge of the driving body 632 and located at the position on the driving body 632 that is the largest distance away from the second rotation axis. In this way, when the driving portion 633 contacts the abutment surface 611, the power required by the driving member 631 can be minimized and the stroke of the swing arm can be large enough.

[0236] In this embodiment, the driving part 633 has a first cam surface 634, and the abutting surface 611 is a second cam surface matched with the first cam surface 634. Thus, the position locking and position switching of the swing arm 121 are realized by the cam mechanism. It can be understood that, since different positions of the first cam surface 634 are at different distances from the rotation center of the driving member 631, different positions of the second cam surface are at different distances from its own rotation axis. In this way, when the driving member 631 rotates, the first cam surface 634 will interfere with the second cam surface, so that the first cam surface 634 pushes the second cam surface to rotate the swing arm 121. In addition, since the first cam surface 634 and the second cam surface are both arc-shaped cam surfaces, the smoothness of the relative movement between the first cam surface 634 and the second cam surface can be improved to avoid the phenomenon of the swing arm 121 being stuck when rotating, thereby improving the user's use experience.

[0237] In some embodiments, reference Figure 10-11 , one of the driving member 631 and the swing arm may further include a matching portion 636, and the other has a matching notch 612 that matches the matching portion 636. For example, the matching portion 636 may be formed on the driving member 631, and the matching notch 612 may be formed on the swing arm; or, the matching portion 636 is formed on the swing arm, and the matching notch 612 is formed on the driving member 631. Take the matching portion 636 formed on the driving member 631 and the matching notch 612 formed on the swing arm as an example: when the swing arm is in the outward swing position, the matching portion 636 and the matching notch 612 are separated from each other, and when the swing arm is in the retracted position, the matching portion 636 and the matching notch 612 are matched and connected with each other. At this time, the matching between the driving member 631 and the swing arm is a grooved wheel mechanism. At this time, the peripheral wall of the matching portion 636 constitutes the locking surface of the driving member 631, and the inner wall of the matching notch 612 constitutes the locking matching surface of the swing arm. In this way, through the cooperation between the matching portion 636 and the matching notch 612, the swing arm can be locked in the retracted position.

[0238] In some embodiments, the side wall shape of the matching portion 636 and the edge shape of the matching notch 612 match each other, so that when the swing arm is in the retracted position, the matching portion 636 and the matching notch 612 fit together. In this way, when the matching portion 636 and the matching notch 612 fit together, the swing arm cannot rotate relative to the driving member 631, so that the swing arm is stably locked in the retracted position.

[0239] In some embodiments, reference Figure 10-11 The side wall of the matching portion 636 and the edge of the matching notch 612 are both arc-shaped. In this way, the shapes of the matching portion 636 and the matching notch 612 are adapted to the movement process of the respective structures, which not only facilitates the matching portion 636 to enter the matching notch 612, but also facilitates the matching portion 636 to exit the matching notch 612. In addition, the structures of the matching portion 636 and the matching notch 612 are relatively simple and easy to implement.

[0240] Optionally, the driving portion 633 and the matching portion 636 of the driving member 631 have different angles relative to their rotation axis, i.e., the second driving axis. In this way, it can be ensured that when the driving portion 633 cooperates with the abutment surface 611, the matching portion 636 is separated from the matching notch 612; and when the matching portion 636 cooperates with the matching notch 612, the driving portion 633 is separated from the abutment surface 611, thereby making the switching process of the swing arm between the outward swing position and the inward retracted position smoother.

[0241] Optionally, in order to improve the mating stability between the mating portion 636 and the mating notch 612, the peripheral wall of the mating portion 636 and the inner wall of the mating notch 612 can be formed as non-planar surfaces. For example, one of them is formed as a step surface and the other is formed as a matching inverted step surface. In this way, the contact area between the peripheral wall of the mating portion 636 and the inner wall of the mating notch 612 can be increased, thereby improving the stability of the swing arm when it is locked in the retracted position.

[0242] In some embodiments, when the swing arm is in the retracted position, the swing arm applies a force to the matching portion 636 under the drive of the first driving mechanism 62. When the direction of the force applied by the swing arm to the matching portion 636 points to the rotation axis of the driving member 631, since the length of the force arm is zero, the swing arm does not have a reaction force to push the driving member 631 to rotate. At this time, the driving member 631 can be locked in the retracted position.

[0243] In some embodiments, in combination Figure 21-26 as well as Fig.29 Since the cleaning component 20 is a part of the wet cleaning module of the cleaning device 100 and is mainly used for wet cleaning of the surface to be cleaned, the cleaning component 20 needs its first cleaning member 21 to remain wet when performing the cleaning task. In this embodiment, the cleaning device 100 further includes: a water replenishing mechanism 80, which is used to provide liquid to the cleaning component 20 at least when the cleaning component 20 is in the retracted position and the outward swing position. Preferably, the water replenishing mechanism 80 can provide liquid to the cleaning component 20 when the cleaning component 20 is in the outward swing position, the retracted position, and a dynamic position in the process of switching between the outward swing position and the retracted position.

[0244] When the cleaning component moves between the retracted position and the outward swing position, the cleaning component can be in the retracted position for wet cleaning, or in the outward swing position for wet cleaning. The cleaning component needs to be wet cleaned when it is in both the retracted position and the outward swing position. Therefore, a water replenishing mechanism is provided to replenish liquid for the cleaning component when the cleaning component is in both the retracted position and the outward swing position, so that the cleaning component can be wet cleaned when it is in both the retracted position and the outward swing position. When the cleaning component needs to be replenished with liquid, it is not necessary to first control the cleaning component to move to the retracted position and then replenish the liquid, thereby requiring frequent control of the movement of the cleaning component between the retracted position and the outward swing position, thereby avoiding the wear caused by the high-frequency outward swing and retracted movement of the cleaning component and improving the service life of the swing arm of the cleaning component.

[0245] In some embodiments, in combination Figure 1-Figure 27 The cleaning disc 22 has a hollow area 2201, and the water replenishing mechanism 80 has at least one water outlet 81. The water outlet 81 is arranged on the body 10. The liquid flowing out of the water outlet 81 passes through the hollow area 2201 to provide liquid to the first cleaning element 21. By setting the hollow area 2201, it can be ensured that the liquid flowing out of the water outlet 81 on the upper side of the cleaning disc 22 reaches the first cleaning element 21, replenishing water for the first cleaning element 21 to ensure that it can perform wet cleaning smoothly.

[0246] In a specific embodiment, when the cleaning component 20 is in the retracted position, the outward swing position, and any position during the switching movement between the retracted position and the outward swing position, the vertical projection areas of the hollow area 2201 on the cleaning disk 22 on the bottom of the body 10 are respectively the retracted vertical projection area 2211, the outward swing vertical projection area 2212, and the swinging vertical projection area, and there is an always overlapping area 2204 among the three vertical projection areas. Therefore, by setting the water outlet 81 or at least part of the water outlet 81 in the always overlapping area 2204 on the body 10, the water outlet 81 can simultaneously replenish water to the first cleaning part 21 of the cleaning component 20 in the retracted position, replenish water to the first cleaning part 21 of the cleaning component 20 in the outward swing position, and replenish water to the first cleaning part 21 of the cleaning component 20 in any position between the retracted position and the outward swing position, thereby having a better water replenishment effect.

[0247] In some embodiments, when the cleaning component 20 is in the retracted position, the outward swing position, and the swing position, at least a portion of the water outlet 81 is connected to the hollow area 2201, wherein the swing position is any position of the cleaning component 20 in the retracted position and the outward swing position. In this way, by setting a suitable position for the water outlet 81, when the cleaning component 20 is in any position, it can be ensured that the hollow area 2201 and the water outlet 81 are connected, thereby providing a stable water supply to the cleaning component 20.

[0248] In some embodiments, reference Figure 1-Figure 26 The hollow area 2201 is formed into an annular channel 2200. When the cleaning component 20 switches between the retracted position and the outward swing position, the water outlet 81 and different channel sections of the annular channel 2200 are connected. In this way, when the cleaning component 20 is in any position, the hollow area 2201 and the water outlet 81 can be connected, thereby providing a stable water supply to the cleaning component 20.

[0249] It can be understood that since the cleaning component of the wet cleaning module can swing outward and retract relative to the body 10, the cleaning component can be in a dynamic position during the switching process between the swing out position, the retracted position, and the swing out position and the retracted position, the position of the water outlet 81 of the water replenishment mechanism 80 also changes accordingly, and the position of the water outlet 81 can be divided into at least two situations. Specifically:

[0250] The first situation is: the water outlet 81 is arranged on the cleaning disk 22 of the cleaning component, the water tank of the water replenishing mechanism 80 is located in the assembly cavity of the body 10, and the water supply pipeline 82 connecting the water tank and the water outlet 81 will swing in the assembly cavity of the body 10 as the cleaning component swings.

[0251] The second situation is that the water outlet 81 is arranged on the machine body 10, and the water outlet 81 will not move relative to the machine body 10 with the swing of the cleaning component. Figure 21 to Figure 26 As shown, an annular hollow area 2201 is provided on the cleaning disc 22 of the cleaning component. When the cleaning component is in the retracted position, the outward swing position, and any position between the retracted position and the outward swing position during the swinging process (i.e., the swinging position), the position of the water outlet 81 on the body 10 is determined through the vertical projection area of ​​the hollow area 2201 on the body 10 (i.e., the position of the hollow area 2201 projected on the bottom of the body 10 in a direction perpendicular to the bottom of the body 10), so as to realize that when the first cleaning member 21 is in the outward swing position, the retracted position, and any position between the outward swing position and the retracted position, the water outlet 81 replenishes water to the first cleaning member 21 through the hollow area 2201; or when the first cleaning member 21 is in the retracted position and the outward swing position, the water outlet 81 replenishes water to the first cleaning member 21; or when the first cleaning member 21 is only in the retracted position or only in the outward swing position, the water outlet 81 replenishes water to the first cleaning member 21.

[0252] Among them, when the water outlet is set on the cleaning disc, when the cleaning component switches between the retracted position and the outward swing position, the water outlet can move with the cleaning component, so that liquid can be provided to the cleaning component when the cleaning component is in the retracted position and the outward swing position; when the water outlet is set on the machine body, when the cleaning component switches between the retracted position and the outward swing position, the position of the water outlet does not change, and when the cleaning component is in the retracted position, the water replenishing mechanism can replenish liquid to the cleaning component through the water outlet; when the cleaning component is in the outward swing position, the cleaning disc may block the water replenishing port, resulting in the water replenishing port being unable to replenish water to the cleaning component when the cleaning component is in the outward swing position, thereby making it impossible to perform wet cleaning when the cleaning component is in the outward swing position.

[0253] Further, the cleaning disc is used to connect the first cleaning member, so as to support the first cleaning member, that is, the cleaning disc includes a supporting structure, for example, the cleaning disc includes a plate-like structure. By setting a hollow area on the cleaning disc, the water replenishing port can replenish water to the first cleaning member arranged on the cleaning disc through the hollow area; in some embodiments, when the cleaning component 20 is in the retracted position and the outward swing position, at least part of the water outlet 81 is connected to the hollow area 2201, that is, when the cleaning component 20 is in the retracted position or the outward swing position, the water outlet 81 is not blocked, and the water outlet 81 can always be kept in communication with the hollow area 2201, so as to continuously and stably supply water to the first cleaning member 21 of the cleaning component 20. In this way, by reasonably setting the position of the water outlet on the body, when the cleaning component is in the retracted position and the outward swing position, the water outlet can be connected to the hollow area, so that the cleaning component can perform wet cleaning in both the retracted position and the outward swing position. Compared with the method of setting the water outlet on the cleaning component, the water outlet is set on the machine body to prevent the water pipes related to the water replenishment mechanism from moving with the cleaning component when it moves between the retracted position and the outward swing position, causing the water pipes to bend and the water to flow poorly or be damaged.

[0254] In some embodiments, the water replenishment mechanism 80 includes a water tank (not shown) and at least one water outlet 81 disposed on the body 10, and the water tank is controllably connected to the water outlet 81. For example, as shown in the figure, the water tank and the water outlet 81 can be connected by a water pipeline 82.

[0255] For example, when the cleaning assembly 20 includes a cleaning plate 22 and a first cleaning member 21 disposed on the cleaning plate 22, the water output through the water outlet 81 can wet the first cleaning member 21, thereby achieving a better mopping effect. The first cleaning member 21 can be a rag made of a flexible material or a wiping member made of a hard material.

[0256] When multiple water outlets 81 are provided, a delivery pump can be provided on the water delivery pipeline 82, and a water distributor can be provided on the delivery pump, through which the water in the water tank can be evenly distributed to each water outlet 81. The designer can determine the specific structure and control method of the delivery pump according to the use requirements, and no specific restrictions are made here.

[0257] In a specific embodiment, when there are two cleaning components 20, one of which is a cleaning component 20 that can swing outwards and the other is a cleaning component 20 that cannot swing outwards, there are two water outlets 81, one of which can replenish water for the cleaning component 20 that can swing outwards and the other of which can replenish water for the cleaning component 20 that cannot swing outwards. Moreover, the water in the water tank can be evenly distributed to the aforementioned water outlets 81 through the water distributor, thereby ensuring the uniformity of water replenishment.

[0258] When the cleaning component 20 switches between the retracted position and the outward swing position, for example, when the cleaning component 20 switches between the retracted position and the outward swing position, the position of the water outlet 81 on the body 10 is determined according to the vertical projection area of ​​the hollow area 2201 of the cleaning component 20 on the body 10 (that is, the position of the hollow area 2201 projected on the bottom of the body 10 in a direction perpendicular to the bottom of the body 10).

[0259] Specifically, Figure 21-26 As shown, during the outward swinging process of the cleaning disc 22 from the retracted position to the outward swinging position, the motion trajectory of the rotation center of the cleaning disc 22 is the second arc 2206, and the center of the circle where the second arc 2206 is located is the swinging center of the cleaning component 20 during the outward swinging and retracting (not shown in the figure).

[0260] The hollow area 2201 on the cleaning disc 22 includes an inner circle 2202 and an outer circle 2203, and a center circle 2214 between the inner circle 2202 and the outer circle 2203; during the swinging process, the outer circle 2203 of the hollow area 2201 will pass through a fixed point 2207, i.e., the intersection of the outer circle 2203 of the hollow area 2201 in the outward swing position and the inward retracted position in the figure.

[0261] like Fig. 22 As shown, during the outward swinging process, the inner circle 2202 of the hollow area 2201, the point on the inner circle 2202 will fall on the first arc 2205 in the figure, and the first arc 2205 is a section of the arc on the circumscribed circle of the two inner circles 2202 of the hollow area 2201 at the outward swinging position and the inward retracting position. The first arc 2205 and the second arc 2206 are concentric circles, and the centers of the two circles are the swinging centers of the cleaning component 20 during the outward swinging and inward retracting.

[0262] The above-mentioned fixed point 2207, the first tangent point 2209 at both ends of the first arc 2205, the second tangent point 2210, and the outer circle 2203 of the hollow area 2201 located at the outer swing position and the outer circle 2203 of the hollow area 2201 located at the retracted position are vertically projected on the bottom of the body 10 to form an always overlapping area 2204. The water outlet 81 or at least part of the water outlet 81 is arranged in the always overlapping area 2204 on the body 10, so that the first cleaning part 21 on the cleaning plate 22 can be replenished with water through the hollow area 2201 in the outer swing position, the inner swing position and the swinging process.

[0263] Preferably, the water outlet 81 is arranged in the always overlapping area 2204 and is located at the projection point of the intersection of the center circle 2214 of the outward swing position and the center circle 2214 of the retracted position on the bottom of the machine body 10. The first arc 2205 and the second arc 2206 are concentric circles.

[0264] In another specific embodiment, Fig.26 In the embodiment shown, when the cleaning assembly 20 is in the retracted position, the vertical projection of the hollow area 2201 on the cleaning disc 22 on the bottom of the body 10 is the retracted vertical projection area 2211, and when the cleaning assembly 20 is in the swing-out position, the vertical projection area of ​​the hollow area 2201 on the cleaning disc 22 on the bottom of the body 10 is the swing-out vertical projection area 2212, and there is a certain common overlap area 2213 between the retracted vertical projection area 2211 and the swing-out vertical projection area 2212, and by arranging the water outlet 81 or at least part of the water outlet 81 in the common overlap area 2213 on the body 10, the water outlet 81 can replenish water to the first cleaning member 21 of the cleaning assembly 20 in the retracted position and the swing-out position. The area of ​​the common overlap area 2213 is larger than the area of ​​the always overlapping area 2204.

[0265] In another specific embodiment, Fig.24 In the embodiment shown, when the cleaning assembly 20 is in the retracted position, the vertical projection area of ​​the hollow area 2201 on the cleaning disk 22 on the bottom of the body 10 is the retracted vertical projection area 2211, and the water outlet 81 or at least part of the water outlet 81 is arranged at any position in the retracted vertical projection area 2211, so that the water outlet 81 can replenish water to the first cleaning member 21 of the cleaning assembly 20 in the retracted position. Further, the water outlet 81 or at least part of the water outlet 81 can also be arranged in the part of the retracted vertical projection area 2211 on the body 10 minus the common overlap area 2213, so that the water outlet 81 can only replenish water to the first cleaning member 21 of the cleaning assembly 20 in the retracted position.

[0266] In another specific embodiment, Fig.25In the embodiment shown, when the cleaning assembly 20 is in the outward swing position, the vertical projection of the hollow area 2201 on the cleaning plate 22 on the bottom of the machine body 10 is the outward swing vertical projection area 2212, and by setting the water outlet 81 or at least part of the water outlet 81 at any position within the outward swing vertical projection area 2212 on the machine body 10, the water outlet 81 can replenish water to the first cleaning member 21 of the cleaning assembly 20 in the outward swing position. Further, the water outlet 81 or at least part of the water outlet 81 can also be set at the part of the outward swing vertical projection area 2212 on the machine body 10 minus the common overlap area 2213, so that the water outlet 81 only replenishes water to the first cleaning member 21 of the cleaning assembly 20 in the outward swing position.

[0267] In another implementation of this embodiment, at least one water outlet 81 can be set on the cleaning disk 22 of the cleaning component 20, and a water supply pipeline 82 is provided between the water outlet 81 and the water tank, so that the water outlet 81 can move synchronously with the cleaning component 20 to replenish water to the first cleaning part 21 on the cleaning disk 22.

[0268] In some embodiments, the cleaning component 20 has a mopping position and a lifting position. When the cleaning component 20 is in the lifting position, the cleaning component 20 is separated from the surface to be cleaned and no longer cleans the surface to be cleaned. The water replenishing mechanism 80 does not replenish the cleaning component 20 with water to avoid wasting water resources and to prevent the liquid of the cleaning component 20 from falling and contaminating the surface to be cleaned.

[0269] In some embodiments, reference Fig.29 The water replenishment mechanism 80 has at least one overflow hole 83, and the water tank and the hollow area 2201 of the water replenishment mechanism 80 are both connected to the overflow hole 83. For example, the overflow hole 83 can be set on the body 10, such as Fig.29 In the embodiment shown, the overflow hole 83 is connected to the water tank. In this way, the excess water in the water tank can be discharged through the overflow hole 83, and the water in the overflow hole 83 flows through the hollow area 2201, which can further replenish the liquid in the cleaning component 20 to avoid wasting liquid. Specifically, the overflow hole 83 can be set at the bottom or side wall of the body 10. Preferably, the overflow hole 83 avoids the water outlet 81 at the bottom of the body 10. Further preferably, the overflow hole 83 is arranged on the bottom of the body 10, and at least part of the overflow hole 83 is opposite to the deformation hole 224 (mentioned below) of the cleaning disc 22, and the excess solution in the water tank drips onto the cleaning part through the overflow hole 83 and the deformation hole 224 for wetting the cleaning part. Of course, the designer can also adjust the setting position and setting number of the overflow hole 83 according to the use needs, and no specific restrictions are made here.

[0270] In some embodiments, the outer periphery of the cleaning disc 22 is provided with a deformation portion 223, and the deformation portion 223 includes a plurality of deformation holes 224 arranged on the outer periphery of the cleaning disc 22, and the deformation portion 223 can be deformed by force. Considering that when the cleaning component 20 is in the outward swing position, in order to ensure the edge effect, it is usually necessary to clean close to the obstacle, and it is easy to contact and collide with the obstacle, and the cleaning component 20 is usually not provided with a collision sensor. Compared with the collision perception of the body 10, the collision perception of the cleaning component 20 is lagging, and it is easy to collide with the obstacle. Therefore, in this embodiment, the deformation portion 223 is provided on the peripheral side of the cleaning disc 22. During the process of the cleaning component 20 retracting or swinging outward, or when the cleaning component 20 is in the outward swing position, even if it collides with the body 10 or other structures at a certain movement speed, it can absorb the impact energy by its own deformation, so as to achieve the effect of shock absorption and noise reduction. In addition, the way of setting the outer ring of the cleaning disc 22 is simple in structure and easy to implement. In addition, the deformation hole 224 can provide a deformation space, and the deformation hole 224 is used to increase the deformation amount and enhance the collision buffering effect.

[0271] In some embodiments, a plurality of deformation holes 224 may be distributed along the circumference of the cleaning disc 22. The cleaning disc 22 may include a disc body 221, and the disc body 221 may be provided with a hollow area 2201. In addition, a fixing portion 226 may be provided on the disc body 221, and the fixing portion 226 may be connected to a mounting portion 431 of a driving structure that drives the cleaning disc 22 to rotate. The connection between the fixing portion 226 and the mounting portion 431 may be magnetic, plug-in, or threaded. The designer may determine the connection method according to usage requirements, and no specific restrictions are imposed herein. The inner end of the deformation portion 223 is wrapped or sleeved on the outer peripheral edge of the disc body 221, and the deformation portion 223 is arranged in a ring around the edge of the disc body 221, or the inner end of the deformation portion 223 is integrally formed on the outer periphery of the disc body 221, and the deformation portion 223 is arranged in a ring around the edge of the disc body 221. As Fig.28 In the illustrated embodiment, a disk edge 227 is disposed on the outer ring of the disk body 221 , and the disk body 221 can be connected to the deformation portion 223 via the disk edge 227 .

[0272] In this way, the deformed portion 223 can better protect the cleaning disc 22 inside and play a better role in buffering and noise reduction.

[0273] In some embodiments, when the cleaning component 20 is in the swing-out position, or in the process of switching between the retracted position and the swing-out position, when the cleaning component 20 contacts an obstacle, the deformable portion 223 can be deformed by an external force. In this way, when the cleaning component 20 is in the swing-out position, or in the process of switching between the retracted position and the swing-out position, when the cleaning component 20 collides with the outside world, the deformable portion 223 can absorb the collision energy to achieve the purpose of buffering and noise reduction.

[0274] Further, at least one spoke 222 is provided on the disc body 221, and an adhesive structure can be provided on the spoke 222 for quickly installing the first cleaning member 21. For example, the adhesive structure can be a Velcro provided on the spoke 222, and a Velcro can also be provided on the first cleaning member 21 to achieve a quick adhesive connection and facilitate the replacement of the first cleaning member 21. For example, at least one annular groove is provided on the bottom of the disc body 221, and the spoke 222 is installed in the annular groove for fixing the rag. At least one spoke 222 is provided between the deformation hole 224 and the hollow area 2201, so that the deformation hole 224 and the hollow area 2201 can be connected by the spoke 222 to ensure the overall structural strength.

[0275] In some embodiments, the deformation portion 223 is a soft rubber structure, so that the deformation portion 223 has a higher deformation capacity to better absorb and buffer the collision energy, and the cost is lower.

[0276] In accordance with the above content, the first mop driving unit 30 in this embodiment can be the first mop driving unit 30 capable of generating arc motion in any of the above embodiments, and the designer can select it according to the use requirements, and no specific limitation is made here. In the embodiment, the moving channel 16 includes a long hole or an arc hole.

[0277] Furthermore, a sealing member 34 may be provided on the elongated hole or the arc-shaped hole, and the elongated hole or the arc-shaped hole may be sealed by the sealing member 34 to achieve a better dustproof and water-blocking effect.

[0278] In some embodiments, reference Figure 3 The second swing arm 61 includes an outer side surface 61a and an inner side surface 61b of the swing arm. The second cleaning member 52 is arranged at the outer end 61c of the second swing arm 61. The outer side surface 61a and the inner side surface 61b of the swing arm are transitioned through the outer end 61c. The second swing arm 61 may include a flexible member, which is arranged on the outer side surface 61a and / or the inner side surface 61b of the swing arm, or the flexible member at least partially covers the outer end 61c of the second swing arm 61. That is to say, the flexible member can be arranged on at least one of the inner side surface 61b of the swing arm, the outer side surface 61a of the swing arm, and the outer end 61c of the second swing arm 61. Optionally, the inner side surface 61b of the swing arm, the outer side surface 61a of the swing arm, and the outer end 61c of the second swing arm 61 are all provided with flexible members. Preferably, the flexible member is at least arranged on the outer end 61c of the second swing arm 61. When the second swing arm 61 collides with an obstacle, the outer end 61c of the second swing arm 61 often contacts the obstacle first. Arranging the flexible member on the outer end 61c of the second swing arm 61 has a better buffering effect. In this way, the flexible member can deform to a certain extent when the second swing arm 61 collides with the body 10 or other structures, so as to better absorb the collision energy and play a role in buffering and noise reduction.

[0279] Considering that the cleaning device 100 may need to perform cleaning tasks in different working scenarios, and different types of cleaning components may be used in different working scenarios, in this embodiment, the side brush and the cleaning component 20 may be driven to switch between the retracted position and the outward swing position according to the different working scenarios of the cleaning device 100, so as to meet the cleaning needs in the corresponding working scenarios. Specifically, the first driving structure may be used for:

[0280] When the cleaning device 100 is in the first preset working scene, the side brush and the cleaning assembly 20 are driven to be in the retracted position at the same time. The first preset working scene includes at least part of the scene of returning to the base station, navigation of the cleaning device 100, map creation of the cleaning device 100, and execution of the cleaning route of the bow by the cleaning device 100. Among them, the scene of returning to the base station refers to the scene of the cleaning device 100 returning to the charging base station for charging or self-cleaning.

[0281] When the cleaning device 100 is cleaning along the bow-shaped cleaning route, the side brush and the cleaning component 20 are in a retracted position, so as to avoid that when the side brush and the cleaning component 20 are in an outward swing position, the cleaning effect on the middle area of ​​the body 10 is poor, which may easily cause the middle area of ​​the body 10 to be missed; when the cleaning device 100 returns to the base station, the side brush and the cleaning component 20 are kept in a retracted position to avoid the side brush and the cleaning component 20 from scratching against the base station, which may affect the docking of the cleaning device 100 and the base station; when the cleaning device 100 is navigating and building a map, the side brush and the cleaning component 20 do not perform any work, and both are kept in a retracted position to avoid scratching against objects in the cleaning environment when in an outward swing position.

[0282] When the cleaning device 100 is in the second preset working scene, the first driving structure drives the side brush and the cleaning assembly 20 to be in the outward swing position at the same time for cleaning;

[0283] When the cleaning device 100 is in the third preset working scene, the first driving structure drives one of the side brush and the cleaning assembly 20 to be in an outward swing position, and the other to be in an inward retracted position.

[0284] In this way, the cleaning device 100 can flexibly switch the positions of the side brush and the cleaning component 20 according to the working scene to meet the cleaning needs of the corresponding scene. In addition, in the first preset scene, the side brush and the cleaning component 20 are kept in the retracted position to avoid the problem of collision when in the outward swing position.

[0285] In some embodiments, when the cleaning device 100 is in the second preset working scene, the first driving structure drives the side brush and the cleaning component 20 to be in the outward swing position for cleaning, so that the side brush and the cleaning component 20 in the outward swing position clean the first obstacle along the edge, wherein the second preset working scene is a scene in which there is a first obstacle on the cleaning path of the cleaning device 100 when the cleaning device 100 performs a cleaning task, and the first obstacle includes at least one of the following: table and chair legs, columnar objects, and flower pots. That is, the first obstacle is an object that the cleaning device 100 needs to perform at least partially surrounding cleaning. For example, when there are first obstacles such as table and chair legs, columnar objects, and flower pots on the cleaning path of the cleaning device 100, the side brush and the cleaning component 20 can be controlled to be in the outward swing position to perform dry cleaning and wet cleaning on the area around the first obstacle, respectively.

[0286] In some embodiments, the third preset working scene is that there is a second obstacle on the edge cleaning path of the cleaning device 100 that requires the cleaning device 100 to turn. When the cleaning device 100 is in the third preset working scene, the first driving structure drives the side brush to be in an outward swing position, and the cleaning component 20 is in a retracted position to clean the angle between the edge cleaning path and the second obstacle. In this way, compared with the side brush being in the retracted position to clean the angle between the edge cleaning path and the preset obstacle, the side brush being in the outward swing position is more capable of cleaning the corner area, thereby improving the user experience. The side brush can be used to clean the angle between the edge cleaning path and the second obstacle, which increases the cleaning range while avoiding the difficulty of the cleaning component 20 in the outward swing position to clean the angle between the edge cleaning path and the second obstacle, and it is easy to collide with the second obstacle and fall off.

[0287] The third preset working scenario can also be that the cleaning device 100 performs edge cleaning on a third obstacle, the third obstacle has a cavity that is accessible when the side brush is in the outward swing position, the first driving structure drives the side brush to the outward swing position, and the cleaning component 20 is in the retracted position to perform edge cleaning on the third obstacle, wherein the depth of the side brush entering the cavity in the outward swing position is greater than the depth of the side brush entering the cavity in the retracted position.

[0288] Optionally, the target obstacle is concave at least at the height of the side brush toward a side away from the body 10 to form a cavity.

[0289] Optionally, the lower edge of the target obstacle has at least an arc and / or a broken line structure to form a plurality of recessed portions, and the depth of the cavity corresponding to the recessed portion when the side brush enters the recessed portion in the outward swing position is greater than the depth of the cavity corresponding to the recessed portion when the side brush enters the recessed portion in the inward retracted position.

[0290] It should be noted that in the aforementioned cleaning scenarios such as hollowing, lace, vertical concave, curved surface, etc., the body 10 itself cannot get close to the target obstacle. Therefore, the side brush can be extended to clean the cavity, and the cleaning plate 22 is too large to clean the edge. At this time, the cleaning plate 22 is in a retracted position.

[0291] It is understandable that, since the side brush has bristles, the bristles are more likely to clean a narrow space, and the overall volume of the side brush is smaller than the volume of the cleaning assembly 20, the side brush is more flexible in movement relative to the cleaning assembly 20, and the swing range of the side brush is greater than the swing range of the cleaning assembly 20, therefore, the side brush is more suitable for cleaning the cavity of the third obstacle. In addition, in this embodiment, the cleaning assembly 20 is in the retracted position, which can, on the one hand, clean the surrounding of the third obstacle along the edge, and on the other hand, can prevent the cleaning assembly 20 from colliding with the third obstacle and falling off when it is in the outward swing position.

[0292] In some embodiments, the angle between the edge cleaning path and the second obstacle includes at least one of an inner right angle and a scene in which table and chair legs exist on the edge path.

[0293] In some embodiments, the third preset working scene is that there is a positive angle (i.e., an external right angle, a protruding angle) on the travel path of the cleaning device 100, and the first driving structure is used to drive the cleaning assembly 20 to be in an outward swing position, and the side brush is in an inward retracted position to clean the positive angle;

[0294] Exemplarily, taking an outer right angle as an example, the cleaning device 100 moves along the first side (at this time, it is a long straight line along the side, the side brush is in the retracted position, and the cleaning disc 22 is in the outward swing position). When the outer right angle is detected, the cleaning device 100 moves forward to the outer right angle, the cleaning disc 22 remains in the outward swing position, the side brush remains in the retracted position, and the corner is cleaned. After completing the turn, the cleaning device 100 continues to clean along the second side. In this way, when the cleaning device 100 cleans the outer right angle, both the cleaning component 20 and the side brush can clean the outer right angle area, and there is no need to frequently switch the positions of the side brush and the cleaning component 20. At the same time, it is prevented that the second swing arm 61 is easy to interfere with the positive angle when the side brush is in the outward swing state, affecting the steering of the cleaning device 100.

[0295] That is, when an outer right angle is detected, the cleaning device 100 moves forward to reach the outer right angle, and no special treatment is performed on the side brush and the cleaning disc 22, that is, the cleaning disc 22 and the side brush are kept in the retracted position, and continue to move along the second side after the turn is completed.

[0296] In addition to the third preset working scene described above, the third preset working scene can also be that when there are linear obstacles and / or wet stains on the travel path of the cleaning device 100, the cleaning component 20 is in the outward swing position and the side brush is in the inward retracted position, so that the side brush can avoid the linear obstacles and / or wet stains, while the cleaning component 20 can clean the wet stains. In this way, the cleaning component 20 can be used to clean wet stains while the side brush avoids obstacles or is prevented from being contaminated by wet stains.

[0297] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0298] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0299] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0300] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning device, characterized in that: include: Body; A cleaning assembly and a side brush, wherein the cleaning assembly is movably connected to the machine body, the cleaning assembly comprises a cleaning disc and a first cleaning member disposed on the cleaning disc, and the side brush and the cleaning assembly are respectively located at the front and rear sides of the machine body in the direction of travel; At least one first driving structure is provided, and the at least one first driving structure is used to drive the side brush and the cleaning component so that the side brush and the cleaning component have a retracted position and an outward swing position relative to the body. When driven by at least one of the first driving structures, both the side brush and the cleaning component are in the outward swing position or the retracted position, or one of the side brush and the cleaning component is in the retracted position and the other is in the outward swing position.

2. The cleaning device according to claim 1, characterized in that The cleaning device comprises at least one swingable cleaning component and at least one swingable side brush, wherein the at least one swingable cleaning component and the at least one swingable side brush are located on the same side relative to the traveling direction of the machine body.

3. The cleaning device according to claim 1, characterized in that: The at least one first driving structure includes a first mop driving unit, which is used to drive the cleaning component to switch between the retracted position and the outward swing position relative to the body, and / or the at least one first driving structure includes a first side brush driving unit, which is used to drive the side brush to switch between the retracted position and the outward swing position relative to the body.

4. The cleaning device according to claim 3, characterized in that: A moving channel is provided at the bottom of the machine body, the cleaning assembly is arranged below the moving channel, at least part of the structure of the first mop drive unit is located in the moving channel, and moves along the moving channel to drive the cleaning assembly to move between the retracted position and the outward swing position.

5. The cleaning device according to claim 3, characterized in that: The side wall of the cleaning device is provided with a notch, and the side brush switches between the retracted position and the outward swing position via the notch; the cleaning device includes a collision assembly, and the collision assembly includes a collision plate arranged on the body, and the collision plate at least covers the front side wall of the body. When the collision plate contacts an obstacle, the collision plate is subjected to force to generate displacement to detect the collision, wherein the notch is provided on the collision plate.

6. The cleaning device according to claim 5, characterized in that The body includes a bottom shell, the impact plate extends at least to the bottom shell in the vertical direction, the notch is located in the lower half of the impact plate, the bottom shell is provided with a notch, the notch is connected to the notch to at least partially form a accommodating cavity for accommodating the side brush.

7. The cleaning device according to any one of claims 1 to 6, characterized in that: When the cleaning assembly and the side brush are both in the outward swing position, the swing range of the side brush is greater than the swing range of the cleaning assembly; and / or, The side brush is further away from the edge of the body than the cleaning assembly.

8. The cleaning device according to any one of claims 3 to 6, characterized in that: Also includes: At least one second driving structure is provided, and the at least one second driving structure is used to drive the side brush and the cleaning component to move for cleaning.

9. The cleaning device according to claim 8, characterized in that The at least one second driving structure comprises a second mop driving unit, which is used at least to drive the cleaning component to move for cleaning, and / or the at least one second driving structure comprises a second side brush driving unit, which is used to drive the side brush to move for cleaning.

10. The cleaning device according to claim 9, characterized in that The first mop drive unit comprises a first swing arm, and the first swing arm is rotatably arranged on the machine body around a first rotation axis; The cleaning device comprises a first lifting structure, the first lifting structure is used to drive the cleaning component to move between a lifting position and a mopping position, wherein the height of the cleaning component in the lifting position is higher than the height in the mopping position; The first mop driving unit is used to drive at least a portion of the first lifting structure to swing, so as to drive the cleaning component to swing.

11. The cleaning device according to claim 10, characterized in that The second mop driving unit includes a first rotating motor for driving the cleaning assembly to move, and the second mop driving unit and the first lifting structure share the first rotating motor.

12. The cleaning device according to claim 11, characterized in that The first lifting structure includes: a first fixed body and a second fixed body, the first fixed body is connected to the first rotating motor, the first fixed body and the second fixed body are threadedly matched, a mounting portion is provided at the bottom of the second fixed body, and the top of the cleaning disc is connected to the mounting portion; when the first rotating motor rotates along the first direction, the second fixed body rotates upward relative to the first fixed body, and the second fixed body drives the cleaning component to be lifted from the mopping position to the lifting position; when the first rotating motor rotates along the second direction, the second fixed body rotates downward relative to the first fixed body, and the second fixed body drives the cleaning component to descend from the lifting position to the mopping position; when the cleaning component is in the mopping position, the first rotating motor rotates along the second direction, the second fixed body and the first fixed body have no relative movement, and the second fixed body drives the cleaning component to move to clean the surface to be cleaned.

13. The cleaning device according to claim 9, characterized in that When the cleaning component is in the mopping position, the cleaning component switches between the swing-out position and the retracted position under the drive of the first driving structure; and / or, When the cleaning component is in the retracted position, the cleaning component is switched between the raised position and the mopping position under the drive of the second driving structure.

14. The cleaning device according to claim 9, characterized in that The cleaning device includes at least one downward-looking sensor disposed at the rear side of the side brush, and when the side brush rotates to clean, there is a state in which the downward-looking sensor is blocked; The second side brush driving unit is used to stop the side brush from rotating when the side brush is in a position where it does not block the downward-looking sensor.

15. The cleaning device according to claim 9, characterized in that The side brush has a cleaning position in contact with the surface to be cleaned, and a raised position separated from the surface to be cleaned; The cleaning device includes a side brush assembly, the side brush assembly including a side brush housing and a second cleaning member at least partially accommodated in the side brush housing, and when the side brush housing and the second cleaning member are in a first relative motion state, the side brush housing and the second cleaning member move synchronously; When the side brush housing and the second cleaning member are in a second relative motion state, the side brush housing and the second cleaning member generate relative motion, and the second cleaning member switches between the cleaning position and the lifting position under the contact force of the side brush housing, and the second cleaning member includes the side brush; The second side brush driving unit is used to drive the side brush housing and the second cleaning member to move synchronously or to generate relative movement.

16. The cleaning device according to claim 15, characterized in that The second side brush driving unit comprises a second rotary motor, and when the side brush is in the cleaning position and the second rotary motor rotates in a first direction, the side brush housing and the second cleaning member move synchronously, and the second cleaning member cleans the surface to be cleaned; When the side brush is in the cleaning position and the second rotary motor rotates in the second direction, the side brush housing and the second cleaning member move relative to each other, and the second cleaning member is lifted.

17. The cleaning device according to claim 16, characterized in that The second side brush driving unit further comprises a one-way bearing and an output shaft, wherein an inner ring of the one-way bearing is connected to the second cleaning member, and the inner ring of the bearing is configured to rotate along the first direction. The output shaft is connected to the side brush housing so that the side brush housing rotates along with the rotation direction of the second rotating motor.

18. The cleaning device according to claim 15, characterized in that The side brush housing has a mounting cavity and an extension opening communicated with the mounting cavity, the second cleaning member is partially disposed in the mounting cavity, and the extension opening is suitable for the second cleaning member to extend out. When the side brush housing and the second cleaning member generate relative movement, at least one of the extension length of the second cleaning member relative to the outside of the side brush housing or the height relative to the surface to be cleaned can be changed to make the second cleaning member rise or fall relative to the surface to be cleaned.

19. The cleaning device according to claim 9, characterized in that The second side brush driving unit comprises a second swing arm, and the second swing arm is rotatably arranged on the body around a second rotation axis; The side brush is disposed on the second swing arm to move along with the second swing arm between the retracted position and the outward swing position.

20. The cleaning device according to claim 19, characterized in that The first side brush driving unit comprises: a first driving mechanism, wherein at least a driving force of the first driving mechanism drives the second swing arm to move around the second rotation axis so that the second swing arm moves toward one of the outward swing position and the inward retracted position; a second driving mechanism, wherein at least a driving force of the second driving mechanism drives the second swing arm to move toward the other of the outward swing position and the inward retracted position; Wherein, the first driving mechanism comprises a first elastic member, one end of the first elastic member is connected to the second swing arm, and the other end of the first elastic member is fixed relatively to the body; the first elastic member drives the second swing arm to move from the outward swing position to the inward retracted position through its own elastic force; The second driving mechanism comprises a driving member, the driving member is configured to rotate relative to the machine body, and when the driving member rotates around a first direction, the driving member at least partially overcomes the elastic force of the first elastic member to push the second swing arm to move from the retracted position to the outward swing position; When the driving member rotates around the second direction, the first elastic member drives the second swing arm to move from the outward swing position to the inward retracted position through its own elastic force; wherein the first direction and the second direction are opposite.

21. The cleaning device according to claim 20, characterized in that The driving member includes a driving body and a driving portion, wherein the driving portion is connected to the driving body and is eccentrically arranged relative to the rotation axis of the driving member, so as to push the second swing arm to move from the outward swing position to the inward retracted position when the driving member rotates around its own axis. The second swing arm has an abutment surface that cooperates with the driving part. When the driving member rotates along the first direction around the second rotation axis, the driving part is suitable for pushing the abutment surface to move the second swing arm from the outward swing position to the retracted position. When the second swing arm is located at the retracted position, the second swing arm applies a force to the matching part under the drive of the first driving mechanism, and the direction of the force applied by the second swing arm to the matching part points to the rotation axis of the driving member, so that the driving member is locked in the retracted position.

22. The cleaning device according to claim 19, characterized in that The second swing arm includes an outer side surface of the swing arm and an inner side surface of the swing arm, and the side brush is arranged at the outer end portion of the second swing arm. The second swing arm includes a flexible member, and the flexible member is arranged on the outer side surface of the swing arm and / or the inner side surface of the swing arm, or the flexible member at least partially covers the outer end portion of the second swing arm.

23. The cleaning device according to any one of claims 1 to 6, characterized in that Also includes: The water replenishing mechanism is configured to perform wet cleaning on the surface to be cleaned, and the water replenishing mechanism is used to provide liquid to the cleaning component at least when the cleaning component is in the retracted position and the outward swing position.

24. The cleaning device according to claim 23, characterized in that The cleaning disc is provided with a hollow area; the water replenishing mechanism is provided with at least one water outlet, the water outlet is arranged on the machine body, and the liquid flowing out of the water outlet passes through the hollow area to provide liquid to the first cleaning member.

25. The cleaning device according to claim 24, characterized in that When the cleaning component is in the retracted position and the swung-out position, at least a portion of the water outlet is in communication with the hollow area.

26. The cleaning device according to claim 25, characterized in that When the cleaning component is in the retracted position, the outward swing position and the swinging position, at least a portion of the water outlet is connected to the hollow area, wherein the swinging position is any position of the cleaning component during the swinging process between the retracted position and the outward swing position.

27. The cleaning device according to claim 25, characterized in that The hollow area forms an annular channel, and when the cleaning component switches between the retracted position and the outward swing position, the water outlet is connected to different channel sections of the annular channel.

28. The cleaning device according to claim 23, characterized in that The cleaning component has a mopping position and a lifting position. When the cleaning component is in the lifting position, the water replenishing mechanism does not replenish water to the cleaning component.

29. The cleaning device according to claim 24, characterized in that The water replenishment mechanism has at least one overflow hole, and the water tank of the water replenishment mechanism and the hollow area are both connected to the overflow hole.

30. The cleaning device according to claim 24, characterized in that A deformation portion is provided on the outer periphery of the cleaning disc. The deformation portion includes a plurality of deformation holes provided on the outer periphery of the cleaning disc. The deformation portion can be deformed by force.

31. The cleaning device according to claim 30, characterized in that The multiple deformation holes are distributed along the circumference of the cleaning disk; the cleaning disk includes a disk body, the inner end of the deformation portion is wrapped or sleeved on the outer peripheral edge of the disk body, and the deformation portion is arranged in a ring around the edge of the disk body, or the inner end of the deformation portion is integrally formed on the outer periphery of the disk body, and the deformation portion is arranged in a ring around the edge of the disk body.

32. The cleaning device according to claim 30, characterized in that When the cleaning component is in the outward swing position, or in the process of switching between the retracted position and the outward swing position, when the cleaning component contacts an obstacle, the deformation portion can be deformed by an external force.

33. The cleaning device according to claim 30, characterized in that The cleaning disc comprises at least one spoke, on which a bonding structure is arranged for mounting the first cleaning member; at least one spoke is arranged between the deformation hole and the hollow area.

34. The cleaning device according to claim 30, characterized in that The deformation portion is a soft rubber structure.

35. The cleaning device according to any one of claims 1 to 6, characterized in that The first driving structure is used to drive the side brush and the cleaning component to be in the retracted position at the same time when the cleaning device is in a first preset working scene, and the first preset working scene includes at least part of the scene of returning to the base station, cleaning device navigation, cleaning device map creation, and cleaning device executing a bow-shaped cleaning route; When the cleaning device is in a second preset working scene, the first driving structure drives the side brush and the cleaning assembly to be in the outward swing position at the same time for cleaning; When the cleaning device is in a third preset working scene, the first driving structure drives one of the side brush and the cleaning assembly to be in the outward swing position and the other to be in the inward retracted position.

36. The cleaning device according to claim 35, characterized in that When the cleaning device is in the second preset working scene, the first driving structure drives the side brush and the cleaning component to be in the outward swing position for cleaning, so that the side brush and the cleaning component in the outward swing position clean the first obstacle along the edge, wherein the second preset working scene is a scene in which the first obstacle exists on the cleaning path of the cleaning device when the cleaning device performs a cleaning task, and the first obstacle includes at least one of the following: table and chair legs, columnar objects, and flower pots.

37. The cleaning device according to claim 35, characterized in that The third preset working scenario is that there is a second obstacle on the edge cleaning path of the cleaning device that requires the cleaning device to turn. When the cleaning device is in the third preset working scenario, the first driving structure drives the side brush to be in the outward swing position, and the cleaning component is in the inward retracted position, so as to clean the angle between the edge cleaning path and the second obstacle; And / or, the third preset working scenario is that the cleaning device performs edge cleaning on a third obstacle, the third obstacle has a cavity that is accessible when the side brush is in the outward swing position, the first driving structure drives the side brush to be in the outward swing position, and the cleaning component is in the retracted position to perform edge cleaning on the third obstacle, wherein the depth of the side brush entering the cavity in the outward swing position is greater than the depth of the side brush entering the cavity in the retracted position.

38. The cleaning device according to claim 37, characterized in that The angle between the edge cleaning path and the second obstacle includes at least one of an inner right angle and a scene in which table and chair legs exist on the edge path.

39. The cleaning device according to claim 35, characterized in that The third preset working scenario is that there is a positive corner on the travel path of the cleaning device, and the first driving structure is used to drive the cleaning component to the outward swing position, and the side brush is in the inward retracted position to clean the positive corner; and / or, The third preset working scenario is that when there are linear obstacles and / or wet stains on the travel path of the cleaning device, the cleaning component is in the outward swing position, and the side brush is in the inward retracted position to avoid the linear obstacles and / or wet stains.

40. The cleaning device according to claim 24, characterized in that The cleaning device includes two cleaning components, one of which is a cleaning component that can swing outward relative to the body, and the other is a cleaning component that cannot swing outward relative to the body; the water replenishing mechanism includes two water outlets, one of which can replenish water to the cleaning component that can swing outward, and the other can replenish water to the cleaning component that cannot swing outward; one of the water outlets can replenish water to the cleaning component that can swing outward in the retracted position and the outward swing position.

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