Cleaning equipment

Abstract

The present invention relates to a cleaning device, the cleaning device comprising: a main shell having a receiving cavity; a driving wheel assembly, comprising: a rotating shaft, the rotating shaft being inserted into the main shell along an axial direction and received in the receiving cavity; a driving wheel unit, connected to the rotating shaft and at least partially received in the receiving cavity, the driving wheel unit being able to rotate around the rotating shaft; wherein there is a shaft withdrawal gap between the end face of one end of the rotating shaft inserted into the receiving cavity and the cavity wall of the receiving cavity. For the above-mentioned cleaning device, when it is necessary to repair or replace the driving wheel assembly, the operator can extend a disassembly tool into the shaft withdrawal gap, and then apply an axial force to the rotating shaft to make the other end of the rotating shaft extend out of the main shell, so that the rotating shaft can be easily disassembled from the main shell, and then the driving wheel unit can be conveniently disassembled.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent electrical appliances, and in particular to a cleaning device. Background Art

[0002] With the advancement of science and technology and the development of society, cleaning equipment such as sweeping robots, mopping robots or sweeping and mopping robots for indoor floor cleaning have gradually entered people's lives. These cleaning devices can automatically detect factors such as room size, furniture placement, floor cleanliness, and rely on built-in programs to formulate reasonable cleaning routes to clean the floor. They are loved by people and are increasingly widely used in people's lives, significantly reducing people's burden and bringing great convenience to people's lives.

[0003] The driving wheel assembly is an indispensable and important structure of the cleaning equipment as a structure for driving the cleaning equipment to move. However, the existing driving wheel assembly has a relatively complex structure and is inconvenient to disassemble and assemble, thereby reducing the assembly efficiency of the cleaning equipment and increasing the difficulty of after-sales maintenance. Summary of the invention

[0004] The present invention aims to solve the problem that the driving wheel assembly of the cleaning equipment is inconvenient to be disassembled and assembled, and provides a cleaning equipment, which can achieve the technical effect of improving the convenience of disassembling and assembling the driving wheel assembly.

[0005] According to one aspect of the present application, a cleaning device is provided, the cleaning device comprising:

[0006] A main housing having a receiving cavity; and

[0007] The driving wheel assembly comprises:

[0008] A rotating shaft, the rotating shaft is inserted into the main housing along an axial direction and accommodated in the accommodating cavity; and

[0009] A driving wheel unit, connected to the rotating shaft and at least partially accommodated in the accommodating cavity, wherein the driving wheel unit is capable of rotating around the rotating shaft;

[0010] There is a shaft clearance between the end surface of one end of the rotating shaft inserted into the accommodating cavity and the cavity wall of the accommodating cavity.

[0011] In one embodiment, the main shell includes a lower shell and an upper shell that are interlocked, the lower shell includes a lower shell body and a driving wheel shell, the lower shell body and the driving wheel shell are integrally formed, and the driving wheel shell defines the accommodating cavity.

[0012] In one embodiment, the driving wheel unit comprises:

[0013] A reduction gearbox having an output end and an output end;

[0014] a driving wheel, mounted on the reduction box and connected to the output end of the reduction box; and

[0015] A driving motor is mounted on the reduction box and connected to an output end of the reduction box, and the driving motor drives the driving wheel to rotate with the aid of the reduction box to move the cleaning device;

[0016] The reduction box is provided with a rotating shaft mounting hole, the rotating shaft is passed through the rotating shaft mounting hole, and both ends of the rotating shaft in the axial direction extend out of the rotating shaft mounting hole and are limited to the main housing.

[0017] In one of the embodiments, the dimension of the shaft clearance in the axial direction is 2 mm to 6 mm.

[0018] In one embodiment, the rotating shaft includes a first fixed end and a second fixed end which are arranged opposite to each other in the axial direction, and the first fixed end and the second fixed end are respectively matched with the main shell body. In the insertion direction of the rotating shaft, the first fixed end is located in front of the second fixed end, and the shaft withdrawal gap exists between the first fixed end and the cavity wall of the accommodating cavity.

[0019] In one embodiment, the main shell is provided with a first fixing hole and a second fixing hole, the first fixing hole and the second fixing hole are spaced apart in the insertion direction of the rotating shaft, the first fixing end is inserted in the first fixing hole, and the second fixing end is inserted in the second fixing hole.

[0020] In one embodiment, the first fixing end is interference fit with the first fixing hole, and / or the second fixing end is interference fit with the second fixing hole.

[0021] In one of the embodiments, a side wall of the second fixing end is provided with a matching protrusion, and the second fixing end is interference-fitted with the second fixing hole by means of the matching protrusion.

[0022] In one of the embodiments, the rotating shaft also includes a circumferential direction surrounding the axial direction, and a plurality of the mating protrusions are arranged at intervals along the circumferential direction, and each of the mating protrusions extends linearly along the axial direction.

[0023] In one of the embodiments, the outer wall of the second fixing end extends smoothly along the circumferential direction, and the outer diameter of the second fixing end is not greater than the inner diameter of the first fixing hole.

[0024] In one embodiment, the cleaning device is a sweeping robot, a mopping robot, or a sweeping and mopping robot.

[0025] For the above-mentioned cleaning equipment, when the driving wheel assembly needs to be repaired or replaced, the operator can insert the disassembly tool into the shaft withdrawal gap, and then apply an axial force to the rotating shaft to make the other end of the rotating shaft extend out of the main housing, so that the rotating shaft can be easily disassembled from the main housing, and then the driving wheel unit can be conveniently disassembled. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an exploded schematic diagram of a cleaning device according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A schematic diagram of the installation of the rotating shaft and the lower shell of the cleaning device shown;

[0028] Figure 3 for Figure 1 A top view of the lower housing of the cleaning device with the rotating shaft mounted thereon;

[0029] Figure 4 for Figure 3 A partial enlarged view of the lower shell at point A is shown;

[0030] Figure 5 A top view of a lower housing with a driving wheel installed according to an embodiment of the present invention;

[0031] Figure 6 for Figure 5 The BB section of the lower shell is shown;

[0032] Figure 7 A side view of a lower housing with a driving wheel assembly installed according to an embodiment of the present invention;

[0033] Figure 8 It is a schematic structural diagram of a rotating shaft of a cleaning device according to an embodiment of the present invention.

[0034] Description of Figure Numbers:

[0035] 100. Cleaning device; 20. Main shell; 21. Lower shell; 212. Lower shell body; 214. Drive shell; 2141. Accommodating chamber; 23. Upper shell; 40. Drive wheel assembly; 41. Drive wheel unit; 412. Reducer; 414. Drive wheel; 416. Drive motor; 43. Rotating shaft; 432. First fixed end; 434. Second fixed end; 4341. Matching protrusion. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0042] Figure 1 A schematic diagram of an exploded view of a cleaning device in an embodiment of the present invention is shown. Figure 2 A schematic diagram of the installation of the rotating shaft and the lower shell of the cleaning device in one embodiment of the present invention is shown.

[0043] See also Figure 1 and Figure 2 , a cleaning device 100 according to an embodiment of the present invention is used to move along the surface of an object to be cleaned to clean the surface of the object (e.g., the ground). The following takes the cleaning device 100 as an example of a sweeping and mopping robot to illustrate the structure of the cleaning device 100 in the present application. This embodiment is only used as an example and does not limit the technical scope of the present application. It can be understood that in other embodiments, the cleaning device 100 may also be specifically other devices, such as a mopping robot, etc., which is not limited here.

[0044] The cleaning device 100 includes a main housing 20 and a driving wheel assembly 40, a dust collection assembly, and a power supply assembly (not shown) mounted on the main housing 20. The driving wheel assembly 40 is used to drive the cleaning device 100 to move on the surface of an object, the dust collection assembly is used to absorb dust and debris on the surface of the object, and the power supply assembly is used to provide power for the driving wheel assembly 40 and the dust collection assembly. It can be understood that the specific structure of the cleaning device 100 is not limited and can be set according to needs.

[0045] In some embodiments, the main housing 20 includes a lower housing 21 and an upper housing 23, and the lower housing 21 includes a lower housing body 212 and a driving wheel housing 214. The lower housing body 212 and the upper housing 23 are buckled with each other, and the driving wheel housing 214 is located on a side of the lower housing body 212 facing the upper housing 23 and is integrally formed with the lower housing body 212. The driving wheel housing 214 encloses a receiving cavity 2141 for receiving the driving wheel assembly 40, and the driving wheel assembly 40 is at least partially received in the receiving cavity 2141.

[0046] In this way, compared with the prior art in which the driving wheel assembly 40 is housed in a shell independently set up from the lower shell 21, the driving wheel shell 214 in the present application is formed integrally with the lower shell body 212, so that the driving wheel assembly 40 can be directly installed in the lower shell 21 without the need to additionally set up a shell covering the outside of the driving wheel assembly 40, thereby saving the number of parts and layout space, while improving assembly efficiency.

[0047] The cleaning device 100 includes two sets of driving wheel assemblies 40, which are symmetrically mounted on opposite sides of the main housing 20, and each set of driving wheel assemblies 40 includes a driving wheel unit 41 and a rotating shaft 43. The driving wheel unit 41 includes a reduction box 412, a driving wheel 414, and a driving motor 416. The reduction box 412 has an input end and an output end. The driving motor 416 is mounted on the reduction box 412 and is transmission-connected to the input end of the reduction box 412. The driving wheel 414 is mounted on the reduction box 412 and is transmission-connected to the output end of the reduction box 412. In this way, the driving motor 416 is transmission-connected to the driving wheel 414 through the reduction box 412, and the driving motor 416 drives the driving wheel 414 to rotate with the help of the reduction box 412 to drive the cleaning device 100 to move.

[0048] Further, in some embodiments, the drive motor 416 is located on one side of the drive wheel 414 in the radial direction, the axial direction of the drive motor 416 is parallel to the axial direction of the drive wheel 414, and in the forward direction of the cleaning device 100, the drive motor 416 is located in front of the drive wheel 414. Compared with the solution in the prior art that the drive motor 416 is located behind the drive wheel 414 in the forward direction of the cleaning device 100, the drive motor 416 in the present application is located in front of the drive wheel 414 in the forward direction of the cleaning device 100, so the side of the drive wheel 414 facing the drive motor 416 has a greater friction with the ground under the pressure of the drive motor 416, so in the process of the cleaning device 100 moving forward, the drive wheel 414 has a better obstacle-crossing ability when facing obstacles in front, thereby further improving the performance of the cleaning device 100.

[0049] Furthermore, the radial dimension of the driving wheel 414 is larger than the radial dimension of the driving motor 416, so that a accommodating space is formed on the side of the driving wheel 414 facing the driving motor 416, and a portion of the roller brush assembly (or other mechanisms located in front of the driving wheel assembly 40 in the forward direction of the cleaning device 100) can extend into the accommodating space.

[0050] In this way, the cleaning device 100 of the present application utilizes the radial size difference between the drive motor 416 and the drive wheel 414 to accommodate the roller brush assembly located in front of the drive wheel assembly 40 in the forward direction of the cleaning device 100, thereby making the overall structure of the cleaning device 100 more compact, and in the case of keeping the overall volume of the cleaning device 100 unchanged, it is conducive to further increasing the volume of the roller brush assembly or other mechanisms. In the prior art, since the drive wheel 414 is located in front of the drive motor 416 in the forward direction of the cleaning device 100, the roller brush assembly and other components can only be located in front of the drive wheel assembly 40, thereby increasing the size of the cleaning device 100 in its forward direction.

[0051] It is understood that the forward direction of the cleaning device 100 in the present application refers to the moving direction of the cleaning device 100 during normal cleaning. When the cleaning device 100 touches an obstacle, the cleaning device 100 moves backward in the direction opposite to the forward direction to avoid the obstacle.

[0052] Combination Figure 3 and Figure 4 As shown, Figure 3 A top view of a lower housing of a cleaning device with a rotating shaft installed thereon is shown in one embodiment of the present invention; Figure 4 Shows Figure 3 A partial enlarged view of point A of the lower shell is shown.

[0053] In some embodiments, the rotating shaft 43 is generally a cylindrical structure having an axial direction and a circumferential direction surrounding the axial direction. The reduction box 412 is also provided with a drive shaft mounting hole, the drive shaft mounting hole is located between the drive wheel 414 and the drive motor 416, and the rotating shaft 43 is passed through the drive shaft mounting hole. In this way, the drive wheel unit 41 is connected to the rotating shaft 43, and the drive wheel unit 41 can rotate around the rotating shaft 43 to float up and down according to different terrains. When the drive wheel unit 41 is assembled to the accommodating chamber 2141, the rotating shaft 43 can be inserted into the main housing 20 from the outside of the main housing 20 along the axial direction and accommodated in the accommodating chamber 2141.

[0054] Preferably, in the forward direction of the cleaning device 100 , the rotating shaft 42 is located in the accommodating space formed between the driving wheel 414 and the driving motor 416 (ie, located on the side of the driving wheel 414 facing the driving motor 416 ).

[0055] In this way, compared with the prior art in which the rotating shaft 42 is located on the side of the driving motor 416 away from the driving wheel 414, the maximum rotation radius of the driving wheel unit 41 of the present application is the maximum distance between the outer cylindrical surface of the driving wheel 414 and the rotating shaft 42, and this distance is much smaller than the rotation radius of the driving wheel unit in the prior art (the sum of the outer diameter of the driving motor 416 and the outer diameter of the driving wheel 414), thereby effectively reducing the space occupancy, making the parts arrangement in the cleaning equipment 100 more compact, and the volume of the cleaning equipment 100 can be further reduced.

[0056] Since the driving wheel unit 41 in the present application is directly installed in the driving wheel housing 214 integrally formed with the lower shell body 212, the driving shaft 43 needs to be inserted after the driving wheel unit 41 is installed in the accommodating cavity 2141. Therefore, before removing the driving wheel unit 41, the rotating shaft 43 also needs to be removed first. If the rotating shaft 43 is installed in the middle according to the prior art, it will be very difficult to remove the rotating shaft 43, which will bring great difficulty to the removal of the driving wheel unit 41.

[0057] Based on the above problems, there is a shaft withdrawal gap between the end surface of one end of the rotating shaft 43 inserted into the accommodating cavity 2141 and the cavity wall of the accommodating cavity 2141. In this way, when the driving wheel assembly 40 needs to be repaired or replaced, the operator can extend the disassembly tool into the shaft withdrawal gap, and then apply an axial force to the rotating shaft 43 to make the other end of the rotating shaft 43 extend out of the main housing 20, so that the rotating shaft 43 can be easily disassembled from the main housing 20, and then the driving wheel unit 41 can be conveniently disassembled.

[0058] It is understood that the size of the shaft withdrawal clearance in the axial direction of the rotating shaft 43 can be set according to the size of the disassembly tool. Specifically, in some embodiments, the size α of the shaft withdrawal clearance in the axial direction is 2 mm to 6 mm, thereby leaving enough operating space for the disassembly tool, while not excessively increasing the volume of the accommodating cavity 2141 and causing a significant increase in the overall size of the cleaning device 100.

[0059] Combination Figures 5 to 8 As shown, Figure 5 A top view of a lower housing with a drive wheel 414 installed in one embodiment of the present invention is shown; Figure 6 for Figure 5 The BB section of the lower shell is shown; Figure 7 A side view of a lower housing with a drive wheel assembly installed in one embodiment of the present invention is shown; Figure 8 A schematic structural diagram of a rotating shaft of a cleaning device in an embodiment of the present invention is shown.

[0060] Specifically, the rotating shaft 43 includes a first fixed end 432 and a second fixed end 434 which are arranged opposite to each other in the axial direction, and the main shell 20 is provided with a first fixed hole and a second fixed hole which are arranged at intervals in the insertion direction of the rotating shaft 43. The first fixed end 432 extends out of the rotating shaft mounting hole of the reduction box 412 and is inserted in the first fixed hole, and the second fixed end 434 extends out of the rotating shaft mounting hole of the reduction box 412 and is inserted in the second fixed hole. In the insertion direction of the rotating shaft 43, the first fixed end 432 is located in front of the second fixed end 434, and there is a shaft withdrawal gap between the first fixed end 432 and the cavity wall of the accommodating cavity 2141.

[0061] In this way, the first fixed end 432 and the second fixed end 434 of the rotating shaft 43 are respectively matched with the main housing 20 , and the driving wheel unit 41 is sleeved between the first fixed end 432 and the second fixed end 434 of the rotating shaft 43 , thereby swinging around the rotating shaft 43 .

[0062] Furthermore, in order to fix the rotating shaft 43 relative to the main housing 20 without rotation and axial movement, the first fixed end 432 is interference fit with the first fixed hole, and / or the second fixed end 434 is interference fit with the second fixed hole.

[0063] Specifically, in some embodiments, the outer wall of the second fixed end 434 extends smoothly along the circumferential direction, and the outer diameter of the second fixed end 434 is not greater than the inner diameter of the first fixing hole and greater than the inner diameter of the second fixing hole. The side wall of the second fixed end 434 is provided with a matching protrusion 4341, and a plurality of matching protrusions 4341 are arranged at intervals along the circumferential direction, and each matching protrusion 4341 extends straight along the axial direction.

[0064] In this way, the second fixing hole can easily pass through the first fixing hole and form an interference fit with the second fixing hole, and the second fixing end 434 forms a reliable interference fit with the second fixing hole by means of the matching protrusion 4341. When disassembling the rotating shaft 43, the disassembly tool extends into the shaft withdrawal gap to apply a force to the rotating shaft 43 that is away from the insertion direction, so that the first fixing end 432 extends out of the first fixing hole and the second fixing end 434 extends out of the second fixing hole, thereby eliminating the interference fit state between the rotating shaft 43 and the main housing 20, and thus achieving easy disassembly of the rotating shaft 43.

[0065] Please review Figure 1 In some embodiments, the driving wheel assembly 40 further includes an elastic member 45 (e.g., a spring), one end of the elastic member 45 is connected to a side of the reduction box 412 away from the lower housing 21 and located at an end of the reduction box 412 where the driving motor 416 is provided, and the other end of the elastic member 43 is connected to the driving housing 24. The elastic member 43 is used to apply a force to the reduction box 412 away from the upper housing 22 so that the driving wheel 414 has a certain grounding force to maintain sufficient contact with the surface of the object.

[0066] The above-mentioned cleaning device 100, while integrating the outer shell of the driving wheel assembly 40 with the lower shell 21 to facilitate the installation of the driving wheel assembly 40, can easily disassemble the rotating shaft 43 by setting the shaft withdrawal gap. Therefore, the driving wheel assembly 40 can be quickly removed, thereby realizing the rapid installation and disassembly of the driving wheel assembly 40, improving the assembly efficiency of the cleaning device 100 and the maintainability of the cleaning device 100.

[0067] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cleaning device, characterized in that: The cleaning equipment comprises: A main housing (20) comprises a lower housing body (212) and a driving wheel housing (214), wherein the lower housing body (212) and the driving wheel housing (214) are integrally formed, and the driving wheel housing (214) defines a receiving cavity (2141); and The driving wheel assembly (40) comprises: a rotating shaft (43), the rotating shaft (43) being inserted into the main housing (20) along an axial direction and received in the accommodating cavity (2141), the rotating shaft (43) comprising a first fixed end (432) and a second fixed end (434) arranged opposite to each other in the axial direction, the first fixed end (432) and the second fixed end (434) being respectively matched with the main housing (20), and in the insertion direction of the rotating shaft (43), the first fixed end (432) is located in front of the second fixed end (434); and a driving wheel unit (41), connected to the rotating shaft (43) and at least partially accommodated in the accommodating cavity (2141), wherein the driving wheel unit (41) is capable of rotating around the rotating shaft (43); The main shell (20) is provided with a first fixing hole and a second fixing hole, the first fixing hole and the second fixing hole are spaced apart in the insertion direction of the rotating shaft (43), the first fixing end (432) is inserted into the first fixing hole, the second fixing end (434) is inserted into the second fixing hole, and there is a shaft withdrawal gap between the end surface of the first fixing end (432) and the cavity wall of the accommodating cavity (2141).

2. The cleaning device according to claim 1, characterized in that The main housing comprises a lower housing (21) and an upper housing (23) which are buckled with each other, and the lower housing (21) comprises the lower housing body (212) and the driving wheel housing (214).

3. The cleaning device according to claim 1, characterized in that: The driving wheel unit (41) comprises: A reduction gearbox (412) having an output end and an output end; a driving wheel (414), mounted on the reduction box (412) and connected to the output end of the reduction box (412); and a driving motor (416) mounted on the reduction box (412) and connected to an output end of the reduction box (412); the driving motor (416) drives the driving wheel (414) to rotate with the aid of the reduction box (412) so as to move the cleaning device; The reduction box (412) is provided with a rotating shaft mounting hole, the rotating shaft (43) is passed through the rotating shaft mounting hole, and both ends of the rotating shaft (43) in the axial direction extend out of the rotating shaft mounting hole and are limited to the main housing (20).

4. The cleaning device according to claim 1, characterized in that The dimension of the shaft withdrawal clearance in the axial direction is 2 mm to 6 mm.

5. The cleaning device according to claim 1, characterized in that: The first fixing end (432) is in interference fit with the first fixing hole, and / or the second fixing end (434) is in interference fit with the second fixing hole.

6. The cleaning device according to claim 5, characterized in that A matching protrusion (4341) is provided on the side wall of the second fixing end (434), and the second fixing end (434) is interference-fitted with the second fixing hole by means of the matching protrusion (4341).

7. The cleaning device according to claim 6, characterized in that The rotating shaft (43) also includes a circumferential direction surrounding the axial direction, and a plurality of the matching protrusions (4341) are arranged at intervals along the circumferential direction, and each of the matching protrusions (4341) extends linearly along the axial direction.

8. The cleaning device according to claim 7, characterized in that The outer wall of the second fixing end (434) extends smoothly along the circumferential direction, and the outer diameter of the second fixing end (434) is not greater than the inner diameter of the first fixing hole.

9. The cleaning device according to any one of claims 1 to 8, characterized in that: The cleaning device is a sweeping robot, a mopping robot or a sweeping and mopping robot.

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