Cleaning equipment

Abstract

The utility model provides cleaning equipment which comprises a shell, a detection head, a telescopic device and a detection piece, the side wall, in the first direction, of the shell is an opening wall, and an opening communicating with the interior of the shell is formed in the opening wall; the detection head is used for detecting the surrounding environment, and the detection head is in an extending state and a retracting state; the telescopic device is arranged in the shell, the detection head is arranged on the telescopic device, and the telescopic device can drive the detection head to move in the first direction, so that the detection head is switched between an extending state and a retracting state; the detection end of the detection piece is arranged between the opening wall and the telescopic device. The cleaning equipment provided by the utility model can be used for detecting foreign matters.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning equipment. Background Art

[0002] Cleaning equipment such as a sweeping robot includes a shell and a detection head. The shell is formed with an opening, and the detection head can extend out of the outlet to detect the surrounding environment, so as to model and map the surrounding environment. During the extension of the detection head, if there is foreign matter in or above the shell, the detection head will not be able to be extended or cannot be extended into place, which will affect the cleaning efficiency of the cleaning equipment. Utility Model Content

[0003] In view of this, embodiments of the present application hope to provide a cleaning device that can detect foreign matter.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application discloses a cleaning device, comprising:

[0006] a housing, wherein a side wall of the housing along a first direction is an opening wall, and the opening wall is formed with an opening communicating with the interior of the housing;

[0007] a detection head for detecting the surrounding environment, the detection head having an extended state extending out of the opening and a retracted state retracted into the opening;

[0008] a telescopic device disposed in the housing, the detection head being disposed on the telescopic device, the telescopic device being capable of driving the detection head to move along the first direction so as to switch the detection head between the extended state and the retracted state;

[0009] A detection member, wherein a detection end of the detection member is arranged between the opening wall and the telescopic device.

[0010] In one embodiment, the inner surface of the opening wall and / or the surface of the telescopic device facing the opening wall is provided with the detection end;

[0011] When the detection head is in the extended state, the telescopic device contacts the opening wall and presses the detection end to generate an in-position signal, and the detection member is configured to determine whether the telescopic device is offset based on the number of the in-position signals.

[0012] In one embodiment, the detection end is spaced apart on the inner surface of the opening wall and / or the surface of the telescopic device close to the opening wall, and the detection end detects the distance between the telescopic device and the opening wall. The detection component determines whether the telescopic device is offset based on the distance.

[0013] In one embodiment, there are multiple detection ends, and the multiple detection ends are arranged at intervals along the circumferential direction.

[0014] In one embodiment, the telescopic device includes a transmission mechanism and a movable component, the movable component is arranged on the transmission mechanism, the detection head is arranged on the movable component, and the transmission mechanism can drive the movable component to move along the first direction.

[0015] In one embodiment, the telescopic device also includes a shell arranged in the shell, the shell is formed with a telescopic opening connected to its interior, the telescopic opening is connected to the opening, the movable component is slidably arranged in the shell along the first direction, and part of the transmission mechanism is arranged in the shell for connecting with the movable component.

[0016] In one embodiment, a slider is formed on the inner wall of the enclosure and one of the movable components, and a slide groove is formed on the inner wall of the enclosure and the other of the movable components, and the slider and the slide groove cooperate to slide along the first direction.

[0017] In one embodiment, the transmission mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a motor, the motor having an output shaft, the output shaft being connected to the first connecting rod, one end of the second connecting rod being hinged to the first connecting rod, the other end of the second connecting rod being hinged to one end of the third connecting rod and one end of the fourth connecting rod respectively, the other end of the third connecting rod being hinged to a side of the shell away from the opening, the other end of the fourth connecting rod being connected to the movable component, and the axial direction of the output shaft being perpendicular to the first direction.

[0018] In one embodiment, the cleaning device further includes a vertical plate located within the shell, the vertical plate being provided with a second sensing member, the end of the first connecting rod away from its hinged end being a sensing end, the sensing end being capable of moving to the second sensing member under the drive of the motor and generating a retraction arrival signal, and the motor being configured to stop working based on the retraction arrival signal.

[0019] In one embodiment, the vertical plate is provided with a first sensing element, and the sensing end can be moved to the first sensing element under the drive of the motor 315 and generate an extension arrival signal, and the motor is configured to stop working based on the extension arrival signal.

[0020] In one embodiment, the vertical plate is further provided with a first limiting member and a second limiting member, the first limiting member and the second limiting member are respectively provided on the rotation path of the hinge end of the first connecting rod, and the first sensing member and the second sensing member both have a sensing groove;

[0021] When the detection head is in the extended state, the sensing end rotates into the sensing slot of the first sensing member, and the hinged end of the first connecting rod is close to the first limiting member;

[0022] When the detection head is in the retracted state, the sensing end rotates into the sensing slot of the second sensing member, and the hinged end of the first connecting rod is close to the second limiting member.

[0023] In one embodiment, the cleaning device includes a limit cover, which is arranged at one end of the detection head away from the telescopic device along the first direction, and the projection area of ​​the opening along the first direction is located within the projection area of ​​the limit cover.

[0024] In one embodiment, the movable component includes a support member and an elastic member, the detection head is arranged on the support member, the detection end is arranged between the opening wall and the support member, and the elastic member is arranged between the transmission mechanism and the support member. The transmission mechanism and the elastic member work together to enable the support member to drive the detection head to switch between the extended state and the retracted state.

[0025] In one embodiment, a guide column is formed in one of the transmission mechanism and the support member, and a guide hole is formed in the other of the transmission mechanism and the support member. The guide column is movably inserted into the guide hole, and the elastic member is sleeved on the guide column.

[0026] The embodiment of the present application discloses a cleaning device, which can protect the telescopic device and the detection member to a certain extent and improve their protection life by arranging the telescopic device and the detection member in the shell. By arranging the detection head on the telescopic device, the telescopic device can drive the detection head to move along the first direction to drive the detection head to switch between the extended state and the retracted state. In this way, the detection head can be retracted into the shell when it is not in use or to avoid an object, so as to improve the protection of the detection head. By arranging the detection end of the detection member between the opening wall and the telescopic device, when the telescopic device drives the detection head to extend out of the opening, the detection end of the detection member can detect the area between the opening wall and the telescopic device and the side of the detection head away from the shell along the first direction to ensure that the detection head can smoothly extend out of the opening for detection. If there is foreign matter in the area between the opening wall and the telescopic device in the shell and / or there is an obstacle on the side of the detection head away from the shell along the first direction, the user can be notified to handle it in time when the detection member successfully detects. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic structural diagram of a cleaning device provided in an embodiment of the present application, wherein the detection head is in an extended state;

[0028] Figure 2 A schematic structural diagram of an opening wall, a detection head, a transmission mechanism, a vertical plate, a limit cover, and a cover plate provided in another embodiment of the present application, wherein the detection head is in an extended state;

[0029] Figure 3 A schematic structural diagram of an opening wall, a detection head, a transmission mechanism, a vertical plate, a circuit board, a limit cover, a first sensing element, and a second sensing element provided in yet another embodiment of the present application, wherein the detection head is in an extended state;

[0030] Figure 4 A schematic structural diagram of a detection head, a transmission mechanism, a detection end of a detection member, a circuit board, a limit cover, a first sensing member, and a second sensing member provided in another embodiment of the present application, wherein the detection head is in an extended state;

[0031] Figure 5 A schematic structural diagram of a detection head, a limit cover, a detection end of a detection member, and a support member provided in another embodiment of the present application, wherein the detection head is in an extended state;

[0032] Figure 6 A schematic structural diagram of a casing, a vertical plate, and an opening wall provided in yet another embodiment of the present application;

[0033] Figure 7 A schematic structural diagram of an opening wall, a detection head, a transmission mechanism, a vertical plate, a limit cover, and a cover plate provided in another embodiment of the present application, wherein the detection head is in a retracted state;

[0034] Figure 8 A schematic structural diagram of a detection head, a transmission mechanism, a detection end of a detection member, a circuit board, a limit cover, a first sensing member, and a second sensing member provided in another embodiment of the present application, wherein the detection head is in a retracted state.

[0035] Description of Reference Numerals

[0036] 100. Cleaning device; 1. Housing; 1a. Accommodation space; 1b. Opening wall; 1b1. Extrusion column; 1c. Opening; 2. Detection head; 3. Telescopic device; 31. Transmission mechanism; 311. First connecting rod; 3111. Sensing end; 3112. Articulated end; 312. Second connecting rod; 313. Third connecting rod; 314. Fourth connecting rod; 3141. Rod body; 3142. Support seat; 3142a. Guide hole; 315. Motor; 32. Movable assembly; 32a. Slide; 321. Support member; 321a. Guide column; 3211. Guide seat; 3211a, accommodating cavity; 3211b, taking and placing port; 3212, extrusion plate; 3212a, installation port; 3212b, connecting port; 322, elastic member; 33, surrounding shell; 33a, telescopic cavity; 33a1, slider; 33b, telescopic port; 33c, avoidance port; 4, detection end; 5, limit cover; 6, vertical plate; 6a, storage space; 6b, storage port; 6c, notch; 61, first limit member; 62, second limit member; 7, first sensing member; 8, second sensing member; 9, circuit board; 10, cover plate; A, sensing slot. DETAILED DESCRIPTION

[0037] It should be noted that, unless there is a conflict, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of this application and should not be regarded as an improper restriction on this application.

[0038] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments. The descriptions of "first", "second", etc. in the embodiments of the present application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly including at least one feature. In the description of the embodiments of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0039] The present application provides a cleaning device 100. Figures 1 to 8 The cleaning device 100 includes a shell 1, a detection head 2, a telescopic device 3 and a detection member. The side wall of the shell 1 along the first direction is an opening wall 1b, and the opening wall 1b is formed with an opening 1c connected to the interior of the shell 1. The detection head 2 is used to detect the surrounding environment. The detection head 2 has an extended state extending out of the opening 1c and a retracted state retracting into the opening 1c. The telescopic device 3 is arranged in the shell 1, and the detection head 2 is arranged on the telescopic device 3. The telescopic device 3 can drive the detection head 2 to move along the first direction, so that the detection head 2 switches between the extended state and the retracted state. The detection end 4 of the detection member is arranged between the opening wall 1b and the telescopic device 3.

[0040] The cleaning device 100 provided by the present application, by arranging the telescopic device 3 and the detection member in the housing 1, can protect the telescopic device 3 and the detection member to a certain extent and improve their protection life. By arranging the detection head 2 on the telescopic device 3, the telescopic device 3 can drive the detection head 2 to move along the first direction to drive the detection head 2 to switch between the extended state and the retracted state. In this way, the detection head 2 can be retracted into the housing 1 when it is not in use or to avoid an object, thereby improving the protection of the detection head 2. By arranging the detection end 4 of the detection member between the opening wall 1b and the telescopic device 3, when the telescopic device 3 drives the detection head 2 to extend out of the opening 1c, the detection end 4 of the detection member can detect the area between the opening wall 1b and the telescopic device 3 and the side of the detection head 2 away from the housing 1 along the first direction, so as to ensure that the detection head 2 can smoothly extend out of the opening 1c for detection. If there is foreign matter in the area between the opening wall 1b and the telescopic device 3 in the housing 1 and / or there is an obstacle on the side of the detection head 2 away from the housing 1 along the first direction, the user can be notified and handled in time when the detection member successfully detects.

[0041] Illustratively, in one embodiment, the housing 1 is formed with an accommodating space 1 a , and the telescopic device 3 and the detection member are both disposed in the accommodating space 1 a .

[0042] In one exemplary embodiment, the cleaning device includes a cleaning assembly, at least partially located in the accommodation space 1a. The cleaning assembly is used to clean the surrounding environment. The portion of the cleaning assembly located outside the accommodation space 1a can clean the surface to be cleaned based on the detection data of the detection head 2, thereby improving cleaning efficiency. In one exemplary embodiment, upon detecting a foreign object, the detection element can issue an alarm signal to remind the user to promptly remove the foreign object. The alarm signal can be audible and / or luminous.

[0043] For example, in one embodiment, the cleaning device 100 may be a sweeping robot.

[0044] For example, in one embodiment, the foreign matter may be hair, gravel, paper scraps, etc.

[0045] Exemplarily, in one embodiment, the first direction may be a top-bottom direction.

[0046] It should be noted that the top points to the ceiling, and the bottom is in the opposite direction of the top.

[0047] For example, in one embodiment, Figure 2 R1 in can be top or bottom direction.

[0048] For example, in one embodiment, the shape of the housing 1 is not limited. For example, the projection shape of the housing 1 along the top and bottom directions may be circular.

[0049] It should be noted that when the cleaning device 100 enters a narrow space, the detection head 2 extends out of the opening. If there is an obstacle on the top of the detection head 2, the detection head 2 cannot be extended, which will cause the space between the opening wall 1b and the telescopic device 3 in the shell 1 to change. At this time, detection can be performed through the detection end 4 of the detection piece.

[0050] In one embodiment, the telescopic device 3 includes a transmission mechanism 31 and a movable component 32 . The movable component 32 is disposed on the transmission mechanism 31 , and the detection head 2 is disposed on the movable component 32 . The transmission mechanism 31 can drive the movable component 32 to move along a first direction.

[0051] In this way, the detection head 2 is set on the movable component 32, and the movable component 32 is set on the transmission mechanism 31. In this way, the transmission mechanism 31 can indirectly drive the detection head 2 to move along the first direction by driving the movable component 32, so that the detection head 2 can switch between the extended state and the retracted state, so as to reduce the impact caused by directly driving the detection head 2.

[0052] For example, in one embodiment, the detection end 4 of the detection member may be disposed between the opening wall 1 b and the movable component 32 .

[0053] For example, in one embodiment, the detection head 2 may be the portion of a laser radar that emits laser beams and receives reflected signals. Here, when the transmission mechanism 31 drives the movable assembly 32 to extend the detection head 2 from the opening 1c out of the accommodating space 1a, the laser radar can sense the surrounding environment and obtain a three-dimensional model of the surrounding environment. The cleaning device 100 can then create a map based on the obtained three-dimensional model data and plan an optimal cleaning path based on the map, thereby improving the cleaning capability and efficiency of the cleaning device 100.

[0054] It should be noted that the detection head 2 has a window that can emit rays and receive reflected signals. The extended state means that the window can extend out of the accommodating space 1a through the opening 1c to detect the surrounding environment.

[0055] In one embodiment, a detection end 4 is provided on the inner surface of the opening wall 1 b and / or the surface of the telescopic device 3 facing the opening wall 1 b.

[0056] Exemplarily, the inner surface of the opening wall 1b refers to the surface facing the accommodating space 1a, and the inner surface of the opening wall 1b can be provided with a detection end 4, or the surface of the movable component 32 facing the opening wall 1b is provided with a detection end 4, or both the inner surface of the opening wall 1b and the surface of the movable component 32 facing the opening wall 1b are provided with a detection end 4.

[0057] In one embodiment, please refer to Figures 4 to 6When the detection head 2 is in the extended state, the telescopic device 3 contacts the opening wall 1b and presses the detection end 4 so that the detection end 4 generates an in-position signal. The detection member is constructed to determine whether the telescopic device 3 is offset based on the number of in-position signals.

[0058] Exemplarily, the detection member can be a pressure sensor, and the movable component 32 can abut against the opening wall 1b and press the detection end 4 so that the detection end 4 generates a position signal. In this way, when the detection head 2 is in the extended state, if the telescopic device 3 abuts against the opening wall 1b, the opening wall 1b or the telescopic device 3 will press the detection end 4 and generate a position signal. The detection member can judge that there is no foreign matter based on the position signal; if the telescopic device 3 does not abut against the opening wall 1b, the opening wall 1b or the telescopic device 3 will not be able to press the detection end 4 to generate a position signal. Based on this situation, the detection member can judge that the telescopic device 3 may have deviated due to the presence of foreign matter. At this time, the detection member can issue an alarm signal. In this way, the damage caused by foreign matter to the cleaning device 100 can be reduced, and the service life of the cleaning device 100 can be increased.

[0059] In one embodiment, a detection end 4 is provided on the inner surface of the opening wall 1b and / or the surface of the telescopic device 3 close to the opening wall 1b. The detection end 4 detects the distance between the telescopic device 3 and the opening wall 1b. The detection part determines whether the telescopic device 3 is offset based on the distance.

[0060] For example, the inner surface of the opening wall 1b may be provided with a detection terminal 4, or the surface of the movable assembly 32 near the opening wall 1b may be provided with a detection terminal 4, or both the surface of the opening wall 1b near the movable assembly 32 and the surface of the movable assembly 32 near the opening wall 1b may be provided with a detection terminal 4. The detection element may be a distance sensor for measuring the distance between the movable assembly 32 and the opening wall 1b along the first direction. The detection element can determine whether the telescopic device 3 is offset based on the distance, so that timely processing can be carried out.

[0061] In one embodiment, there are multiple detection ends 4, and the multiple detection ends 4 are arranged at intervals along the circumferential direction.

[0062] For example, see Figures 4 to 6 There can be four detection ends 4, and the four detection ends 4 can be set at 90° intervals, so that the reliability and accuracy of foreign body detection can be improved.

[0063] Illustratively, in one embodiment, there may be two detection terminals 4 , and the two detection terminals 4 may be arranged diagonally.

[0064] Exemplarily, in one embodiment, there may be three detection terminals 4 , and the three detection terminals 4 may be disposed at three corners of the movable component 32 .

[0065] In one embodiment, please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 and Figure 7 The telescopic device 3 also includes a shell 33 arranged in the shell body 1, and the shell 33 is formed with a telescopic opening 33b connected to its interior, and the telescopic opening 33b is connected to the opening 1c. The movable component 32 is slidably arranged in the shell 33 along the first direction, and a part of the transmission mechanism 31 is arranged in the shell 33 for connecting with the movable component 32.

[0066] Here, the housing 33 protects the movable assembly 32 and the detection head 2 within the housing 33, further extending their service life. The telescopic opening 33b, which communicates with the opening 1c, allows the detection head 2 to enter and exit the opening 1c through the telescopic opening 33b. The movable assembly 32 is slidable within the housing 33 along a first direction, improving the movement accuracy of the movable assembly 32 and ensuring that the detection head 2 can stably extend and retract into the opening 1c.

[0067] Illustratively, in one embodiment, a telescopic cavity 33 a is formed in the enclosure 33 , the telescopic opening 33 b is in communication with the telescopic cavity 33 a , and a portion of the transmission mechanism 31 is disposed in the telescopic cavity 33 a .

[0068] Exemplarily, in one embodiment, the shape of the enclosure 33 is not limited. Specifically, along the projection in the first direction, the projection shape of the enclosure 33 matches the projection shape of the movable component 32 .

[0069] In one embodiment, please refer to Figures 4 to 6 A slider 33a1 is formed on the inner wall of the shell 33 and one of the movable components 32, and a slide groove 32a is formed on the inner wall of the shell 33 and the other of the movable components 32. The slider 33a1 cooperates with the slide groove 32a to slide along the first direction.

[0070] For example, the wall of the telescopic cavity 33a can be formed with a slider 33a1 extending in a first direction, and a chute 32a can be formed around the circumference of the movable assembly 32. The chute 32a and the slider 33a1 slide in conjunction. This allows the chute 32a to provide a smooth and accurate movement path, allowing the slider 33a1 to slide easily within the chute 32a, making the entire movement process more precise and controllable. Furthermore, the chute 32a provides additional support and stability, preventing the slider 33a1 from shaking or sliding unsteadily during movement, ensuring stable movement.

[0071] In one embodiment, please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 、 Figure 7 and Figure 8The cleaning device 100 includes a limiting cover 5 , which is arranged at one end of the detection head 2 away from the telescopic device 3 along the first direction, and the projection area of ​​the opening 1c along the first direction is located within the projection area of ​​the limiting cover 5 .

[0072] For example, the position limiting cover 5 can be provided on the end surface of the detection head 2 facing away from the movable assembly 32 along the first direction. Here, when the transmission mechanism 31 drives the movable assembly 32 to drive the detection head 2 to retract into the accommodating space 1a, the position limiting cover 5 can cover the opening 1c. In this way, after the detection head 2 is retracted into the accommodating space 1a, the position limiting cover 5 can reduce the entry of dust and other foreign matter into the accommodating space 1a through the opening 1c, thereby improving the protection of the parts located in the accommodating space 1a and extending the service life of the parts.

[0073] In one embodiment, please refer to Figure 4 and Figure 8 The transmission mechanism 31 includes a first connecting rod 311, a second connecting rod 312, a third connecting rod 313, a fourth connecting rod 314 and a motor 315. The motor 315 has an output shaft, which is connected to the first connecting rod 311. One end of the second connecting rod 312 is hinged to the first connecting rod 311, and the other end of the second connecting rod 312 is hinged to one end of the third connecting rod 313 and one end of the fourth connecting rod 314 respectively. The other end of the third connecting rod 313 is hinged to the side of the shell 1 away from the opening 1c, and the other end of the fourth connecting rod 314 is connected to the movable component 32. The axial direction of the output shaft is perpendicular to the first direction.

[0074] Exemplarily, the motor 315 can be arranged outside the telescopic cavity 33a. The casing 33 is formed with a avoidance opening 33c connected to the telescopic cavity 33a. The first connecting rod 311 is formed with a rotary hole in the middle part along its length direction, and the output shaft is inserted into the rotary hole to transmit torque. The third connecting rod 313 and the fourth connecting rod 314 can be arranged in the telescopic cavity 33a. One end of the second connecting rod 312 along its length direction is hinged to one end of the third connecting rod 313 and one end of the fourth connecting rod 314 respectively, and the other end of the second connecting rod 312 is hinged to one end of the first connecting rod 311 along its length direction through the avoidance opening 33c, and the other end of the third connecting rod 313 along its length direction is hinged to the wall of the shell 1 along the first direction away from the opening 1c, and the other end of the fourth connecting rod 314 along its length direction is connected to the movable component 32. That is to say, the connection point between the fourth link 314 and the movable component 32 and the hinge point between the third link 313 and the shell 1 are spaced apart along the first direction, while the hinge point between the second link 312 and the third link 313 and the hinge point between the second link 312 and the fourth link 314 are both located between the hinge point between the third link 313 and the protrusion and the hinge point between the fourth link 314 and the shell 1.

[0075] In this way, since the first connecting rod 311 is connected to the output shaft, it is equivalent to being fixed, and one end of the third connecting rod 313 is hinged to the housing 1, which is also equivalent to being fixed, and the second connecting rod 312 is hinged to the first connecting rod 311 and the third connecting rod 313 respectively. In this way, the first connecting rod 311, the second connecting rod 312 and the third connecting rod 313 are equivalent to forming a four-bar structure. When the motor 315 drives the first connecting rod 311 to rotate through its output shaft, that is, the first connecting rod 311 at this time is equivalent to a crank, and the first connecting rod 311 can The second link 312 drives the third link 313 to swing about its hinge point with the housing 1. In this case, the third link 313 acts as a rocker. One end of the fourth link 314 is hinged to the hinge point between the second link 312 and the third link 313. The other end of the fourth link 314 is connected to the movable assembly 32. In this way, the swinging motion of the third link 313 is converted into the fourth link 314 pushing the movable assembly 32 in the first direction, thereby driving the probe 2 to extend or retract into the opening 1c. In this way, the extension and retraction of the probe 2 are achieved through the link structure, which is compact and has relatively smooth transmission.

[0076] Exemplarily, in one embodiment, the second direction may be a front-to-back direction.

[0077] For example, Figure 2 R2 in can be the second direction.

[0078] For example, in one embodiment, please refer to Figure 4 and Figure 8 The fourth connecting rod 314 includes a rod body 3141 and a supporting seat 3142. One end of the rod body 3141 is hinged to the hinge point of the second connecting rod 312 and the third connecting rod 313, and the other end of the rod body 3141 is hinged to the supporting seat 3142. The movable component 32 is movably arranged on the supporting seat 3142 along the first direction.

[0079] For example, in one embodiment, when the output shaft rotates clockwise, the detection head 2 can be extended out of the accommodation space 1a through the opening 1c, and when the output shaft rotates counterclockwise, the detection head 2 can be retracted into the accommodation space 1a through the opening 1c.

[0080] For example, in one embodiment, the opening direction of the avoidance opening 33c may be the third direction, and the third direction, the second direction and the first direction are perpendicular to each other. Figure 2 R3 can be the third direction.

[0081] Exemplarily, in one embodiment, the third direction may be a left-right direction.

[0082] In one embodiment, please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 7The cleaning device 100 also includes a vertical plate 6 located in the shell 1, and the vertical plate 6 is provided with a second sensing member 8. The end of the first connecting rod 311 away from its hinged end 3112 is the sensing end 3111. The sensing end 3111 can be moved to the second sensing member 8 under the drive of the motor 315 and generate a retraction arrival signal. The motor 315 is configured to stop working based on the retraction arrival signal.

[0083] Exemplarily, one end of the vertical plate 6 can be set on the surface of the shell 33 near the avoidance opening 33c, and the other end of the vertical plate 6 can extend along the third direction away from the shell 33. The base of the motor 315 can be set at one end of the vertical plate 6 along the second direction, and the output shaft of the motor 315 passes through the vertical plate 6 and is driven and connected to the first connecting rod 311. A circuit board 9 can be set at one end of the base of the vertical plate 6 away from the motor 315 along the second direction, and the second sensing element 8 can be electrically connected to the circuit board 9. The motor 315 is electrically connected to the circuit board 9, and the end of the first connecting rod 311 away from its hinge end 3112 is the sensing end 3111. Driven by the motor 315, the sensing end 3111 moves to the second sensing element 8. When the sensing end 3111 moves to the second sensing element 8, a retraction arrival signal is generated, which means that the detection head 2 is in a retracted state. At this time, the motor 315 can stop working based on the retraction arrival signal. In this way, the situation where the detection head 2 is not retracted into place can be reduced, and the degree of automation is high. When the detection head 2 extends out of the opening 1c, the detection end 4 of the detection member can be used for judgment and detection. At this time, the motor 315 can stop working based on the signal sent by the detection end 4 of the detection member, reducing circuit layout and cost.

[0084] In one embodiment, the vertical plate 6 is provided with a first sensing member 7 , and the sensing end 3111 can be moved to the first sensing member 7 under the drive of the motor 315 and generate an extension arrival signal, and the motor 315 is configured to stop working based on the extension arrival signal.

[0085] For example, the first sensing element 7 can be electrically connected to the circuit board 9. Driven by the motor 315, the sensing end 3111 can move to the first sensing element 7. When the sensing end 3111 moves to the first sensing element 7, an extension arrival signal is generated, indicating that the detection head 2 is in the extended state. At this time, the motor 315 can stop operating based on the extension arrival signal. In this way, it can cooperate with the detection end 4 of the detection element to achieve better working stability.

[0086] For example, in one embodiment, please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 7The cleaning device 100 includes a cover plate 10, and part of the edge of the vertical plate 6 extends along the second direction away from the motor 315 to form a storage space 6a, a storage port 6b and a notch 6c. The circuit board 9, the first sensor 7, the second sensor 8 and the part of the first connecting rod 311 with the sensing end 3111 are all located in the storage space 6a, the hinged end 3112 of the first connecting rod 311 passes through the notch 6c and is hinged to the second connecting rod 312, and the cover plate 10 is covered on the storage port 6b.

[0087] In this way, by setting the storage space 6a and the storage port 6b on the vertical plate 6, the cover 10 is covered on the storage, which can protect the parts located in the storage space 6a to reduce the impact of foreign matter such as dust entering the storage space 6a and affecting the function of the parts.

[0088] In one embodiment, please refer to Figure 3 The vertical plate 6 is also provided with a first limit member 61 and a second limit member 62. The first limit member 61 and the second limit member 62 are respectively arranged on the rotation path of the hinge end 3112 of the first connecting rod 311. The first sensing member 7 and the second sensing member 8 both have a sensing groove A.

[0089] Illustratively, the first connecting rod 311 has an extension limit position in which the detection head 2 is extended to the limit and a retraction limit position in which the detection head 2 is retracted to the limit in its rotation direction. The first limit member 61 and the second limit member 62 are respectively arranged at the extension limit position and the retraction limit position. The first limit member 61 can block the first connecting rod 311 when it rotates to the extension limit position, and the second limit member 62 can block the first connecting rod 311 when it rotates to the retraction limit position.

[0090] In this way, by setting the first limit member 61 and the second limit member 62, the situation where the first connecting rod 311 rotates excessively and causes structural interference between the first connecting rod 311 and the second connecting rod 312, and the situation where the detection head 2 is not extended or retracted into place can be reduced, and the working stability is good.

[0091] When the detection head 2 is in the extended state, the sensing end 3111 rotates into the sensing slot A of the first sensing member 7 , and the hinged end 3112 of the first connecting rod 311 approaches the first limiting member 61 .

[0092] That is to say, when the sensing end 3111 rotates into the sensing slot A of the first sensing element 7, the first sensing element 7 generates an extension arrival signal, the motor 315 stops working based on the extension arrival signal, and the hinged end 3112 of the first connecting rod 311 approaches the first limit member 61 to reduce the occurrence of collision between the first connecting rod 311 and the first limit member 61.

[0093] When the detection head 2 is in the retracted state, the sensing end 3111 moves into the sensing slot A of the second sensing member 8 , and the hinged end 3112 of the first connecting rod 311 approaches the second limiting member 62 .

[0094] That is to say, when the sensing end 3111 rotates into the sensing slot A of the second sensing element 8, the second sensing element 8 generates a retraction arrival signal, the motor 315 stops working based on the retraction arrival signal, and the hinged end 3112 of the first connecting rod 311 approaches the second limit member 62 to reduce the occurrence of collision between the first connecting rod 311 and the second limit member 62.

[0095] In one embodiment, please refer to Figure 4 and Figure 8 The movable component 32 includes a support member 321 and an elastic member 322. The detection head 2 is arranged on the support member 321, the detection end 4 is arranged between the opening wall 1b and the support member 321, and the elastic member 322 is arranged between the transmission mechanism 31 and the support member 321. The transmission mechanism 31 and the elastic member 322 work together to enable the support member 321 to drive the detection head 2 to switch between the extended state and the retracted state.

[0096] Exemplarily, the elastic member 322 can be arranged between the bearing seat 3142 and the support member 321 along the first direction, the detection head 2 can be arranged on the end surface of the support member 321 away from the bearing platform along the first direction, and the detection end 4 is arranged between the surface of the opening wall 1b close to the support member 321 along the first direction and the end surface of the support member 321 away from the bearing platform along the first direction.

[0097] In this way, the transmission mechanism 31 can realize flexible movement of the support member 321 along the first direction through the elastic member 322, that is, the transmission mechanism 31 can drive the support member 321 to realize the first stroke movement along the first direction, and then drive the support member 321 to realize the second stroke movement through the elastic member 322. For example, when the transmission mechanism 31 drives the movable component 32 to drive the detection head 2 to extend out of the opening 1c, after the transmission mechanism 31 stops moving, the elastic member 322 can give the support member 321 an elastic force along the first direction toward the opening wall 1b to resist, thereby reducing the situation where the support member 321 moves along the first direction toward the transmission mechanism 31. In this way, the detection reliability and accuracy of the detection member can be improved. In other embodiments, when the transmission mechanism 31 drives the movable component 32 to drive the detection head 2 to retract into the opening 1c, the elastic member 322 can provide a buffer to avoid direct collision between the support member 321 and the transmission mechanism 31, thereby improving the service life of both.

[0098] For example, in one embodiment, the elastic member 322 may be a spring.

[0099] In one embodiment, please refer to Figure 4 and Figure 8One of the transmission mechanism 31 and the support member 321 is formed with a guide column 321a, and the other of the transmission mechanism 31 and the support member 321 is formed with a guide hole 3142a. The guide column 321a can be movably inserted into the guide hole 3142a, and the elastic member 322 is sleeved on the guide column 321a.

[0100] Exemplarily, a guide column 321a is formed on the end face of the support member 321 away from the detection head 2 along the first direction, and the guide column 321a extends along the first direction. The support platform can be formed with a guide hole 3142a, and the guide column 321a can be movably inserted into the guide hole 3142a. The elastic member 322 can be sleeved on the outer periphery of the guide column 321a.

[0101] In this way, the elastic member 322 can be compressed and extended along the guiding direction of the guide column 321 a to ensure that the elastic force provided by the elastic member 322 can directionally support the support member 321 .

[0102] For example, in one embodiment, please refer to Figure 4 、 Figure 5 and Figure 8 The support member 321 includes a guide seat 3211 and an extrusion plate 3212. The guide seat 3211 is formed with a accommodating cavity 3211a and a take-and-put port 3211b communicating with the accommodating cavity 3211a. The extrusion plate 3212 is covered with the take-and-put port 3211b. The extrusion plate 3212 is formed with a mounting port 3212a that passes through in a first direction. Part of the side probe passes through the mounting port 3212a and is arranged in the accommodating cavity 3211a. A sliding groove 32a can be formed on the outer peripheral side surface of the guide seat 3211 to slide with the slider 33a1. A guide column 321a can be formed on the end surface of the guide seat 3211 away from the detection head 2 in the first direction. The guide column 321a cooperates with the guide hole 3142a to move; the detection part can be arranged on the cavity wall of the accommodating cavity 3211a, and the peripheral edge of the extrusion plate 3212 is formed with a connecting port 3212b running through the first direction, and the opening wall 1b is formed with an extrusion column 1b1 along a direction toward the side of the support member 321. In this way, when the detection head 2 extends out of the opening 1c, the extrusion plate 3212 contacts and squeezes the opening wall 1b, and the extrusion column 1b1 on the extrusion plate 3212 can squeeze the detection end 4 through the connecting port 3212b, which is used to determine whether there is foreign matter between the extrusion plate 3212 and the opening wall 1b, causing the extrusion plate 3212 to deviate.

[0103] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, and improvements that fall within the spirit and principles of the present application are intended to be within the scope of protection of the present application.

Claims

1. A cleaning device, characterized in that: include: a housing, wherein a side wall of the housing along a first direction is an opening wall, and the opening wall is formed with an opening communicating with the interior of the housing; a detection head for detecting the surrounding environment, the detection head having an extended state extending out of the opening and a retracted state retracted into the opening; a telescopic device disposed in the housing, the detection head being disposed on the telescopic device, the telescopic device being capable of driving the detection head to move along the first direction so as to switch the detection head between the extended state and the retracted state; A detection member, wherein a detection end of the detection member is arranged between the opening wall and the telescopic device.

2. The cleaning device according to claim 1, characterized in that The inner surface of the opening wall and / or the surface of the telescopic device facing the opening wall is provided with the detection end; When the detection head is in the extended state, the telescopic device contacts the opening wall and presses the detection end to generate an in-position signal, and the detection member is configured to determine whether the telescopic device is offset based on the number of the in-position signals.

3. The cleaning device according to claim 1, characterized in that The inner surface of the opening wall and / or the surface of the telescopic device close to the opening wall are spaced apart with the detection end, and the detection end detects the distance between the telescopic device and the opening wall. The detection component determines whether the telescopic device is offset based on the distance.

4. The cleaning device according to any one of claims 1 to 3, characterized in that There are multiple detection ends, and the multiple detection ends are arranged at intervals along the circumferential direction.

5. The cleaning device according to claim 1, characterized in that The telescopic device includes a transmission mechanism and a movable component. The movable component is arranged on the transmission mechanism. The detection head is arranged on the movable component. The transmission mechanism can drive the movable component to move along a first direction.

6. The cleaning device according to claim 5, characterized in that The telescopic device also includes a shell arranged in the shell, the shell is formed with a telescopic opening connected to its interior, the telescopic opening is connected to the opening, the movable component is slidably arranged in the shell along the first direction, and part of the transmission mechanism is arranged in the shell for connecting with the movable component.

7. The cleaning device according to claim 6, characterized in that A slider is formed on the inner wall of the enclosure and one of the movable components, and a slide groove is formed on the inner wall of the enclosure and the other of the movable components. The slider and the slide groove cooperate to slide along the first direction.

8. The cleaning device according to claim 5, characterized in that The transmission mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a motor, the motor has an output shaft, the output shaft is connected to the first connecting rod, one end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod and one end of the fourth connecting rod respectively, the other end of the third connecting rod is hinged to the side of the shell away from the opening, the other end of the fourth connecting rod is connected to the movable component, and the axial direction of the output shaft is perpendicular to the first direction.

9. The cleaning device according to claim 8, characterized in that The cleaning device also includes a vertical plate located in the shell, the vertical plate is provided with a second sensing member, the end of the first connecting rod away from its hinged end is the sensing end, the sensing end can be moved to the second sensing member under the drive of the motor and generate a retraction arrival signal, and the motor is configured to stop working based on the retraction arrival signal.

10. The cleaning device according to claim 9, characterized in that The vertical plate is provided with a first induction member, and the induction end can be moved to the first induction member under the drive of the motor and generate an extension arrival signal, and the motor is configured to stop working based on the extension arrival signal.

11. The cleaning device according to claim 10, characterized in that The vertical plate is further provided with a first limiting member and a second limiting member, wherein the first limiting member and the second limiting member are respectively provided on the rotation path of the hinge end of the first connecting rod, and the first sensing member and the second sensing member both have a sensing slot; When the detection head is in the extended state, the sensing end rotates into the sensing slot of the first sensing member, and the hinged end of the first connecting rod is close to the first limiting member; When the detection head is in the retracted state, the sensing end rotates into the sensing slot of the second sensing member, and the hinged end of the first connecting rod is close to the second limiting member.

12. The cleaning device according to claim 5, characterized in that The movable component includes a support member and an elastic member, the detection head is arranged on the support member, the detection end is arranged between the opening wall and the support member, and the elastic member is arranged between the transmission mechanism and the support member. The transmission mechanism and the elastic member work together to enable the support member to drive the detection head to switch between the extended state and the retracted state.

13. The cleaning device according to claim 12, characterized in that A guide column is formed in one of the transmission mechanism and the support member, and a guide hole is formed in the other of the transmission mechanism and the support member. The guide column is movably inserted into the guide hole, and the elastic member is sleeved on the guide column.

14. The cleaning device according to any one of claims 1 to 3, characterized in that The cleaning device includes a limit cover, which is arranged at one end of the detection head away from the telescopic device along the first direction, and the projection area of ​​the opening along the first direction is located within the projection area of ​​the limit cover.

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