Cleaning device and cleaning robot

Abstract

A cleaning device (10), characterized in that it comprises: a case (12); a motion element (100) which is movably arranged on the housing (12); wherein the motion element (100) comprises at least one guide part (110), and each of the at least one guide part (110) has an inclined guide surface (113) which gradually increases in a first direction (X); a drive component (200) that is rigidly connected to the housing (12); wherein the drive component (200) serves to move the moving element (100) in the first direction (X) or an opposite second direction (Y); and a cleaning component (300); wherein the cleaning component (300) is provided with a support part (311) and the cleaning component (300) rests movably on the inclined guide surface (113) via the support part (311); wherein a limiting structure is attached to the inclined guide surface (113), and when the plant part (311) moves towards the limiting structure, the limiting structure serves to limit the movement of the plant part (311) on the inclined guide surface (113), so that the moving element (100) can move the cleaning component (300) in the first direction (X) or the opposite second direction (Y); the housing (12) further comprises a stop element (121) which serves to limit the movement of the cleaning component (300) in the second direction (Y) so that the system part (311) leaves the limiting structure and moves on the inclined guide surface (113) so that the movement element (100) can move the cleaning component (300) in a third direction (Z1); where the third direction (Z1) is perpendicular to the first direction (X) and the second direction (Y).

Description

Technical field

[0001] The present application relates to the technical field of cleaning devices, in particular a cleaning device and a cleaning robot. State of the art

[0002] A cleaning robot is an intelligent household cleaning device that includes a cleaning component for cleaning floor surfaces. To increase the cleaning robot's coverage and cleaning capacity, the cleaning component must be movable and liftable relative to the main body of the robot. This allows it to extend beyond the edge of the main body when cleaning corners or other adjacent areas, and to lift off the floor when the robot needs to use other cleaning methods. Conventional cleaning robots typically require at least two motors and corresponding drive mechanisms to separately control the movement and lifting of the cleaning component, which is associated with high costs and a large footprint. Content of the present application

[0003] Embodiments of the present application provide a cleaning device comprising the following: a case; a motion element that is movably arranged on the housing; wherein the motion element comprises at least one guide part, and each of the at least one guide part has an inclined guide surface that gradually increases in a first direction; a drive component that is rigidly connected to the housing; wherein the drive component serves to move the moving element in the first direction or an opposite second direction; and a cleaning component; wherein the cleaning component is provided with a support part and the cleaning component rests movably on the inclined guide surface via the support part; wherein a limiting structure is attached to the inclined guide surface, and when the plant part moves towards the limiting structure, the limiting structure serves to limit the movement of the plant part on the inclined guide surface, so that the moving element can move the cleaning component in the first direction or the opposite second direction; the housing further includes a stop element which serves to limit the movement of the cleaning component in the second direction, so that the system part leaves the limiting structure and moves on the inclined guide surface, allowing the moving element to move the cleaning component in a third direction; where the third direction runs perpendicular to the first and second directions.

[0004] The embodiments of the present application further provide a cleaning robot comprising a main body and the cleaning device mentioned above.

[0005] In contrast to the prior art, the advantageous effect of the cleaning device provided by the present application is

[0006] Due to the movable arrangement of the moving element on the housing and the movable resting of the cleaning component with its contact part on the inclined guide surface of the moving element, the cleaning component can be moved in the first direction by the drive component when the moving element is driven in the first direction, thus realizing the displacement function of the cleaning component. Furthermore, when the moving element is driven in the opposite second direction by the drive component, the cleaning component, under the limiting effect of the stop part, can cause the contact part to leave the limiting structure and move on the inclined guide surface, thus moving the cleaning component in the third direction perpendicular to the first and second directions and realizing the lifting function of the cleaning component.Thus, the cleaning device of the present application requires only one drive component capable of moving the motion element in two opposite directions to control both the displacement and lifting functions of the cleaning component. This is advantageous for reducing the manufacturing costs of the cleaning device and the required installation space. Brief description of the drawing

[0007] To clarify the technical solutions in the embodiments of the present application, the drawings required in these embodiments are briefly presented below. It is obvious that the drawings shown in the following description represent only some embodiments of the present application. Those skilled in the art can obtain further drawings based on these without inventive step. Fig. Figure 1 is a perspective schematic representation of a cleaning device according to some embodiments of the present application. Fig. Figure 2 is a schematic structural view of a cleaning device according to some embodiments of the present application in a first state. Fig. Figure 3 is a schematic structural view of the cleaning device of Fig. 2 in a second state. Fig. Figure 4 is a schematic structural view of the cleaning device of Fig. 2 in a third state. Fig. Figure 5 is an exploded view of the cleaning device of Fig. 1. Fig. Figure 6 is a schematic partial structural view of a cleaning device according to some embodiments of the present application. Fig. Figure 7 is a schematic structural view of a cleaning device according to further embodiments of the present application in a first state. Fig. Figure 8 is a schematic structural view of the cleaning device of Fig. 7 in a second state. Fig. Figure 9 is a schematic structural view of the cleaning device of Fig. 7 in a third state. Fig. Figure 10 is a perspective schematic representation of a cleaning robot according to some embodiments of the present application in a first state. Fig. Figure 11 is a perspective schematic representation of the cleaning robot from Fig. 10 in a second state. Fig. Figure 12 is a perspective schematic representation of the cleaning robot from Fig. 10 in a third state. Detailed description of the embodiments

[0008] In the following descriptions, specific details such as particular system structures, techniques, etc., are presented for clarification rather than limitation, in order to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be realized in other embodiments without these specific details. In other cases, detailed descriptions of generally known systems, devices, circuits, and methods are omitted to avoid unnecessary details interfering with the description of the present application.

[0009] To clarify the aforementioned objectives, features, and advantages of the present application, the specific embodiments of the present application are explained in detail below with reference to the drawings. It should be understood that the described embodiments represent only a subset of the embodiments of the present application and not all embodiments. Based on the embodiments of the present application, all other embodiments that skilled persons in this field achieve without inventive step fall within the scope of protection of the present application.

[0010] The embodiments of the present application provide a cleaning robot and its cleaning device. The cleaning robot is, for example, but not limited to, a mopping robot, a vacuuming and mopping robot, etc. The cleaning device can be applicable to the cleaning robot, but also to other cleaning devices; in the following, the main example used is that the cleaning device is applied to the cleaning robot. With reference to Fig. 1, Fig. Figure 1 is a perspective schematic representation of a cleaning device according to some embodiments of the present application.

[0011] The cleaning device 10 comprises a moving element 100, a drive component 200, and a cleaning component 300. The moving element 100 can be connected to both the drive component 200 and the cleaning component 300, so that the drive component 200 drives the cleaning component 300 and thus causes it to move. The drive component 200 can move the moving element 100 in a first direction X or a second direction Y, the second direction Y being opposite to the first direction X. The cleaning component 300 can be used to clean the floor; for example, but not limited to, the cleaning component 300 is a mopping component, a side brush component, etc.

[0012] The motion element 100, driven by the drive component 200, can perform a linear motion; in this case, the first direction X and the second direction Y are linear directions. It can also perform an arc-shaped motion or a rotational motion; in this case, the first direction X and the second direction Y are rotational directions. The following example primarily uses the scenario where the drive component 200 drives the motion element 100 in a linear motion.

[0013] The cleaning component 300 can be connected to the movement element 100. The cleaning component 300 can be moved to different positions by the movement element 100, thereby changing the cleaning device 10 into different states. The cleaning device 10 can have a first state, a second state, and a third state. In the first state, the cleaning component 300 is in a first position. In the second state, the cleaning component 300 is in a second position. In the third state, the cleaning component 300 is in a third position. The first, second, and third positions are three distinct positions.

[0014] The cleaning component 300 can move from the first position to the second position by moving in the first direction X; the second position and the first position can be two positions arranged along the first direction X. The cleaning component 300 can also move from the first position to the third position by moving in a third direction Z1; the third position and the first position can be two positions arranged along the third direction Z1.

[0015] The third direction, Z1, is perpendicular to the first direction, X, and the second direction, Y. The third direction, Z1, can be considered the vertical direction. For example, the first direction, X, the second direction, Y, and the third direction, Z1, can each correspond to the three directions left, right, and up. The movement performed by the cleaning component 300 under the thrust of the movement element 100 can be linear or arc-shaped, depending on the actual requirements.

[0016] The cleaning component 300 can also move from the third position to the first position by moving in a fourth direction Z2. The fourth direction Z2 is opposite to the third direction Z1. The fourth direction Z2 can correspond to the downward direction.

[0017] It should be understood that all directional terms in the embodiments of the present application (such as above, below, left, right, front, rear, etc.) serve only to explain the relative position, movement, etc., of the various components in a specific posture (as shown in the drawings). If this specific posture changes, the corresponding directional term also changes.

[0018] With reference to Fig. 1, Fig. 2, Fig. 3 to Fig. 4, Fig. 2 is a schematic structural view of a cleaning device according to some embodiments of the present application in a first state; Fig. Figure 3 is a schematic structural view of the cleaning device of Fig. 2 in a second state; Fig. Figure 4 is a schematic structural view of the cleaning device of Fig. 2 in a third state. In this state, the [item] is in Fig. 2 Cleaning component 300 shown in the first position, which is in Fig. 3 cleaning component 300 shown in the second position, and the one in Fig. 4 Cleaning component 300 shown in the third position.

[0019] The cleaning device 10 comprises a cleaning device housing 12, wherein the moving element 100 is movably arranged on the cleaning device housing 12. The drive component 200 is fixedly connected to the cleaning device housing 12. The drive component 200 can serve to move the moving element 100 in the first direction X or the second direction Y relative to the cleaning device housing 12.

[0020] The cleaning device 10 serves to clean a work surface, the work surface being, for example, but not limited to, a floor. When the cleaning component 300 is in the first position, as shown in Fig. As shown in Figure 2, the projection of the cleaning component 300 lies on the work surface inside the cleaning device housing 12. When the cleaning component 300 is in the second position, as shown in Figure 2, the projection of the cleaning component 300 lies on the work surface inside the cleaning device housing 12. Fig. As shown in Figure 3, the projection of the cleaning component 300 on the work surface lies at least partially outside the cleaning device housing 12. When the cleaning component 300 is in the third position, as shown in Figure 3, the following applies: Fig. As shown in Figure 4, the height of the cleaning component 300 in a direction perpendicular to the work surface is greater than at the first and second positions, i.e., the heights at which the cleaning component 300 is located at the first and second positions are both less than the height at which it is located at the third position.

[0021] In the first state, the cleaning device 10 can move the movement element 100 in the first direction X via the drive component 200, so that the cleaning component 300 moves away from the in Fig. 2 shown first position to the in Fig. The cleaning device 10 moves to the second position shown in Figure 3, thereby switching to the second state. In the first state, the cleaning device 10 can move the motion element 100 in the second direction Y via the drive component 200, so that the cleaning component 300 moves from the position shown in Figure 3. Fig. 2 shown first position to the in Fig. The third position shown in Figure 4 is moved, causing the cleaning device 10 to switch to the third state. It is understood that the drive component 200 can move the motion element 100 in the opposite direction so that the cleaning component 300 returns to its original position. For example, moving the motion element 100 by the drive component 200 in the second direction Y can cause the cleaning component 300 to move back from the second position to the first position. Likewise, moving the motion element 100 by the drive component 200 in the first direction X can cause the cleaning component 300 to move back from the third position to the first position.

[0022] The motion element 100 can include a guide part 110. The guide part 110 can gradually rise in the first direction X and have a first end 111 and a second end 112 arranged along the first direction X. The guide part 110 can be considered a ramp, with the first end 111 being the base or a part near the base of the ramp, and the second end 112 being the crest or a part near the crest of the ramp. It is understood that the second end 112 is higher in the third direction Z1 relative to the first end 111. The specific structure of the guide part 110 is explained in detail below.

[0023] The guide element 110 has an inclined guide surface 113 that gradually rises in the first direction X. The second end 112 and the first end 111 can each be located at either end of the inclined guide surface 113. The cleaning component 300 is movably placed on the inclined guide surface 113.

[0024] Since the inclined guide surface 113 gradually rises in the first direction X, it can form an upward path for the cleaning component 300 when the motion element 100 moves in the second direction Y, causing the cleaning component 300 to move in the third direction Z1 and thus from the first position to the third position. When the motion element 100 moves in the first direction X, it can push the cleaning component 300 in the first direction X, thereby moving the cleaning component 300 from the first position to the second position.

[0025] The cleaning component 300 can be located on the underside of the movement element 100 and connected to the guide part 110. In the first and second states, the cleaning component 300 can be connected to the first end 111. In some application scenarios, the movement element 100 can move in the first direction X under the drive component 200 in the first state, so that the cleaning component 300 moves in the first direction X under the thrust of the first end 111 and thus moves from the in Fig. 2 shown first position to the in Fig. The second position shown in Figure 3 is moved, allowing the cleaning device 10 to switch from the first state to the second state. In other application scenarios, the moving element 100 can move in the second direction Y in the first state under the drive of the drive component 200, causing the cleaning component 300 to move in the third direction Z1 and from the first position to the third position, whereby the cleaning component 300 can climb from one end of the inclined guide surface 113 near the first end 111 to the other end of the inclined guide surface 113 near the second end 112.

[0026] The path along which the cleaning component 300 moves from the first position to the third position need not necessarily be a path along the third direction Z1; for example, the cleaning component 300 can move in a direction inclined to the third direction Z1, and thus travel a path in the third direction Z1, i.e., move in the third direction Z1. It should be understood that if the movement of the cleaning component 300 involves a path in the third direction Z1, this should always be considered as movement in the third direction Z1.

[0027] It is understood that the cleaning component 300 can also move from the third position to the first position in a similar manner. In the third state, the cleaning device 10 can use the drive component 200 to move the motion element 100 in the first direction X, so that the cleaning component 300 moves in the fourth direction Z2 and thus moves from the third position to the first position, thereby changing the cleaning device 10 to the first state. Likewise, if the movement of the cleaning component 300 includes a path in the fourth direction Z2, this should always be considered a movement in the fourth direction Z2.

[0028] It should be noted that the cleaning component 300 and the moving element 100 are not limited to the embodiments mentioned above; for example, the cleaning component 300 can be located on the top side of the moving element 100 or arranged horizontally with the moving element 100, as long as a part of the cleaning component 300 is connected to the moving element 100 and can perform the movement described above under the thrust of the moving element 100; this is not specifically restricted. The following mainly uses the example where the cleaning component 300 is located on the underside of the moving element 100.

[0029] The embodiments of the present application use the motion element 100 with the guide part 110 to connect the drive component 200 and the cleaning component 300, so that when the motion element 100 is driven by the drive component 200, the cleaning component 300 can be moved in the first direction X from the first position to the second position to realize the displacement function, and when the motion element 100 is driven by the drive component 200 in the second direction Y, it can climb up along the inclined guide surface 113 to get from the first position to the third position and thus realize the lifting function.Thus, the cleaning device 10 of the present application requires only one drive component 200 which can move the movement element 100 in two opposite directions in order to control both the displacement and lifting functions of the cleaning component 300, which is advantageous in order to reduce the manufacturing costs of the cleaning device 10 and to reduce the required installation space.

[0030] It should be understood that the terms used in this description of the present application and the attached claims serve only to describe certain embodiments and are not intended to limit the application. As used in this description of the present application and the attached claims, the singular forms "a," "an," and "that" include the plural form unless the context clearly indicates otherwise. Likewise, in the description of the present application, the terms "first," "second," etc., are used for descriptive purposes only and should not be understood as indicating or suggesting relative importance or as implicitly stating the number of the technical features specified. Therefore, features defined by "first," "second," etc., may explicitly or implicitly include one or more such features.Similarly, in the description of the present application, “several” means two or more, unless expressly and specifically defined otherwise.

[0031] The specific structure of the cleaning device 10 is explained in more detail below. With reference to Fig. 1 and Fig. 5, Fig. Figure 5 is an exploded view of the cleaning device of Fig. 1.

[0032] In some embodiments, the guide part 110 may be provided with an installation hole 101 that penetrates its top and bottom surfaces. The inclined guide surface 113 is arranged on the top surface of the guide part 110. The top surface of the guide part 110 can be considered its upper surface, and the bottom surface of the guide part 110 its lower surface. All parts of the guide part 110 that extend in the first direction X, such as the first end 111 and the second end 112, may have a top surface and a bottom surface; the top surface of the guide part 110 is formed by the top surfaces of the various parts of the guide part 110, and the bottom surface of the guide part 110 is formed by the bottom surfaces of the various parts of the guide part 110.In other embodiments, the inclined guide surface 113 can completely form the top of the guide part 110; in this case, both the top of the first end 111 and the top of the second end 112 form parts of the inclined guide surface 113.

[0033] The upper surfaces of the various parts of the guide element 110, extending in the first direction X, can be the same surface, and their lower surfaces can also be the same surface, for example, but not limited to, a flat surface. At least one part of the upper surface of the guide element 110 can gradually rise in the first direction X, thus forming an inclined surface, namely the inclined guide surface 113. The installation hole 101 can be an elongated hole extending in the first direction X. The installation hole 101 can be located in the center of the guide element 110, so that the guide element 110 forms an inner surface exposed to the installation hole 101.

[0034] The cleaning component 300 is provided with a support element 311 and rests movably on the inclined guide surface 113 via the support element 311. The support element 311 can serve to move the cleaning component 300 in the first direction X, the second direction Y, or the third direction Z1. The movement element 100 can further serve to guide the support element 311 over the inclined guide surface 113 in order to move the cleaning component 300 in the third direction Z1 from the first position to the third position, and in the fourth direction Z2 from the third position to the first position.

[0035] The cleaning component 300 can comprise a carrier 310 and a cleaning element 320, which are connected to each other. The attachment part 311 can be arranged on the carrier 310, and the carrier 310 rests movably on the inclined guide surface 113 above the attachment part 311. The movement element 100 can be moved in the first direction X by the drive component 200 to push the attachment part 311 in the first direction X, so that the cleaning component 300 moves from the first position to the second position. The movement element 100 can also be moved in the second direction Y by the drive component 200 so that the attachment part 311 moves on the inclined guide surface 113, so that the cleaning component 300 moves in the third direction Z1 and reaches the third position.In other embodiments, the cleaning element 320 can be attached to other structures, for example to the cleaning device housing 12, and is not limited to the carrier 310.

[0036] The carrier 310 can serve to install the cleaning element 320; the cleaning element 320 can be used to clean the floor or other external surfaces; the cleaning element 320 is, for example, but not limited to, a wiping cloth part, a side brush part, etc. The cleaning element 320 can be movably attached to the carrier 310, and its shape can be designed as required. For example, the cleaning element 320 can be shaped as shown in Fig. The cleaning element 320 is a cylindrical wiper section shown in Figure 5 and can rotate about its circumferential direction relative to the support 310, i.e., roll relative to the support 310, to facilitate floor cleaning. The cleaning element 320 can be located on the underside of the support 310; the support 310 can cover the cleaning element 320 or enclose an upper part of the cleaning element 320. In other embodiments, the cleaning element 320 can be located in other positions relative to the support 310; the cleaning element 320 can have other shapes, for example, disc-shaped, and can rotate relative to the support 310 to facilitate cleaning external surfaces. The drive structure for the movement of the cleaning element 320 relative to the support 310 can be found in the prior art and is not described here.

[0037] The carrier 310 can be located on the underside of the movement element 100. The attachment part 311 can be guided through the installation hole 101 and connected to the carrier 310. A portion of the attachment part 311 located in the installation hole 101 can be in contact with the inner surface of the guide part 110. In some application scenarios, the movement element 100 can move in the first direction X under the influence of the drive component 200, so that the attachment part 311 is moved in the first direction X under the thrust of the inner surface of the first end 111, thus moving the cleaning component 300 from the first position to the second position, allowing the cleaning device 10 to change from the first state to the second state. In other embodiments, the attachment part 311 can be spaced apart from the first end 111.

[0038] In this state, the part of the system component 311 located in the installation hole 101 can touch the inner end surface of the first end 111. When the moving element 100 moves in the first direction X, its inner surface at the first end 111 can exert a force in the direction of the first direction X on the part of the system component 311 located in the installation hole 101, in order to push the system component 311 in the first direction X.

[0039] In other embodiments, the attachment part 311 can rest on the top surface of the guide part 110 in a different manner and is not limited to passing through the installation hole 101 in the embodiments described above; in this case, the attachment part 311 can be moved in the first direction X by thrust at its first end 111, thus pushing the cleaning component 300 from the first position to the second position. For example, part of the attachment part 311 can be arranged opposite the outer surface of the guide part 110, and the part projecting beyond the outer surface of the guide part 110 can rest on the top surface of the guide part 110; in this case, the outer surface of the guide part 110 connects the top and bottom surfaces of the guide part 110.

[0040] In other application scenarios, the motion element 100 can move in the second direction Y under the drive of the drive component 200, so that the system part 311 climbs up along the inclined guide surface 113, and then the system part 311 can push the cleaning component 300 from the first position to the third position, thereby allowing the cleaning device 10 to change from the first state to the third state. In the first state, the system part 311 can rest at one end of the inclined guide surface 113 near the first end 111, and in the third state, at the other end of the inclined guide surface 113 near the second end 112.Since the inclined guide surface 113 of the guide part 110 gradually increases in the first direction X and the inclined guide surface 113 is located on the top of the guide part 110, the system part 311 can gradually move upwards along the inclined guide surface 113 during the movement of the movement element 100 in the second direction Y, so that the cleaning component 300 can move in the third direction Z1 relative to the movement element 100.

[0041] The cleaning device housing 12 includes a stop element 121. The stop element 121 serves to limit the movement of the cleaning component 300 in the second direction Y, so that the support element 311 moves on the inclined guide surface 113, allowing the moving element 100 to push the cleaning component 300 in the third direction Z1. The specific shape of the stop element 121 is not restricted; for example, it can be part of the smooth inner wall of the cleaning device housing 12, or a projection on the surface of the cleaning device housing 12; this can be determined according to the actual situation. In the first state, the stop element 121 is located on the side toward which the cleaning component 300 points in the second direction Y.

[0042] In the first state, when the moving element 100 moves in the second direction Y, the stop part 121 can abut the support 310 to prevent the support 310 from moving in the second direction Y together with the moving element 100. This allows the moving element 100 to move in the second direction Y relative to the support 310 and the attachment part 311 mounted on the support 310. It can be understood that, since the inclined guide surface 113 is a sloping surface that gradually increases in the first direction X, the inclined guide surface 113 can exert a thrust in the second direction Y on the attachment part 311 during the change of the cleaning device 10 from the second state to the first state, while the cleaning component 300 is moved from the second position to the first position. This allows the cleaning component 300 to move from the second position to the first position under the thrust of the attachment part 311.The aforementioned boundary structure can prevent the cleaning component 300 from moving further in the second direction Y after reaching the first position.

[0043] In other embodiments, the cleaning device housing 12 does not necessarily have to be equipped with a stop part 121; the cleaning device 10 can interact with an external structure similar to the stop part 121 to achieve the effect described above.

[0044] Optionally, a limiting groove 114 is provided on the inclined guide surface 113. In some embodiments, the limiting groove 114 is a groove provided on the inclined guide surface 113. The limiting groove 114 can be located near the first end 111. Of course, the limiting groove 114 can also be provided in other areas of the inclined guide surface 113. In other embodiments, the limiting groove 114 is formed jointly by a groove provided on the inclined guide surface 113 and the first end 111. In this case, the first end 111 can form part of the groove wall of the limiting groove 114, and the part of the guide element 110 near the first end 111 can form another part of the groove wall of the limiting groove 114.

[0045] When the system component 311 moves towards the limit groove 114, the limit groove 114 serves to limit the movement of the system component 311 on the inclined guide surface 113, so that the movement element 100 can move the cleaning component 300 in the first direction X or the second direction Y. The movement element 100 can use the limit groove 114 to limit the system component 311 in order to move the cleaning component 300 in the first direction X from the first position to the second position and in the second direction Y from the second position to the first position.

[0046] It should be noted that the scenarios in which the drive component 200 serves to move the motion element 100 in the first direction X or the second direction Y may include the following: The motion element 100 moves in the first direction X under the drive of the drive component 200 and then pushes the cleaning component 300 from the first position to the second position via the limit groove 114; as well as the motion element 100 moves in the second direction Y under the drive of the drive component 200, and the attachment part 311 leaves the limit groove 114 under the stop action of the stop part 121 on the movement of the cleaning component 300 in the second direction Y and moves on the inclined guide surface 113, thereby moving the cleaning component 300 in the third direction Z1 via the inclined guide surface 113, so that the cleaning component 300 moves from the first position to the third position.

[0047] For example, the moving element 100 can be moved in the second direction Y by the drive component 200, so that the support part 311 is moved in the second direction Y by the thrust of the limiting groove 114, thus moving the cleaning component 300 from the second position to the first position. During the movement of the cleaning component 300 from the second position to the first position, the support part 311 can be in contact with the limiting groove 114 to prevent it from climbing up the inclined guide surface 113, allowing the moving element 100 to push the cleaning component 300 stably from the second position to the first position. The limiting groove 114 can be in contact with the support part 311 in both the first and second states.

[0048] The inclined guide surface 113 can be an inclined plane; the limiting groove 114 can be a groove provided on the top of the guide part 110, for example, but not limited to, an arcuate groove designed to provide limited resistance upon contact with the attachment part 311. In both the first and second states, the portion of the attachment part 311 that rests at one end of the inclined guide surface 113 near the first end 111 can be engaged in the limiting groove 114, so that the limiting groove 114 prevents the attachment part 311 from climbing up the top of the guide part 110 during the movement of the cleaning component 300 from the second position to the first position.

[0049] When the attachment part 311 is located in the limiting groove 114, the limiting groove 114 can serve to limit the movement of the attachment part 311 in the second direction Y, so that the cleaning component 300 can be moved from the second position to the first position under the thrust of the attachment part 311. If the moving element 100 continues to move in the second direction Y under the drive of the drive component 200, the stop part 121 can limit the movement of the cleaning component 300 in the second direction Y, so that the attachment part 311 leaves the limiting groove 114 and moves on the inclined guide surface 113, thereby pushing the cleaning component 300 in the third direction Z1 and thus moving the cleaning component 300 from the first position to the third position. In other embodiments, the cleaning device 10 can use an external structure instead of the stop part 121.

[0050] Similarly, the scenarios in which the drive component 200 serves to move the motion element 100 in the first direction X or the second direction Y can also include the following: The motion element 100 moves in the second direction Y under the drive of the drive component 200 and then pushes the cleaning component 300 from the second position to the first position via the limit groove 114; as well as the motion element 100 moves in the first direction X under the drive of the drive component 200, causing the system part 311 to move on the inclined guide surface 113 and thus moving the cleaning component 300 in the fourth direction Z2, so that the cleaning component 300 moves from the third position to the first position.

[0051] In some embodiments, the attachment part 311 cannot be blocked by any structural parts other than the moving element 100 while the cleaning component 300 is moving from the second position to the first position. Therefore, the moving element 100 only needs to exert a very small force to prevent the attachment part 311 from climbing up along the inclined guide surface 113. As the cleaning component 300 continues to move in the second direction from the first position under the thrust of the moving element 100, it may encounter resistance from a limiting structure. This limiting structure may be the stop part 121 of the cleaning device housing 12 or an external structure similar to the stop part 121. The resistance exerted by the limiting structure on the cleaning component 300 is greater than the resistance exerted by the limiting groove 114 on the cleaning component 300 via the attachment part 311.Therefore, if the cleaning component 300 is in the first position and is prevented from moving in the second direction Y by the limiting structure, the cleaning device 10 can, by controlling the movement element 100 to move in the second direction Y, cause the plant part 311 to overcome the limiting groove 114 and climb up along the inclined guide surface 113, thereby allowing the cleaning device 10 to change from the first state to the third state.

[0052] Since the top surface of the guide element 110 is a flat surface, the support element 311 can slide upwards along the inclined guide surface 113 after overcoming the limiting groove 114 without encountering excessive resistance. It should be understood that the top surface of the guide element 110 is a flat surface in comparison to a curved surface and does not specifically refer to a horizontal plane; for example, it could be a smooth inclined surface. In other embodiments, the limiting groove 114 can have different structures; for example, the limiting groove 114 could be a projection on the top surface of the guide element 110. The top surface of the guide element 110 may also not be a flat surface, for example, an uneven surface; the unevenness of which affects the climbing resistance of the support 310; the specific type of surface of the top surface of the guide element 110 can be designed according to requirements.

[0053] Optionally, the motion element 100 further comprises a base body 120. The guide part 110 can protrude from the base body 120. The two ends of the installation hole 101 can each penetrate to the top of the guide part 110 and to the bottom of the base body 120. The guide part 110 and the base body 120 are connected; the connection method is, for example, but not limited to, a single-piece molded connection.

[0054] In some embodiments, a guide element 110 may project from the base body 120. The guide element 110 may be arranged in a central region of the base body 120. In other embodiments, several guide elements 110 may project from the base body 120; the number of guide elements 110 is, for example, but not limited to, those shown in Fig. The two shown in Figure 5. The multiple guide elements 110 can each be connected to different areas of the carrier 310; for example, the carrier 310 can comprise several spaced-apart contact elements 311, and the multiple contact elements 311 can each rest on the inclined guide surfaces 113 of the different guide elements 110 to increase the fit between the cleaning component 300 and the movement element 100 and thereby improve the movement stability of the cleaning component 300. The multiple guide elements 110 can be arranged along the first direction X. The carrier 310 can be an elongated structure extending in the first direction X. In other embodiments, the movement element 100 can also consist entirely of the guide element 110.

[0055] In some embodiments, the cleaning device 10 comprises a suspension element 312, which forms the mounting part 311; the suspension element 312 is detachably connected to the support 310. The support 310 may be located on the underside of the moving element 100. The cleaning element 320 may be arranged on a side of the support 310 facing away from the moving element 100, i.e., on the underside of the support 310. The support 310 may cover the cleaning element 320 or enclose the upper part of the cleaning element 320. The suspension element 312 may rest on the inclined guide surface 113 and be connected to the support 310 via the installation hole 101. For example, the suspension element 312 may be partially guided through the installation hole 101 and suspended from the inclined guide surface 113.The suspension element 312 can be used to be pushed through the limiting groove 114 and move in the first direction X when the movement element 100 moves in the first direction X. The suspension element 312 can also be used to climb from one end of the inclined guide surface 113 near the first end 111 to the other end of the inclined guide surface 113 near the second end 112 when the movement element 100 moves in the second direction Y.

[0056] The upper surface of the suspension element 312 can rest on the upper surfaces of two opposing side walls of the guide part 110. The suspension element 312 can be pluggably attached to the support 310 via the installation hole 101. A structure for interacting with the suspension element 312 to achieve the plug-in connection can be provided on the upper surface of the support 310. In other embodiments, the suspension element 312 can be detachably connected to the support 310 in another way, for example, but not limited to, by screws.

[0057] By designing the support 310 as the structure described above, the embodiments of the present application allow the cleaning device 10 to attach the support 310 and the suspension element 312 to the upper and lower sides of the moving element 100 during assembly, and to detach the support 310 and suspension element 312 from the upper and lower sides of the moving element 100 during disassembly; this is characterized by a reliable structure and simple assembly. In other embodiments, the suspension element 312 can rest on the inclined guide surface 113 on the outside of the guide part 110 and is not limited to passing through the installation hole 101. In other embodiments, the attachment part 311 is not limited to the suspension element 312, which is detachably connected to the support 310; for example, the attachment part 311 can be formed integrally with the support 310.The system component 311 can also be attached to other parts of the cleaning component 300, for example to the cleaning element 320, and is not limited to the carrier 310.

[0058] In some embodiments, the cleaning device 10 may include an elastic element 400. The elastic element 400 may be arranged between the moving element 100 and the cleaning component 300 to exert a spring force on the cleaning component 300. For example, the cleaning component 300 may be located on the underside of the moving element 100, and the elastic element 400 may serve to exert a downward spring force on the cleaning component 300 so that the cleaning component 300 can remain firmly in contact with the floor during the cleaning process. The elastic element 400 may be a compression spring; one end may be in contact with the moving element 100, the other end with the cleaning component 300, and it is in a deformed state in the first, second, and third states, thus continuously exerting a downward spring force on the cleaning component 300.

[0059] Optionally, the cleaning component 300 further comprises a pressure element 330; the pressure element 330 can be movably connected to the movement element 100, for example, inserted into the base body 120 and sliding with it. The elastic element 400 can be received in the pressure element 330, with its two ends bearing against the base body 120 and the pressure element 330 respectively, whereby a downward spring force can be continuously exerted on the carrier 310 via the pressure element 330, so that the cleaning element 320 can bear firmly against the floor on the underside of the carrier 310 during the cleaning process.

[0060] With reference to Fig. 1, Fig. 5, and Fig. 6, Fig. Figure 6 is a schematic partial structural view of a cleaning device according to some embodiments of the present application.

[0061] In some embodiments, a receiving recess 301 is provided on one side of the movement element 100, which faces the cleaning component 300. One end of the elastic element 400 presses against the recess wall of the receiving recess 301, for example, the bottom wall of the Fig. Figure 6 shows the receiving recess 301. The pressure element 330 is a hollow structure; one end presses against the cleaning component 300, the other end is provided with an opening 302 that connects to the interior of the pressure element 330. The elastic element 400 is arranged at least partially within the pressure element 330 via the opening 302, and the other end of the elastic element 400 presses against the inner wall of the pressure element 330. In other words, the two ends of the elastic element 400 press against the recess wall of the receiving recess 301 and the inner wall of the pressure element 330, respectively.

[0062] The other end of the pressure element 330, i.e., the end with the opening 302, is arranged in the receiving recess 301; the pressure element 330 can expand and contract elastically in the receiving recess 301 and presses elastically against the cleaning component 300. The pressure element 330 can be at least partially received in the receiving recess 301.

[0063] Using the cleaning component 300, located below the pressure element 330, as an example, the pressure element 330, due to the design described above and limited by the receiving recess 301, can float up and down by elastic expansion and contraction and is pressed elastically against the cleaning component 300 by the elastic element 400, for example, against the top of the carrier 310. Therefore, the cleaning device 10 does not require any further limiting structure to achieve the elastic pressing of the pressure element 330 against the carrier 310. The surface of the carrier 310 that is in contact with the pressure element 330 can be a flat surface, as shown in Fig. 5 shown. In other embodiments, the surface of the carrier 310 that is in contact with the pressure element 330 can not be a flat surface, for example, but not limited to, a concave arc surface.

[0064] It is to be understood that the terms “comprise” and “have” used in the description of the present application and the accompanying claims, and all their variations, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus comprising a series of steps or units does not only include the listed steps or units, but may optionally also include unlisted steps or units, or optionally other steps or units inherent in those processes, methods, products, or apparatus.

[0065] It should be noted that the in Fig. The cleaning device 10 shown in Figure 5 is only one example provided by the embodiments of the present application; the cleaning device 10 of the present application is not limited to the structure described above. With reference to Fig. 7, Fig. 8 to Fig. 9, Fig. Figure 7 is a schematic structural view of a cleaning device according to further embodiments of the present application in a first state; Fig. Figure 8 is a schematic structural view of the cleaning device of Fig. 7 in a second state; and Fig. Figure 9 is a schematic structural view of the cleaning device of Fig. 7 in a third state. In this state, the Fig. 7 Cleaning component 300 shown in the first position, which is in Fig. 8 Cleaning component 300 shown in the second position, and the one in Fig. 9 Cleaning component 300 shown in the third position.

[0066] In some embodiments, the inclined guide surface 113 can be the underside of the guide part 110. The cleaning component 300 can rest on the underside of the guide part 110 via the contact element 311. For example, a guide rail can be mounted on the underside of the guide part 110, and the cleaning component 300 can rest on this guide rail via the contact element 311 to achieve contact between the cleaning component 300 and the inclined guide surface 113.

[0067] The motion element 100, driven by the drive component 200, can move in the first direction X to push the system part 311 in the first direction X, thus moving the cleaning component 300 from the first position to the second position. The motion element 100 can also, driven by the drive component 200, move in the second direction Y, so that the system part 311 climbs along the inclined guide surface 113, thus moving the cleaning component 300 from the first position to the third position.

[0068] The principle and the associated structures which in this embodiment serve to realize the displacement and lifting of the cleaning component 300 are similar to the embodiments described above; parts not described in detail may refer to the embodiments mentioned above, and this will not be discussed further here.

[0069] With reference to Fig. 10, Fig. 11 to Fig. 12, Fig. Figure 10 is a perspective schematic representation of a cleaning robot according to some embodiments of the present application in a first state; Fig. Figure 11 is a perspective schematic representation of the cleaning robot from Fig. 10 in a second state; and Fig. Figure 12 is a perspective schematic representation of the cleaning robot from Fig. 10 in a third state. In Fig. 10, Fig. 11 to Fig. Figure 12 shows the cleaning robot 20 from a top-down perspective, with part of the housing removed.

[0070] In some embodiments, the cleaning robot 20 comprises a main body 21 and the cleaning device 10. The cleaning device 10 may be connected to the main body 21. The specific structure of the cleaning device 10 may refer to the description above. It should be noted that the cleaning device to which the cleaning device 10 is applied is not limited to the cleaning robot 20; this embodiment is only an example in the present application.

[0071] The main body 21 serves to move on a work surface, which is, for example, but not limited to, a floor. During the movement of the main body 21, the cleaning robot 20 can use the cleaning component 300 to clean the work surface. The cleaning device 10 can use the drive component 200 to move the movement element 100 in the first direction X, so that the cleaning component 300 moves away from the surface. Fig. 10 shown first position to the in Fig. The cleaning device 10 can, by means of the drive component 200, further move the movement element 100 in the second direction Y, so that the cleaning component 300 moves from the position shown in Figure 11. Fig. 10 shown first position to the in Fig. 12 shown third position moved.

[0072] The cleaning device housing 12 of the cleaning device 10 can include a stop 121 and an inlet / outlet 122. Relative to the cleaning component 300 in the first position, the inlet / outlet 122 can be located in the first direction X, and the stop 121 can be located in the second direction Y. For example, one side of the cleaning device housing 12 can be provided with the stop 121, and an inlet / outlet 122 can be located on the other side in the first direction X; the cleaning component 300 in the first position can be located between the stop 121 and the inlet / outlet 122. The inlet / outlet 122 can be a through-opening located on the outer edge of the cleaning device housing 12.During the change of the cleaning device 10 from the first to the second state, i.e. during the movement of the moving element 100 in the first direction X, the cleaning component 300 can move from the first position in the first direction X and reach the second position via the inlet / outlet 122.

[0073] In the first state, the projection of the cleaning component 300 onto the work surface lies within the cleaning device housing 12, and the projection of the cleaning device housing 12 onto the work surface can completely cover the cleaning component 300 in the first position. In the second state, the projection of the cleaning component 300 onto the work surface lies at least partially outside the cleaning device housing 12; the projection of the cleaning device housing 12 onto the work surface can cover part of the cleaning component 300 in the second position, and the cleaning component 300 can partially extend beyond the outer edge of the cleaning device housing 12 to facilitate the cleaning of adjacent areas such as corners.

[0074] The cleaning device 10 can be moved in the first direction X by the drive component 200, causing the cleaning component 300 to move from the first position to the second position and project beyond the outer edge of the cleaning device housing 12. This extension function of the cleaning component 300 is advantageous for increasing the cleaning capability of the cleaning device 10. The cleaning robot 20 can use different cleaning programs to control the cleaning component 300 in the first and second positions. In the third position, the height of the cleaning component 300 in a direction perpendicular to the work surface is greater than in the first and second positions; the projection of the cleaning device housing 12 onto the work surface can also completely cover the cleaning component 300 in the first position.

[0075] The stop element 121 can serve to prevent the carrier 310 from moving in the second direction Y together with the movement element 100, thus allowing the movement element 100 to move in the second direction Y relative to the carrier 310. In other embodiments, the cleaning robot 20 can use a structural part outside the cleaning device housing 12 as a limiting structure similar to the stop element 121, for example, a part of the main body 21. During the movement of the movement element 100 in the second direction Y, the stop element 121 can bear against the cleaning component 300, so that the cleaning component 300 moves in the third direction Z1 relative to the guide part 110 and thus moves from the first position to the third position.

[0076] In the first state, the stop part 121 can be arranged with the cleaning component 300 along the second direction Y in order to prevent the cleaning component 300 from moving in the second direction Y during the change of the cleaning device 10 from the first to the third state, so that the cleaning component 300 can climb from the end of the inclined guide surface 113 of the cleaning device 10 near the first end 111 to the other end of the inclined guide surface 113 near the second end 112 and thus reach the third position.

[0077] In both the first and second states, the cleaning component 300 can be firmly in contact with the work surface. In the third state, the cleaning component 300 can detach from the work surface, so that it does not participate in cleaning the work surface when the main body 21 moves. The cleaning robot 20 can use the drive component 200 to move in the second direction Y, so that the cleaning component 300 rises from the first position relative to the cleaning device housing 12 to the third position; it can also move the drive component 200 in the opposite direction, so that the cleaning component 300 lowers from the third position relative to the cleaning device housing 12 to the first position, thus realizing the lifting function of the cleaning component 300.

[0078] The cleaning device 10 can include a normal cleaning mode, corresponding to the first state. When the cleaning component 300 is in the first position, the mode in which the cleaning device 10 operates is the normal cleaning mode. The cleaning device 10 can also include an edge cleaning mode, corresponding to the second state. When the cleaning component 300 is in the second position, the mode in which the cleaning device 10 operates is the edge cleaning mode. Furthermore, the cleaning device 10 can include an avoidance mode, corresponding to the third state. When the cleaning component is in the third position, the mode in which the cleaning device 10 operates is the avoidance mode. It should be understood that the cleaning strategy applied by the cleaning device 10 can differ in the various modes.

[0079] In some application scenarios, the cleaning robot 20 does not need to use the cleaning component 300 to clean the work surface; in this case, the cleaning robot 20 can lift the cleaning component 300 and detach it from the work surface as described above, so that the cleaning device 10 switches to avoidance mode. For example, let's assume that the cleaning component 300 includes a mop pad: If there is a lot of dirt on the work surface, the cleaning robot 20 can use cleaning mechanisms such as roller brushes, side brushes, etc., to remove the dirt. If the cleaning component 300 were firmly in contact with the work surface in this case, the dirt could become moistened, which could lead to inadequate cleaning.In this application scenario, the cleaning robot 20 of the embodiments of the present application can first control the cleaning component 300 to be lifted and detached from the work surface, and after completion of the cleaning, control the cleaning component 300 to be lowered and lie firmly on the work surface.

[0080] In some embodiments, the cleaning device 10 further comprises a sensing component 500, which serves to detect the current position of the cleaning component 300; the current position includes the first position, the second position, the third position, positions between the first and second positions, and positions between the first and third positions. Based on the detection result of the sensing component 500, the cleaning device 10 can use different cleaning programs.

[0081] The detection component 500 can comprise at least one sensor 510, which serves to detect whether the cleaning component 300 is in the first position, whether it is in the second position, and whether it is in the third position. For example, the detection component 500 can comprise three sensors 510; the three sensors 510 serve sequentially to detect whether the cleaning component 300 is in the first position, whether it is in the second position, and whether it is in the third position. In other embodiments, the detection component 500 can perform the aforementioned detection with fewer than three or more than three sensors 510.The detection component 500 can further include sensors 510 attached at other positions to detect whether the cleaning component 300 is located at other positions, or the detection component 500 can infer the current position of the cleaning component 300 based on the detection information from the sensors 510.

[0082] The sensing component 500 can include a control board 520. The control board 520 can be connected to the sensing component 500. As shown in Fig. 1 and Fig. As shown in Figure 5, three sensors 510 arranged along the first direction X can be mounted on the control board 520. The sensors 510 can be used to detect the position of the motion element 100 and, based on the position of the motion element 100, to determine the position of the cleaning component 300. A projection can be provided on the side surface of the base body 120 of the motion element 100 to interact with the sensors 510 and perform the detection. The type of sensor 510 can be selected depending on the actual situation, for example, but not limited to, an optical sensor.

[0083] The control board 520 can be used to set the operating mode of the cleaning device 10 to edge cleaning mode if the detection component 500 detects that the current position of the cleaning component 300 is the second position. The control board 520 can also be used to set the operating mode of the cleaning device 10 to the alternative mode if the detection component 500 detects that the current position of the cleaning component 300 is the third position.

[0084] Furthermore, if the sensing component 500 detects that the current position of the cleaning component 300 is the first position, the control board 520 can set the operating mode of the cleaning device 10 to normal cleaning mode. Of course, the switchable modes of the cleaning device 10 are not limited to the three operating modes mentioned above; for example, if the control board 520 receives a preset command, it can also put the cleaning device 10 into standby mode even if the cleaning component 300 is in the first position.

[0085] As in Fig. 10, Fig. 11 to Fig.As shown in Figure 12, when the moving element 100 moves the cleaning component 300 to the first, second, and third positions, the corresponding sensor 510 can detect a preset portion of the moving element 100 and thus determine that the cleaning component 300 has reached the position; in this case, the control board 520 can call the corresponding control program based on the detection result of the sensor 510. The control board 520 can be fixedly mounted relative to the cleaning device housing 12; the specific mounting position of the control board 520 can be determined according to the actual situation, for example, but not limited to, on the drive component 200 or on the cleaning device housing 12.

[0086] In some embodiments, the drive component 200 comprises a driver 210 and a direction changer 220. The driver 210 is connected to the direction changer 220 and serves to output a rotational force; the direction changer 220 is connected to the motion element 100 and serves to convert the rotational force into a driving force that can drive the motion element 100 in a linear motion. The first direction X and the second direction Y can be two opposite linear directions. For example, the driver 210 can be a motor with a gearbox, and the direction changer 220 can be a ball screw; the output shaft of the motor is connected to the ball screw. In other embodiments, the driver 210 and the direction changer 220 can have different structures; for example, the direction changer 220 can comprise a gear and a rack.

[0087] When the driver 210 rotates in the forward direction, this can cause the motion element 100 to move in a straight line in the first direction X, thus pushing the cleaning component 300 to one side of the cleaning device housing 12. When the sensor 510 detects that the cleaning component 300 has reached the second position, the cleaning robot 20 can use the control program corresponding to the second state to start the cleaning component 300 cleaning along the edge.

[0088] When the driver 210 rotates in the reverse direction, this can cause the movement element 100 to move in a straight line in the second direction Y, thus pushing the cleaning component 300 into the interior of the cleaning device housing 12. When the sensor 510 detects that the cleaning component 300 has reached the first position, the cleaning robot 20 can use the control program corresponding to the first state to start cleaning the cleaning component 300.

[0089] As the driver 210 continues to rotate in the reverse direction, the guide part 110 of the motion element 100 can force the cleaning component 300 to rise relative to the cleaning device housing 12. When the sensor 510 detects that the cleaning component 300 has reached the third position, the cleaning robot 20 can control the driver 210 to stop its rotation. It is understood that in other embodiments, the drive component 200 may include other drive mechanisms, such as a linear drive. The driving force provided by the drive component 200 to the motion element 100 is not limited to a thrust force that drives the motion element 100 in a linear motion; for example, the drive component 200 may provide a rotational force to the motion element 100 so that the motion element 100 rotates.

[0090] Optionally, the cleaning device 10 serves to control the direction of rotation of the drive component 200 based on the detection result of the detection component 500, for example, to cause the drive component 200 to rotate forwards or backwards. The cleaning device 10 can also serve to control the operating state of the drive component 200 based on the detection result of the detection component 500, for example, to cause the drive component 200 to start or stop rotating.

[0091] In the description of this application, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., mean that the specific property, structure, material, or feature described in connection with the embodiment or example is included in at least one embodiment or example of this application. In this description, the exemplary expression of the aforementioned terms need not necessarily refer to the same embodiment or example. Furthermore, the specific properties, structures, materials, or features described may be combined appropriately in one or more embodiments or examples.Furthermore, provided there are no contradictions, experts in this field can combine and connect the various embodiments or examples described in this description, as well as the features of the various embodiments or examples.

[0092] The above description represents only a part of the embodiments of the present application and therefore does not limit the scope of protection of the utility model of the present application. All equivalent structures or equivalent process modifications based on the content of the description and the drawings of the present application, or direct or indirect applications in other related technical fields, are included in the scope of protection of the utility model of the present application in the same way.

Claims

[1] A cleaning device (10), characterized by that it includes: a case (12); a motion element (100) which is movably arranged on the housing (12); wherein the motion element (100) comprises at least one guide part (110), and each of the at least one guide part (110) has an inclined guide surface (113) which gradually increases in a first direction (X); a drive component (200) that is rigidly connected to the housing (12); wherein the drive component (200) serves to move the moving element (100) in the first direction (X) or an opposite second direction (Y); and a cleaning component (300); wherein the cleaning component (300) is provided with a support part (311) and the cleaning component (300) rests movably on the inclined guide surface (113) via the support part (311); wherein a limiting structure is attached to the inclined guide surface (113), and when the plant part (311) moves towards the limiting structure, the limiting structure serves to limit the movement of the plant part (311) on the inclined guide surface (113), so that the moving element (100) can move the cleaning component (300) in the first direction (X) or the opposite second direction (Y); the housing (12) further comprises a stop element (121) which serves to limit the movement of the cleaning component (300) in the second direction (Y) so that the system part (311) leaves the limiting structure and moves on the inclined guide surface (113) so that the movement element (100) can move the cleaning component (300) in a third direction (Z1); where the third direction (Z1) is perpendicular to the first direction (X) and the second direction (Y). [2] The cleaning device (10) according to claim 1, wherein the movement element (100) serves to limit the system part (311) via the limiting structure in order to move the cleaning component (300) in the first direction (X) from a first position to a second position, and to move the cleaning component (300) in the second direction (Y) from the second position to the first position; the movement element (100) further serves to guide the system part (311) via the inclined guide surface (113) in order to move the cleaning component (300) in the third direction (Z1) from the first position to a third position, and to move the cleaning component (300) in a fourth direction (Z2) from the third position to the first position, wherein the fourth direction (Z2) is opposite to the third direction (Z1). [3] The cleaning device (10) according to claim 2, wherein the cleaning component (300) comprises a carrier (310) and a cleaning element (320) which are connected to each other; the attachment part (311) is attached to the carrier (310), the carrier (310) rests movably on the inclined guide surface (113) over the attachment part (311), and each guide part (110) comprises a first end (111) and a second end (112) which are arranged along the first direction (X) and are each located at both ends of the inclined guide surface (113). [4] The cleaning device (10) according to claim 3, wherein the limiting structure is a groove provided on the inclined guide surface (113) and is arranged near the first end (111). [5] The cleaning device (10) according to claim 3, wherein each guide part (110) is provided with an installation hole (101) that penetrates the top and bottom of the guide part (110); the inclined guide surface (113) is arranged on the top of the guide part (110), and the support (310) is guided through the installation hole (101) and rests on the inclined guide surface (113) over the attachment part (311). [6] The cleaning device (10) according to claim 5, wherein the movement element (100) further comprises a base body (120) which projects at least one guide part (110) from the base body (120), and the two ends of the installation hole (101) penetrate to the top of the guide part (110) and to the bottom of the base body (120), respectively; wherein the at least one guide part (110) is a single guide part (110); or the at least one guide part (110) is multiple guide parts (110) arranged along the first direction (X). [7] The cleaning device (10) according to claim 3, wherein the cleaning device (10) further comprises a suspension element (312) forming the attachment part (311), and the suspension element (312) is detachably connected to the support (310); the support (310) is located on the underside of the movement element (100), the cleaning element (320) is arranged on a side of the support (310) facing away from the movement element (100), and the suspension element (312) rests on the top side of the guide part (110). [8] The cleaning device (10) according to any one of claims 2 to 7, wherein the cleaning device (10) serves to clean a work surface, wherein, when the cleaning component (300) is in the first position, the projection of the cleaning component (300) is on the working surface inside the housing (12); when the cleaning component (300) is in the second position, the projection of the cleaning component (300) on the work surface is at least partially outside the housing (12); when the cleaning component (300) is in the third position, the height of the cleaning component (300) in a direction perpendicular to the work surface is greater than in the first position and the second position. [9] The cleaning device (10) according to any one of claims 1 to 7, wherein the cleaning device (10) further comprises an elastic element (400) arranged between the movement element (100) and the cleaning component (300) to exert a spring force on the cleaning component (300). [10] The cleaning device (10) according to claim 9, wherein a receiving recess (301) is provided on one side of the movement element (100) which points towards the cleaning component (300) and an end of the elastic element (400) presses against the recess wall of the receiving recess (301); The cleaning device (10) further comprises a pressure element (330) which is a hollow structure; wherein one end of the pressure element (330) presses against the cleaning component (300), and the other end of the pressure element (330) is provided with an opening (302) which connects an interior of the pressure element (330); the elastic element (400) is arranged at least partially in the pressure element (330) via the opening (302), and the other end of the elastic element (400) presses against the inner wall of the pressure element (330); wherein the other end of the pressure element (330) is arranged in the receiving recess (301); the pressure element (330) can expand and contract elastically in the receiving recess (301) via the elastic element (400) and elastically presses against the cleaning component (300). [11] The cleaning device (10) according to any one of claims 2 to 7, wherein the cleaning device (10) further comprises a detection component (500) and a control board (520); the detection component (500) serves to detect the current position of the cleaning component (300), and the cleaning device (10) has an edge cleaning mode and an avoidance mode; the control board (520) serves, when the detection component (500) detects that the current position of the cleaning component (300) is the second position, to set the operating mode of the cleaning device (10) to the edge cleaning mode, and serves, when the detection component (500) detects that the current position of the cleaning component (300) is the third position, to set the operating mode of the cleaning device (10) to the avoidance mode. [12] The cleaning device (10) according to any one of claims 1 to 7, wherein the first direction (X) and the second direction (Y) are two opposite rectilinear directions; the drive component (200) comprises a driver (210) and a direction changer (220); the driver (210) is connected to the direction changer (220) to output a rotational force, and the direction changer (220) is connected to the motion element (100) to convert the rotational force into a driving force that can drive the motion element (100) to a rectilinear motion. [13] A cleaning robot (20) wherein the cleaning robot (20) comprises a main body (21) and the cleaning device (10) according to any one of claims 1 to 12.

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