Cleaning device

Abstract

The invention discloses a cleaning device. The cleaning equipment comprises a main machine and a first cleaning mechanism, the first cleaning mechanism comprises a first power part, a first cleaning part and a first stopping part, and the first power part is connected with the first cleaning part; the first cleaning part is provided with a first position expanding outwards to protrude out of the outermost edge of the main machine and a second position retracting inwards to be close to the inner side of the main machine; the first stopping part is arranged on the first power part, and the first stopping part is configured to make contact with an obstacle when the first cleaning part is located at the first position so as to prevent the mop assembly from making hard contact with the obstacle; the first backstop part drives the first cleaning mechanism to swing under the counter-acting force applied by the obstacle so as to drive the first cleaning part to move in the direction close to the second position. According to the cleaning equipment, the problems that obstacles such as wall surfaces and furniture are easily abraded when the mop of the cleaning equipment is expanded outwards, and the edges of the obstacles such as the wall surfaces and the furniture are inconvenient to clean can be solved.

Description

Technical Field

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

[0002] In the related art, cleaning equipment such as sweeping robots can automatically perform sweeping, mopping, vacuuming and other operations to reduce the cleaning burden of users. In order to improve the cleanliness of blind spots such as walls, obstacles, and right angles, sweeping robots have a mop that can swing outward and expand outward to protrude from the edge of the body. When the mop expands outward, it can clean blind spots.

[0003] At present, cleaning equipment mainly uses vision / navigation algorithms to control the power expansion mechanism, such as controlling the pull-wire motor, linear motor and other components, to achieve the recovery of the expanded mop near obstacles such as walls and furniture. In this structure, the mop holder is easy to scratch the wall, furniture and other obstacles when it hits the wall, furniture and other obstacles, and it is not convenient to clean the edges of obstacles such as walls and furniture. Summary of the invention

[0004] The main purpose of the present application is to provide a cleaning device to solve the problem that the mop bracket of the cleaning device in the prior art is easy to scratch the wall and furniture when it is expanded outward, and it is not convenient to clean the edges of obstacles such as walls and furniture.

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

[0006] Host;

[0007] A first cleaning mechanism, the first cleaning mechanism comprising a first power component, a first cleaning component and a first stop component, the first power component being connected to the first cleaning component to drive the first cleaning component to rotate along a first direction and a second direction opposite to the first direction, the first cleaning component having a first position extending outward to an outermost edge protruding in a predetermined direction of the main unit and a second position retracted inward to be close to an inner side of the main unit;

[0008] The first stop component is disposed on the first power component, and the first stop component is configured to contact an obstacle when the first cleaning component is in the first position to prevent the first cleaning component from making hard contact with the obstacle; the first stop component is driven by the reaction force exerted by the obstacle to swing the first cleaning mechanism to drive the first cleaning component to move toward the direction close to the second position.

[0009] Further, within the projection of the main machine in the height direction, the first stopping member at least partially protrudes from the outer edge of the first cleaning member so as to contact an obstacle when the first cleaning member is in the first position.

[0010] Furthermore, the first cleaning component comprises:

[0011] a mop bracket, the mop bracket being connected to the first power component and being driven by the first power component to rotate in the first direction and the second direction;

[0012] The first stopping component comprises a stopping plate, and within the projection of the main machine in the height direction, the stopping plate at least partially protrudes from the outer edge of the mop bracket.

[0013] Furthermore, the first cleaning component also includes a flexible mop, which is arranged on the bottom surface of the mop bracket. In the projection in the height direction of the main machine, the flexible mop protrudes from the outer edge of the mop bracket, and the stop plate is located on the inner side of the flexible mop.

[0014] Furthermore, in the projection in the height direction of the host:

[0015] The maximum width D of the stopper protruding from the outer edge of the mop bracket satisfies the relationship: 0<D≤5mm; and / or,

[0016] The maximum width L of the flexible mop protruding from the outer edge of the stop plate satisfies the relationship: s0≤L≤5mm.

[0017] Furthermore, the stop plate includes a circular plate, an arc plate or a fan-shaped plate.

[0018] Further, the mop bracket includes a circular bracket, and within the projection in the height direction of the main machine, the stop plate has an arc portion protruding from the outer edge of the circular bracket, the arc portion extends along the outer circumference of the circular bracket, and the minimum central angle of the arc portion is A, A is the angle between the first radius line and the second radius line, wherein,

[0019] The first radius line is a line connecting the center of the circular bracket and the first tangent point, the first tangent point being the tangent point when the circular bracket is expanded outward to be tangent to the first tangent line of the outermost edge in the predetermined direction of the host, and the first tangent line is parallel to the moving direction of the host;

[0020] The second radius line is a line connecting the center of the circular bracket and the second tangent point, the second tangent point is the tangent point between the circular bracket and the second tangent when the circular bracket expands to the extreme position, and the second tangent is a tangent that passes through the point of the circular bracket that is farthest from the host in a predetermined direction and is parallel to the first tangent.

[0021] Furthermore, a rotating part and an elastic member are provided on the main unit, and the first driving mechanism is rotatably connected to the main unit through the rotating part to drive the first cleaning member to switch between the first position and the second position, and the elastic member is retracted and extended along the rotation direction of the rotating part, and the two ends of the elastic member are respectively connected to the main unit and the first cleaning member.

[0022] Furthermore, the host is provided with an arc-shaped groove, the center of which coincides with the rotation center of the rotating part, and the elastic member is provided in the arc-shaped groove and can be extended and retracted along the extension direction of the arc-shaped groove.

[0023] Furthermore, the first power component comprises:

[0024] A first driving member, the first driving member is rotatably mounted on the main machine through the rotating part, the first driving member has a rotating shaft, and the rotating shaft is coaxially arranged with the rotating part;

[0025] The first transmission assembly is connected between the first driving member and the first cleaning component. The rotation of the shaft drives the first transmission assembly to drive the first cleaning component to rotate along the first direction and the second direction. The first stop component is arranged on the first transmission assembly.

[0026] Furthermore, the cleaning device further comprises a second cleaning mechanism, the second cleaning mechanism comprising a second power component and a second cleaning component, the second power component being disposed on the main unit and connected to the second cleaning component to drive the second cleaning component to rotate along the first direction and the second direction;

[0027] The cleaning device is configured such that: when the first cleaning member rotates along the first direction, the second cleaning member rotates along the second direction; when the first cleaning member rotates along the second direction, the second cleaning member rotates along the first direction.

[0028] Further, the cleaning device is configured as follows: when the first cleaning component is subjected to a torque along the second direction while rotating along the first direction, the first cleaning mechanism is swung along the second direction relative to the main unit to drive the first cleaning component to be in the first position; when the first cleaning component is subjected to a torque along the first direction while rotating along the second direction, the first cleaning mechanism is swung along the first direction relative to the main unit to drive the first cleaning component to be in the second position.

[0029] In the present application, by setting a first stop member, when the first cleaning member expands outward to the outermost edge protruding from the predetermined direction of the main unit to clean the edge of obstacles such as walls and furniture, if the first cleaning member is relatively close to the obstacle, the first stop member can contact the obstacle, thereby avoiding the first cleaning member from making hard contact with the obstacle and thus not scratching the obstacle. At the same time, the first stop member is subjected to the force exerted by the obstacle, which can cause the entire first cleaning mechanism to swing, so as to drive the first cleaning member to move inward in a direction close to the second position. It can be seen that the cleaning device in the present application is not only convenient for cleaning the edge of the obstacle, but also not easy to scratch the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative application and the description of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0031] Figure 1 A three-dimensional structural diagram of a cleaning device disclosed in an embodiment of the present application;

[0032] Figure 2 for Figure 1 A top view of a cleaning device in which the first cleaning component is in a second position;

[0033] Figure 3 for Figure 1 A top view of a first cleaning component of a cleaning device in a first position;

[0034] Figure 4 for Figure 1 A three-dimensional structural diagram of the cleaning device in which part of the structure is removed and the first cleaning component is in the first position;

[0035] Figure 5 for Figure 4 Exploded diagram of

[0036] Figure 6 A three-dimensional structural diagram of another cleaning device disclosed in an embodiment of the present application;

[0037] Figure 7 for Figure 6 A top view of a cleaning device in which the first cleaning component and the second cleaning component are both in a second position;

[0038] Figure 8 for Figure 6 A top view of a first cleaning component of a cleaning device in a first position;

[0039] Fig. 9 for Figure 6A three-dimensional structural diagram of the cleaning equipment in another viewing angle;

[0040] Fig.10 for Figure 6 A first exploded view of the cleaning device in FIG.

[0041] Fig.11 It is a schematic diagram of the first cleaning component of the cleaning device disclosed in the embodiment of the present application when it is expanded from a position to an extreme position;

[0042] Fig.12 A structural diagram of a first cleaning mechanism or a partial structure of a second cleaning mechanism of a cleaning device disclosed in an embodiment of the present application;

[0043] Fig.13 A cross-sectional view of a first cleaning mechanism or a second cleaning mechanism of a cleaning device disclosed in an embodiment of the present application;

[0044] Fig.14 It is a three-dimensional structural diagram of the second abutting member of the cleaning device disclosed in the non-applicable embodiment;

[0045] Fig.15 This is a force analysis diagram when the cleaning device disclosed in the embodiment of the present application is not provided with a first stop member and collides with an obstacle;

[0046] Fig.16 The cleaning device disclosed in the embodiment of the present application is provided with a first stop component and is a force analysis diagram when colliding with an obstacle.

[0047] The above drawings include the following reference numerals:

[0048] 100, cleaning device; 10, main machine; 11, rotating part; 12, elastic member; 13, arc-shaped groove; 20, first cleaning mechanism; 21, first power component; 211, first driving member; 212, first transmission assembly; 22, first cleaning member; 221, mop bracket; 222, flexible mop; 23, first stop member; 231, stop plate; 23101, arc part; 30, second cleaning mechanism; 31, second power component; 311, second driving member; 312, second transmission assembly; 32, second cleaning member; 2311, reduction box; 23111, output shaft; 23112, support block; 2312, first abutment; 2313, second abutment; 23131, track surface; 23131a, first area; 23131b, second area; 23131c, third area; 23131d, connection area; 23132, limiting structure; 2314, elastic element; 40, middle sweeping mechanism; 50, moving wheel group; X, first radius line; Y, second radius line; B1, first tangent point; B2, second tangent point; R1, first tangent line; R2, second tangent line; O, center of circular bracket. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0052] As described in the background technology, when the mop of the existing cleaning equipment hits obstacles such as walls and furniture, it is easy to scratch the walls and furniture, and it is not convenient to clean the edges of obstacles such as walls and furniture. To this end, the present application provides a new cleaning equipment, when the mop and other cleaning parts of the cleaning equipment touch obstacles such as walls and furniture, it is not easy to scratch the walls and furniture, and it is also convenient to clean the edges of obstacles such as walls and furniture. The cleaning equipment of the present application will be introduced in conjunction with the accompanying drawings.

[0053] See also Figures 1 to 10 As shown, the embodiment of the present application provides a cleaning device 100, which includes but is not limited to a sweeping robot (including one or more cleaning mechanisms), a floor scrubber (a robot with a mopping function but not a sweeping function), a sweeping and mopping machine, a floor scrubber (such as a handheld floor scrubber, a non-handheld floor scrubber), or a base station having the above-mentioned sweeping robot, floor scrubber, sweeping and mopping machine, and floor scrubber. The cleaning device 100 includes a host 10 and a first cleaning mechanism 20.

[0054] The first cleaning mechanism 20 includes a first power component 21, a first cleaning component 22 and a first stop component 23. The first power component 21 is connected to the first cleaning component 22 to drive the first cleaning component 22 to rotate in a first direction and a second direction opposite to the first direction. The first cleaning component 22 has a first position (such as a first position) that is expanded outward to protrude from the outer edge of the main unit 10. Figure 3 , Figure 8 ) and retracted to a second position close to the inner side of the host 10 (as shown Figure 1 , Figure 2 , Figure 6 as well as Figure 7 As shown). It can be understood that when the first cleaning component 22 is in the second position, the first cleaning component 22 may partially extend beyond the outer edge of the host 10, or may be completely located inside the host 10 and not protrude from the outer edge of the host 10 at all; when the first cleaning component 22 is in the first position, the area of ​​the first cleaning component 22 protruding from the outer edge of the host 10 is greater than the area of ​​the first cleaning component 22 protruding from the outer edge of the host 10 when the first cleaning component 22 is in the second position. In some embodiments of the present application, when the first cleaning component 22 is in the first position, it is preferred that the first cleaning component 22 protrudes from the outermost edge of the host 10 in a predetermined direction (a direction perpendicular to the moving direction of the host 10), so that when the host 10 moves, it is more suitable to drive the first cleaning component 22 to clean the edges of obstacles such as walls and furniture.

[0055] When the cleaning device 100 in the present application is working, the cleaning device 100 is configured as follows: when the first cleaning component 22 is subjected to a torque in the second direction while rotating in the first direction, the first cleaning mechanism 20 is swung relative to the host 10 in the second direction to drive the first cleaning component 22 to be in the first position. Specifically, when the first power component 21 drives the first cleaning component 22 to rotate in the first direction, when the first cleaning component 22 contacts the cleaned surface such as the ground or a table, a torque is generated, and the torque can cause the entire first cleaning mechanism 20 to swing relative to the host 10 in the second direction opposite to the first direction to drive the first cleaning component 22 to protrude from the outer edge of the host 10 and be in the first position. At this time, the first cleaning component 22 can avoid the mutual interference between the host 10 and obstacles such as furniture or walls and contact the edge of the wall or furniture to perform edge cleaning.

[0056] The cleaning device is also configured to: when the first cleaning component 22 is subjected to a torque in the first direction while rotating in the second direction, the first cleaning mechanism 20 is swung relative to the main unit 10 in the first direction to drive the first cleaning component 22 to be in the second position. Specifically, when the first power component 21 drives the first cleaning component 22 to rotate in the second direction, when the first cleaning component 22 contacts the cleaned surface such as the ground or a table, a torque is generated, and the torque can cause the entire first cleaning mechanism 20 to swing relative to the main unit 10 in the first direction opposite to the second direction to drive the first cleaning component 22 to be retracted to the inner side close to the main unit 10 and be in the second position, at which time, it is convenient to retract and release the cleaning device 100.

[0057] It is understandable that the first direction in the present application can be clockwise or counterclockwise. When the first direction is clockwise, the second direction is counterclockwise; when the first direction is counterclockwise, the second direction is clockwise. In addition, the torque in the present application can be the friction torque applied by the ground or table to the first cleaning component when the first cleaning component 22 rubs against the ground or table, or the torque generated by the reaction force of other objects on the first cleaning component 22 when the centrifugal force of the first cleaning component 22 itself rotates and acts on other objects, or the torque applied by other friction mechanisms to the first cleaning component 22 when the first cleaning component 22 contacts other friction mechanisms, etc.

[0058] Further, the first stopper 23 is provided on the first power component 21, and the first stopper 23 is configured to contact the obstacle when the first cleaning component 22 is in the first position, so as to prevent the first cleaning component 22 from making hard contact with the obstacle. It is understandable that the hard contact between the first cleaning component 22 and the obstacle mentioned here refers to the situation that there is no hard object in the first cleaning component 22 or other structures with hard supports disposed inside directly contacting the obstacle.

[0059] The first stopper 23 is subjected to the reaction force exerted by the obstacle to drive the first cleaning mechanism 20 to swing (specifically swing relative to the main body 10), so as to drive the first cleaning member 22 to move in the direction close to the second position. It is understandable that the obstacles described in this application include but are not limited to indoor walls, coffee tables, chairs, beds, refrigerators and other furniture, as well as other objects placed in the space.

[0060] The present application sets a first stopper 23. When the first cleaning member 22 expands to the outermost edge protruding from the predetermined direction of the host 10 to clean the edge of obstacles such as walls and furniture, if the first cleaning member 22 is close to the obstacle, the first stopper 23 is used to contact the obstacle to prevent the first cleaning member 22 from hard contact with the obstacle. In this way, the rotating first cleaning member 22 will not scratch the obstacle. At the same time, the first stopper 23 is subjected to the reaction force applied by the obstacle, which can make the entire first cleaning mechanism 20 swing and drive the first cleaning member 22 to move in the direction close to the second position to achieve inward retraction. Thereafter, when the force applied by the obstacle to the first stopper 23 disappears, the first power member 21 continues to drive the first cleaning member 22 to rotate in the first direction, and the first cleaning member 22 contacts the ground to generate a friction torque, which can drive the first cleaning member 22 to switch to the first position to clean the edge of the obstacle.

[0061] It can be seen that the cleaning device 100 in the present application is not only convenient for cleaning the edges of obstacles, but also not easy to scratch the obstacles.

[0062] See also Fig.15 and Fig.16 As shown, the first cleaning component 22 rotates in a clockwise direction, wherein f is the friction force between the first cleaning component 22 and the ground, F 1 is the contact force generated when the obstacle contacts the first cleaning member 22 or the first stopping member 23, F 2 is the friction force exerted by the obstacle on the first stopper 23 or the first cleaning member 22. The torques exerted by the above forces on the first cleaning mechanism 20 are M f =f*L3、M F1 =F 1 *L2, M F2 =F 1 *L1. It is defined that if the resultant force moment of the first cleaning mechanism 20 is greater than 0, the first cleaning mechanism 20 rotates counterclockwise; if the moment is less than 0, the first cleaning mechanism 20 rotates clockwise. The resultant force moment of the first cleaning mechanism 20 is M f +M F1 +M F2 .

[0063] exist Fig.15 In the analysis of the force, it can be judged that: M f +M F1 +M F2 >0, that is, when the first stopper 23 is not provided, when the first cleaning member 22 contacts an obstacle, the resultant torque of the first cleaning mechanism 20 is positive, the first cleaning mechanism 20 rotates counterclockwise, and always shows an outward expansion trend, and the first cleaning mechanism 20 cannot be recovered when impacting. Fig.16 In the analysis of the force, it can be judged that: M f +M F1 +M F2 <0, that is to say, when the first stopping component 23 is provided in the present embodiment, when the first cleaning component 22 contacts with an obstacle, the resultant force torque of the first cleaning mechanism 20 is negative, and the first cleaning mechanism 20 rotates in a clockwise direction. The contact force between the first stopping component 23 and the obstacle generates a torque on the rotation center of the entire first cleaning mechanism 20's outward expansion movement, which causes the component to retract, so that the entire first cleaning mechanism 20 can achieve flexible outward expansion.

[0064] like Figures 2 to 5 , Figure 8 as well as Fig.13 As shown, in the projection in the height direction of the main machine 10, the first stopper 23 at least partially protrudes from the outer edge of the first cleaning member 22 for contacting with obstacles, thereby preventing the first cleaning member 22 from hard contacting with obstacles. That is to say, in the present application, by connecting the first stopper 23 to the first power member 21, and making the first stopper 23 protrude from the outer edge of the first cleaning member 22 at least partially in the projection in the height direction of the main machine 10, the first cleaning member 22 can be made to contact with obstacles when it expands to the first position, thereby preventing the first cleaning member 22 from hard contacting with obstacles, and preventing the first cleaning member 22 from scratching obstacles when rotating. The structure is simple and easy to implement.

[0065] In some embodiments of the present application, the first cleaning component 22 includes but is not limited to a mop assembly, a roller assembly, a side sweep assembly, etc. In the present application, the first cleaning component 22 is introduced as a mop assembly. Specifically, the first cleaning component 22 includes a mop bracket 221 and a flexible mop 222. Among them, the mop bracket 221 is connected to the first power component 21 and rotates in the first direction or the second direction under the drive of the first power component 21; the flexible mop 222 is arranged on the bottom surface of the mop bracket 221. The first stopper component 23 includes a stopper plate 231. In the projection of the height direction of the host 10, the stopper plate 231 at least partially protrudes from the outer edge of the mop bracket 221. In this way, when the first cleaning component 22 expands to the first position, the stopper plate 231 can contact the obstacle before the hard mop bracket 221 on the first cleaning component 22, so as to avoid the hard mop bracket 221 from scratching the obstacle during the rotation of the cleaning operation.

[0066] Optionally, in the projection of the height direction of the host 10, the flexible mop 222 protrudes from the outer edge of the mop bracket 221, and the stop plate 231 is located on the inner side of the flexible mop 222. In this way, when the stop plate 231 contacts the obstacle, the flexible mop 222 can also contact the obstacle. At this time, if the mop bracket 221 drives the flexible mop 222 to rotate, the flexible mop 222 can effectively clean the edge of the obstacle. It can be seen that during the cleaning operation performed by the cleaning device 100 in the present application, not only can the edge of the obstacle be cleaned, but also the obstacle will not be scratched.

[0067] In order to facilitate processing and assembly, the stop plate 231 in the present application can be arranged on the second transmission assembly 212 of the first power component 21 by means of snap connection, screw connection, welding, magnetic attraction, integral molding, etc., and is specifically arranged on the shell or surface of the second transmission assembly 212, which is not specifically limited in the present application. In addition, in other embodiments of the present application, the first stop component 23 can also be a stop block, a stop column, etc., as long as it is other deformation methods under the conception of the present application, they are all within the protection scope of the present application.

[0068] Furthermore, if Fig.13 As shown, in the projection of the height direction of the host 10: the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 satisfies the relationship: 0<D≤5mm, and for example, the value of D can be 1mm, 2mm, 3mm, 4mm or 5mm. When the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 is less than or equal to 0, the stop plate 231 cannot contact the obstacle before the mop bracket 221; when the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 is greater than 5mm, the mop bracket 221 cannot support the flexible mop 222 well, and it is not convenient to effectively clean the edge of the obstacle. It can be seen that in the present application, by making the maximum width D of the stop plate 231 protruding from the outer edge of the mop bracket 221 satisfy the relationship 0<D≤5mm, it can not only prevent the hard mop bracket 221 from scratching the obstacle, but also facilitate the support of the flexible mop 222, so as to effectively clean the edge of the obstacle.

[0069] Optionally, the maximum width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 in the present application satisfies the relationship 0≤L≤5mm. For example, the value of L can be 0mm, 1mm, 2mm, 3mm, 4mm or 5mm, etc. When the maximum width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 is less than 0, the flexible mop 222 cannot contact the obstacle, and it is not convenient to clean the edge of the obstacle; when the maximum width of the flexible mop 222 protruding from the outer edge of the stop plate 231 is greater than 5mm, during the operation of the cleaning device 100, the flexible mop 222 is easy to get hooked with objects in the space, and it is not convenient to stably install the flexible mop 222 on the mop bracket 221, and the cleaning device 100 is easy to get stuck when it is working. It can be seen that in the present application, by making the maximum spacing width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 satisfy the relationship 0≤L≤5mm, it is not only convenient to clean the edge of the obstacle, but also convenient to stably install the flexible mop 222 on the mop bracket 221, preventing the flexible mop 222 from getting hooked on the obstacle or other objects in the space, which can improve the operating stability and reliability of the cleaning device 100.

[0070] It should be noted that the maximum width L of the flexible mop 222 protruding from the outer edge of the stop plate 231 described in the present application is the maximum width when the cleaning device 100 is in a natural state. The cleaning device 100 in a natural state refers to a state where the cleaning device 100 is placed on a horizontal ground, the flexible mop 222 is in contact with the ground, and the flexible mop 222 is not subjected to a squeeze force.

[0071] During actual assembly, the flexible mop 222 in the present application is detachably mounted on the bottom of the mop bracket 221 by Velcro, and such arrangement facilitates the removal of the flexible mop 222 for cleaning or replacement. Of course, in other embodiments of the present application, the flexible mop 222 can also be detachably mounted on the mop bracket 221 by fasteners such as buckles, magnets, screws, etc., and any other deformation methods based on the concept of the present application are within the protection scope of the present application.

[0072] Combination Figures 1 to 10 As shown, the stop plate 231 in the present application includes a circular plate, an arc plate or a sector plate. The drawings of the present application show the situation when the stop plate 231 is a sector plate. In the present application, the stop plate 231 is set as a sector plate, which can reduce the occupied space of the stop plate 231 in the cleaning device 100 to a certain extent, facilitate avoiding other parts on the cleaning device 100, and then facilitate the lightweight and miniaturized design of the cleaning device 100, and can also reduce the material cost of the cleaning device 100.

[0073] See also Figures 10 to 12As shown, the mop bracket 221 in the present application includes a circular bracket. In the projection of the height direction of the host 10, the stop plate 231 has an arc portion 23101 protruding from the circular bracket. The arc portion 23101 extends along the outer circumference of the circular bracket. In actual design, the minimum center angle of the arc portion 23101 is A, and A is the angle between the first radius line X and the second radius line Y. Among them, the first radius line X is the line between the center O of the circular bracket and the first tangent point B1, and the first tangent point B1 is the tangent point formed when the circular bracket expands outward to the first tangent R1 of the outermost edge of the predetermined direction of the host 10, and the first tangent R1 is parallel to the moving direction of the host 10; the second radius line Y is the line between the center O of the circular bracket and the second tangent point B2, and the second tangent point B2 is the tangent point between the circular bracket and the second tangent R2 when the circular bracket expands outward to the extreme position, and the second tangent R2 is the tangent line that passes through the circular bracket at the point farthest from the host 10 in the predetermined direction and is parallel to the first tangent R1. It is understandable that the extreme position described in the present application refers to the position where the circular bracket expands outward to the farthest distance from the outermost edge of the main unit 10 in a predetermined direction.

[0074] In the present application, the minimum center angle of the arc portion 23101 is set to A, and A is set to be the angle between the first radius line X and the second radius line Y. In this way, when the cleaning device 100 moves, when the first cleaning component 22 is in the process of expanding to the outer edge of the main body 10, the first stop component 23 can contact the obstacle before the mop bracket 221, and the obstacle will not hit the mop bracket 221. In addition, when designing the stop plate 231, it is only necessary to ensure that the stop plate 231 has an arc portion 23101 protruding from the mop bracket 221, and the center angle corresponding to the arc portion 23101 is greater than or equal to A. The size of the stop plate 231 can be optimized, and then the first stop component 23 with the smallest size can be reasonably designed while satisfying the first stop component 23 contacting the obstacle before the mop bracket 221, so that the first stop component 23 can effectively avoid other parts on the cleaning device 100.

[0075] Combination Figures 1 to 5As shown, a rotating part 11 and an elastic member 12 are provided on the main unit 10, and the first cleaning mechanism 20 is rotatably connected to the main unit 10 through the rotating part 11 to drive the first cleaning member 22 to switch between the first position and the second position, and the elastic member 12 is retracted along the rotation direction of the rotating part 11, and the two ends of the elastic member 12 are respectively connected to the first cleaning mechanism 20 and the main unit 10. Exemplarily, the elastic member 12 in the present application can be a spring, an elastic rubber strip, etc. Through the action of the elastic member 12, in the process of the obstacle applying a force to the first cleaning mechanism 20, the elastic member 12 can maintain the current position of the first cleaning mechanism 20, and is more suitable for making the flexible mop 222 on the first cleaning member 22 continue to contact the edge of the obstacle to perform the cleaning operation. In other words, the setting of the elastic member 12 can make the flexible mop 222 of the first cleaning member 22 close to the obstacle for edge cleaning, and facilitate the first cleaning member 22 to achieve flexible recovery.

[0076] like Figure 5 As shown, in order to limit and guide the elastic member 12, the host 10 in the present application is provided with an arc-shaped groove 13, the center of which coincides with the rotation center of the rotating part 11, and the elastic member 12 is installed in the arc-shaped groove 13 and can be extended and retracted along the extension direction of the arc-shaped groove 13. Optionally, the two ends of the elastic member 12 in the present application can be fixed to the host 10 and the first cleaning mechanism 20 respectively by hooks, buckles, welding, etc., and other deformation methods under the conception of the present application are within the protection scope of the present application.

[0077] Furthermore, the first power component 21 in the present application includes a first driving member 211 and a first transmission assembly 212. The first driving member 211 is rotatably mounted on the main unit 10 through the rotating portion 11, and the first driving member 211 has a rotating shaft, which is coaxially arranged with the rotating portion 11; the first transmission assembly 212 is connected between the first driving member 211 and the first cleaning member 22, and the rotation of the rotating shaft drives the first transmission assembly 212 to drive the first cleaning member 22 to rotate in the first direction or the second direction. Specifically, the first driving member 211 in the present application includes a motor, and the rotating shaft of the motor is coaxially arranged with the rotating portion 11. In this way, the space occupied by the first power component 21 when it swings relative to the main unit 10 can be optimized, which is more suitable for rationally arranging the parts on the cleaning device 100.

[0078] Exemplarily, the rotating part 11 in the present application includes structures such as a rotating shaft. During actual installation, a bearing is installed on the first driving member 211, that is, the outer casing of the motor, and the bearing is fixed on the rotating shaft. As long as it is other deformation methods based on the conception of the present application, they are within the protection scope of the present application.

[0079] In some embodiments of the present application, the cleaning device 100 may be provided with only one cleaning mechanism, namely, the first cleaning mechanism 20 (as shown in FIG. Figure 5 In some other embodiments of the present application, the cleaning device 100 may also be provided with a plurality of cleaning mechanisms, such as Figures 6 to 10 As shown, the cleaning device 100 includes two cleaning mechanisms. For the convenience of driving, the cleaning mechanisms are respectively identified as a first cleaning mechanism 20 and a second cleaning mechanism 30. When the cleaning device 100 has two cleaning mechanisms, the cleaning device 100 is configured as follows: when the first cleaning member 22 of the first cleaning mechanism 20 rotates in the first direction and is subjected to a torque in the second direction, the first cleaning member 22 of the first cleaning mechanism 20 swings to the first position relative to the host 10 in the second direction and the second cleaning member 32 of the second cleaning mechanism 30 rotates in the second direction; when the first cleaning member 22 of the first cleaning mechanism 20 rotates in the second direction and is subjected to a torque in the first direction, the first cleaning member 22 of the first cleaning mechanism 20 swings to the second position relative to the host 10 in the first direction and the second cleaning member 32 of the second cleaning mechanism 30 rotates in the first direction. That is, when the first cleaning member 22 rotates in the first direction, the second cleaning member 32 rotates in the second direction; when the first cleaning member 22 rotates in the second direction, the second cleaning member 32 rotates in the first direction.

[0080] Combination Figures 6 to 10 , Figure 12 to Figure 14 As shown, in the cleaning device 100, when the first cleaning mechanism 20 is subjected to friction torques in different directions (for example, when the first cleaning mechanism 20 contacts the ground during rotation, the first cleaning mechanism 20 is subjected to the friction torque of the ground reaction), the first cleaning mechanism 20 can swing relative to the main unit 10, thereby realizing the deflection of the first cleaning mechanism 20. At the same time, the second cleaning mechanism 30 rotates in the opposite direction to the first cleaning mechanism 20, and the friction forces exerted on the second cleaning mechanism 30 and the first cleaning mechanism 20 can offset each other, thereby ensuring the stability of the cleaning device 100 during operation.

[0081] When the cleaning device 100 has both the first cleaning mechanism 20 and the second cleaning mechanism 30, at least one of the first cleaning mechanism 20 and the second cleaning mechanism 30 can swing relative to the host 10. Fig.10 , it is shown that the first cleaning mechanism 20 can swing relative to the main body 10, while the second cleaning mechanism 30 cannot swing relative to the main body 10. Of course, in other embodiments of the present application, the second cleaning mechanism 30 can also swing relative to the main body 10. When the first cleaning mechanism 20 and the second cleaning mechanism 30 can both swing relative to the main body 10, the structures of the first cleaning mechanism 20 and the second cleaning mechanism 30 are consistent, but the rotation directions of the first cleaning component 22 and the second cleaning component 32 are opposite.

[0082] In this application, the second cleaning mechanism 30 is described in detail in the case that it cannot swing relative to the main machine 10. In this embodiment, the second power component 31 of the second cleaning mechanism 30 is fixedly mounted on the main machine 10, and the second power component 31 has a second driving member 311 and a second transmission assembly 312. Among them, the second driving member 311 is a driving motor, and the second transmission assembly 312 and the first transmission assembly 212 both include a reduction box 2311, a first abutting member 2312, a second abutting member 2313 and an elastic element 2314, wherein the first abutting member 2312 is connected to the reduction box 2311 and the second abutting member 2313, and the second abutting member 2313 is connected to the first cleaning member 22 or the second cleaning member 32, and the second abutting member 2313 is provided with a track surface 23131, and the first abutting member 2312 is movably abutted on the track surface 23131, and the elastic element 2314 abuts on the second abutting member 2313 to apply a reset force to the second abutting member 2313.

[0083] Among them, the reduction box 2311 is configured to drive the first supporting member 2312 to rotate along the first direction and the second direction under the drive of the first driving member 211 or the second driving member 311 so that the first supporting member 2312 moves on the track surface 23131, so that the first cleaning component 22 is lifted and lowered along the height direction of the main machine 10 and rotates along the first direction and the second direction.

[0084] In the initial state, the first cleaning component 22 and the second cleaning component 32 are at a relatively high position of the main machine 10, that is, the first cleaning component 22 and the second cleaning component 32 are separated from the ground or the table and are in a position off the ground. When the reduction box 2311 drives the first abutting member 2312 to rotate along the first direction, the first abutting member 2312 abuts on the track surface 23131 and rotates along the track surface 23131. The track surface 23131 in the present application is a convex arc surface. When the first abutting member 2312 moves from a low position to a high position along the track surface 23131, the first abutting member 2312 applies a resisting force to the second abutting member 2313, so that the second abutting member 2313 moves in a direction away from the first abutting member 2312, that is, moves in a direction close to the ground along the height direction of the main machine 10, and then drives the first cleaning component 22 or the second cleaning component 32 connected to the second abutting member 2313 to move in a direction close to the ground. The second abutment 2313 in the present application is provided with a limiting structure 23132. When the first cleaning component 22 and the second cleaning component 32 are in contact with the ground, the reduction box 2311 continuously drives the first abutment 2312 to move along the height direction of the host 10. At this time, the side of the first abutment 2312 is in contact with the limiting structure 23132. The second abutment 2313 can be driven by the first abutment 2312 to rotate along the first direction to clean the ground. In this process, the first cleaning mechanism 20 is subjected to the friction torque applied by the ground, and can swing relative to the host 10 in the second direction to drive the first cleaning component 22 to switch to the first position to clean the obstacles along the edge. Since the second driving member 311 of the second cleaning mechanism 30 is fixed, the second cleaning component 32 remains in the same position relative to the host 10 and performs the cleaning operation in situ. It should be noted that the rotation direction of the reduction box 2311 in the second cleaning mechanism 30 is always opposite to the rotation direction of the reduction box 2311 in the first cleaning mechanism 20, so as to ensure that the cleaning device 100 can run smoothly.

[0085] When the reduction box 2311 drives the first supporting member 2312 to rotate in a second direction opposite to the first direction, the first supporting member 2312 disengages from the limiting structure 23132, and the first supporting member 2312 rotates from the highest position of the track surface 23131 to the lowest position of the moving track surface 23131. During this process, the elastic element 2314 applies a reset force to the second supporting member 2313, that is, applies a supporting force away from the ground along the height direction of the main unit 10. At this time, the second supporting member 2313 rises in a direction away from the ground, thereby driving the first cleaning component 22 and the second cleaning component 32 to rise and leave the ground.

[0086] It can be seen that the first cleaning component 22 and the second cleaning component 32 in the present application can be raised and lowered, which is beneficial to protecting the ground and can reduce the difficulty of the cleaning device 100 to overcome obstacles.

[0087] Specifically, along the height direction of the host 10, the first abutment 2312 can be connected below the reduction box 2311. The first abutment 2312 can be U-shaped, and the first abutment 2312 is fixedly mounted on the reduction box 2311 or the output shaft 23111 of the motor. At this time, the output shaft 23111 of the motor or the reduction box 2311 extends along the height direction of the host 10. The second abutment 2313 is cylindrical, and the second abutment 2313 is sleeved on the output shaft 23111 and can be lifted and lowered relative to the output shaft 23111. The elastic element 2314 can be a spring, an elastic sleeve or the like, and can be elastically deformed. The elastic element 2314 is sleeved on the output shaft 23111, and a support block 23112 is provided at the bottom end of the output shaft 23111. The two ends of the elastic element 2314 are respectively pressed against the second abutting member 2313 and the support block 23112. After the elastic element 2314 is compressed by the second abutting member 2313, the elastic element 2314 can restore the elastic deformation so that the elastic element 2314 is extended to push the second abutting member 2313 to move along the output shaft 23111. The first cleaning component 22 or the second cleaning component 32 is fixedly connected to the lower side of the second abutting member 2313. The limiting structure 23132 is provided on the inner side wall or the outer wall surface of the second abutting member 2313.

[0088] In the present application, the track surface 23131 can be arranged on the outer peripheral surface of the second abutting member 2313, or can be arranged on the inner wall surface of the second abutting member 2313. Fig.14 The case where the track surface 23131 is arranged on the outer peripheral surface of the second abutting member 2313 is shown in the figure. The limiting structure 23132 is arranged on the track surface 23131 and is located at the topmost position of the track surface 23131. The limiting structure 23132 in the present application can be a convex block structure, which has two convex blocks, which are respectively arranged on the opposite sides of the second abutting member 2313. In actual operation, the two ends of the U-shaped first abutting member 2312 respectively abut on the track surface 23131 between the two limiting structures 23132 and slide along the track surface 23131 to drive the second abutting member 2313 to rise and fall along the first direction. When the two ends of the U-shaped first abutting member 2312 are respectively stopped on the two limiting structures 23132, the second abutting member 2313 rises and falls to the limit position along the first direction.

[0089] In certain embodiments, see Figure 12 to Figure 14As shown, the track surface 23131 includes a first area 23131a, a second area 23131b, a third area 23131c and a connecting area 23131d. In the circumferential direction of the second retaining member 2313, the first area 23131a, the second area 23131b and the third area 23131c are connected in sequence, and the second area 23131b is lower than the first area 23131a and the third area 23131c. Two adjacent areas can be connected by the connecting area 23131d, and the first retaining member 2312 can be moved from one area to another through the connecting area 23131d. When the first abutting member 2312 abuts against the first area 23131a or the third area 23131c, the first cleaning member 22 or the second cleaning member 32 is in a cleaning position against the ground, and when the first abutting member 2312 abuts against the second area 23131b, the first cleaning member 22 or the second cleaning member 32 is in a ground-lifting position away from the ground. In this way, the first cleaning member 22 or the second cleaning member 32 is switched between the ground-lifting position and the cleaning position through the three areas of the track surface 23131.

[0090] Combination Figures 1 to 14 As shown, the cleaning device 100 in the present application also includes a middle sweeping mechanism 40 and a moving wheel group 50, wherein the middle sweeping mechanism 40 is arranged at the bottom center of the main unit 10, and the moving wheel group 50 is arranged at the bottom of the main unit 10. The moving wheel group 50 is driven by a driving mechanism such as a motor. During actual operation, by controlling the driving mechanism such as a motor, the main unit 10 can be driven to move in the space. In this process, by acting on the first power component 21 and the second power component 31, the first cleaning component 22 and the second cleaning component 32 can be driven to rise and fall and rotate to clean the ground or the table top. At the same time, the friction torque generated during the rotation of the first cleaning component 22 by the first power component 21 can drive the first cleaning component 22 to expand outward to clean the edge of the obstacle. In addition, when the first cleaning mechanism 20 rotates relative to the host 10, the first stopper 23 can move synchronously with the first cleaning mechanism 20. When the first cleaning member 22 approaches an obstacle, the first stopper 23 can contact the obstacle in the space, which can prevent the first cleaning member 22 from scratching the obstacle during edge cleaning, and facilitate cleaning the edge of the obstacle to avoid missed sweeps, etc. In addition, when the first cleaning member 22 contacts the obstacle, a reaction force can be applied to the first cleaning mechanism 20 so that the first cleaning mechanism 20 drives the first cleaning member 22 to retract and move toward the second position, so that the first cleaning mechanism 20 can be flexibly retracted, and the first cleaning mechanism 20 can be retracted without adding additional detection mechanisms and control logic. The structure is simple, and the comfort and design cost of the cleaning device 100 can be effectively improved.

[0091] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0092] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0093] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cleaning device, characterized in that: include: Host (10); a first cleaning mechanism (20), the first cleaning mechanism (20) comprising a first power component (21), a first cleaning component (22) and a first stop component (23), the first power component (21) being connected to the first cleaning component (22) to drive the first cleaning component (22) to rotate along a first direction and a second direction opposite to the first direction, the first cleaning component (22) having a first position where it is expanded outward to protrude from the outer edge of the main machine (10) and a second position where it is retracted inward to be close to the inner side of the main machine (10); The first stop component (23) is arranged on the first power component (21), and the first stop component (23) is configured to contact an obstacle when the first cleaning component (22) is in the first position, so as to prevent the first cleaning component (22) from making hard contact with the obstacle; the first stop component (23) is driven by the reaction force exerted by the obstacle to swing the first cleaning mechanism (20), so as to drive the first cleaning component (22) to move in a direction close to the second position.

2. The cleaning device according to claim 1, characterized in that In the projection of the main machine (10) in the height direction, the first stop member (23) at least partially protrudes from the outer edge of the first cleaning member (22) so as to contact an obstacle when the first cleaning member (22) is in the first position.

3. The cleaning device according to claim 2, characterized in that: The first cleaning component (22) comprises: a mop bracket (221), the mop bracket (221) being connected to the first power component (21) and being driven by the first power component (21) to rotate in the first direction and the second direction; The first stop component (23) comprises a stop plate (231), and within the projection of the main machine (10) in the height direction, the stop plate (231) at least partially protrudes from the outer edge of the mop bracket (221).

4. The cleaning device according to claim 3, characterized in that: The first cleaning component (22) further comprises a flexible mop (222), wherein the flexible mop (222) is arranged on the bottom surface of the mop bracket (221), and within the projection in the height direction of the main machine (10), the flexible mop (222) protrudes from the outer edge of the mop bracket (221), and the stop plate (231) is located on the inner side of the flexible mop (222).

5. The cleaning device according to claim 4, characterized in that In the projection of the host (10) in the height direction: The maximum width D of the stop plate (231) protruding from the outer edge of the mop bracket (221) satisfies the relationship: 0<D≤5mm; and / or, The maximum width L of the flexible mop (222) protruding from the outer edge of the stop plate (231) satisfies the relationship: s0≤L≤5mm.

6. The cleaning device according to claim 3, characterized in that: The stop plate (231) comprises a circular plate, an arc plate or a sector plate.

7. The cleaning device according to claim 3, characterized in that: The mop bracket (221) comprises a circular bracket, and within the projection of the main machine (10) in the height direction, the stop plate (231) has an arc portion (23101) protruding from the outer edge of the circular bracket, the arc portion (23101) extends along the outer circumference of the circular bracket, and the minimum center angle of the arc portion (23101) is A, and A is the angle between the first radius line (X) and the second radius line (Y), wherein: The first radius line (X) is a line connecting the center (O) of the circular bracket and the first tangent point (B1), the first tangent point (B1) being the tangent point when the circular bracket is expanded outward to be tangent to the first tangent line (R1) of the outermost edge in a predetermined direction of the host (10), and the first tangent line (R1) is parallel to the moving direction of the host (10); The second radius line (Y) is a line connecting the center (O) of the circular bracket and the second tangent point (B2); the second tangent point (B2) is a tangent point between the circular bracket and the second tangent line (R2) when the circular bracket is expanded to an extreme position; the second tangent line (R2) is a tangent line that passes through the point of the circular bracket that is farthest from the main machine (10) in a predetermined direction and is parallel to the first tangent line (R1).

8. The cleaning device according to any one of claims 1 to 7, characterized in that The main machine (10) is provided with a rotating part (11) and an elastic member (12); the first cleaning mechanism (20) is rotatably connected to the main machine (10) via the rotating part (11) to drive the first cleaning member (22) to switch between the first position and the second position; the elastic member (12) is retracted along the rotation direction of the rotating part (11); and two ends of the elastic member (12) are respectively connected to the main machine (10) and the first cleaning member (22).

9. The cleaning device according to claim 8, characterized in that The main machine (10) is provided with an arc-shaped groove (13), the center of which coincides with the rotation center of the rotating part (11), and the elastic member (12) is arranged in the arc-shaped groove (13) and can be extended and retracted along the extension direction of the arc-shaped groove (13).

10. The cleaning device according to claim 8, characterized in that The first power component (21) comprises: a first driving member (211), the first driving member (211) being rotatably mounted on the main machine (10) via the rotating portion (11), the first driving member (211) having a rotating shaft, the rotating shaft being coaxially arranged with the rotating portion (11); A first transmission component (212), wherein the first transmission component (212) is connected between the first driving member (211) and the first cleaning member (22), wherein the rotation of the rotating shaft drives the first transmission component (212) to drive the first cleaning member (22) to rotate along the first direction and the second direction, and the first stop member (23) is arranged on the first transmission component (212).

11. The cleaning device according to any one of claims 1 to 7, characterized in that The cleaning device further comprises a second cleaning mechanism (30), the second cleaning mechanism (30) comprising a second power component (31) and a second cleaning component (32), the second power component (31) being arranged on the main machine (10) and connected to the second cleaning component (32) to drive the second cleaning component (32) to rotate along the first direction and the second direction; The cleaning device is configured such that when the first cleaning component (22) rotates along the first direction, the second cleaning component (32) rotates along the second direction; when the first cleaning component (22) rotates along the second direction, the second cleaning component (32) rotates along the first direction.

12. The cleaning device according to any one of claims 1 to 7, characterized in that The cleaning device is configured such that: when the first cleaning component (22) is subjected to a torque along the second direction while rotating along the first direction, the first cleaning mechanism (20) is swung relative to the main machine (10) along the second direction to drive the first cleaning component (22) to be in the first position; and when the first cleaning component (22) is subjected to a torque along the first direction while rotating along the second direction, the first cleaning mechanism (20) is swung relative to the main machine (10) along the first direction to drive the first cleaning component (22) to be in the second position.

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