Cleaning device

Abstract

The invention discloses a cleaning device. The cleaning equipment comprises a shell and a deflection mechanism. The deflection mechanism is rotatably connected with the shell and comprises a driving assembly and a cleaning assembly, the driving assembly is connected with the cleaning assembly, the driving assembly is configured to drive the cleaning assembly to rotate in the first direction and the second direction, and the first direction is opposite to the second direction; the cleaning equipment is configured to enable the deflection mechanism to swing to the first position relative to the shell in the second direction when the cleaning assembly rotates in the first direction and bears friction torque in the second direction, and enable the deflection mechanism to swing to the second position relative to the shell when the cleaning assembly rotates in the second direction and bears friction torque in the first direction. And the deflection mechanism swings to a second position relative to the shell in the first direction. According to the cleaning equipment, the cleaning assembly and the deflection mechanism can be driven through the driving assembly, an additional power actuator does not need to be added, the complexity and cost are reduced, and reliability and maintainability are improved.

Description

Technical Field

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

[0002] As a new type of cleaning appliance, sweeping robots are becoming more and more popular among users. In scenes such as near walls, there is a phenomenon that the sweeping and mopping are not in place, leaving a certain gap. In related technologies, a mechanism with a separate power actuator is added to the sweeping robot to drive the mop closer to the wall, so as to achieve edge cleaning of the sweeping robot. However, the use of an additional set of power actuators increases the complexity of the system on the one hand, and on the other hand, it also brings about the problem of increased cost and reduced reliability and maintainability. Summary of the invention

[0003] The embodiment of the present invention provides a cleaning device to solve at least one of the above-mentioned technical problems.

[0004] A cleaning device provided in an embodiment of the present invention includes a housing and a deflection mechanism;

[0005] The deflection mechanism is rotatably connected to the housing, and the deflection mechanism includes a driving assembly and a cleaning assembly, wherein the driving assembly is connected to the cleaning assembly, and the driving assembly is configured to drive the cleaning assembly to rotate in a first direction and in a second direction, wherein the first direction is opposite to the second direction;

[0006] The cleaning device is configured such that when the cleaning component is subjected to a friction torque along the second direction when rotating along the first direction, the yaw mechanism is swung to a first position relative to the shell along the second direction; and when the cleaning component is subjected to a friction torque along the first direction when rotating along the second direction, the yaw mechanism is swung to a second position relative to the shell along the first direction.

[0007] In the above-mentioned cleaning equipment, the driving component can drive the cleaning component to rotate in a first direction and in a second direction. When the cleaning component rotates, when the cleaning component is subjected to friction torques in different directions (for example, when the cleaning component contacts the ground when rotating, the cleaning component will be subjected to the friction torque of the reaction of the ground), the yaw mechanism can swing relative to the shell, and then the driving component can be used to drive the cleaning component and the yaw mechanism without adding additional power actuators, thereby reducing complexity, cost, and improving reliability and maintainability.

[0008] In some embodiments, the driving component includes a driving member and a transmission component, the transmission component includes a first abutment member and a second abutment member, the first abutment member is connected to the driving member and the second abutment member, the second abutment member is connected to the cleaning component, the second abutment member is provided with a track surface, the first abutment member can movably abut on the track surface, and the driving member is configured to drive the first abutment member to rotate so that the first abutment member moves on the track surface, so that the cleaning component is lifted and lowered relative to the shell.

[0009] In some embodiments, the track surface is respectively provided with a first limit portion and a second limit portion. When the first supporting member abuts against the first limit portion, the first limit portion is configured to limit the end point of the movement of the first supporting member on the track surface along the first direction. When the first supporting member abuts against the second limit portion, the second limit portion is configured to limit the end point of the movement of the first supporting member on the track surface along the second direction.

[0010] In some embodiments, the track surface includes a first area, a second area, and a third area. Along the first direction, the first area, the second area, and the third area are connected in sequence. When the first abutment member abuts against the first area or the third area, the cleaning component is located in a cleaning position for abutting against the ground, and when the first abutment member abuts against the second area, the cleaning component is located in a ground-lift position for leaving the ground.

[0011] In some embodiments, the deflection mechanism is configured as:

[0012] When the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the first limiting portion;

[0013] When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the first limiting portion and the second limiting portion;

[0014] When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion;

[0015] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion.

[0016] In some embodiments, the cleaning device is configured as:

[0017] When the first abutting member is in the third area, the cleaning assembly is in the cleaning position and the deflection mechanism is in the first position, and the driving member is configured to drive the cleaning assembly to rotate along the first direction through the first limiting portion;

[0018] When the driving member drives the first abutting member to move from the third area to the second area along the second direction, the cleaning assembly rises from the cleaning position to the ground-lifting position; when the driving member drives the first abutting member to move from the second area to the first area along the second direction, the cleaning assembly descends from the ground-lifting position to the cleaning position, the deflection mechanism is swung from the first position to the second position by the friction torque along the first direction, and the driving member is configured to drive the cleaning assembly to rotate along the second direction through the second limiting portion;

[0019] When the first abutting member is in the first area, the cleaning assembly is in the cleaning position and the deflection mechanism is in the second position, and the driving member is configured to drive the cleaning assembly to rotate along the second direction through the second limiting portion;

[0020] When the driving member drives the first supporting member to move from the first area to the second area along the first direction, the cleaning component rises from the cleaning position to the off-ground position; when the driving member drives the first supporting member to move from the second area to the third area along the first direction, the cleaning component descends from the off-ground position to the cleaning position, and the deflection mechanism swings from the second position to the first position due to the friction torque along the second direction, and the driving member is configured to drive the cleaning component to rotate along the first direction through the first limiting portion.

[0021] In some embodiments, the deflection mechanism is configured as:

[0022] In the process that the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the driving member first drives the first abutting member to rotate along the second direction by a first rotation angle, and then drives the first abutting member to perform at least one reverse rotation action;

[0023] In the process of the driving member driving the first resisting member to rotate from the first area to the second area along the first direction, the driving member first drives the first resisting member to rotate along the first direction by the first rotation angle, and then drives the first resisting member to perform at least one reverse rotation action;

[0024] Wherein, the rotation angle of the reverse rotation action is a second rotation angle, and the first rotation angle is greater than the second rotation angle.

[0025] In some embodiments, the rotation angle of the driving member corresponding to the first rotation angle is [85 degrees, 95 degrees].

[0026] In some embodiments, the track surface includes a first connection area and a second connection area, the first connection area connects the third area and the second area, and the second connection area connects the second area and the first area;

[0027] The first connection area includes a first sub-area and a second sub-area, and along the second direction, the third area is connected to the second area via the second sub-area and the first sub-area in sequence, the second sub-area includes a plurality of first connection segments connected in sequence end to end, and the slope of the first sub-area is greater than the slope of at least one of the plurality of first connection segments;

[0028] The second connection area includes a third sub-area and a fourth sub-area. Along the first direction, the first area is connected to the second area through the fourth sub-area and the third sub-area in sequence. The fourth sub-area includes a plurality of second connection segments connected end to end in sequence. The slope of the third sub-area is greater than the slope of at least one of the plurality of second connection segments.

[0029] In some embodiments, the deflection mechanism includes a reset member;

[0030] When the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the restoring member is compressed by the second resisting member;

[0031] When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second abutting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position;

[0032] When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member;

[0033] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the restoring member recovers its length and drives the second resisting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position.

[0034] In some embodiments, the deflection mechanism includes a third limiting portion, and the second abutting member is provided with a fourth limiting portion;

[0035] When the cleaning assembly is located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the cleaning assembly;

[0036] When the cleaning component is located at the off-ground position, the third limiting portion abuts against the fourth limiting portion in the circumferential direction of the cleaning component.

[0037] In some embodiments, the swing stroke of the deflection mechanism includes a first active stage from the first position to a critical position, and a second active stage from the critical position to the second position. The cleaning device includes a deflection actuator, and the deflection actuator is configured to drive the deflection mechanism to swing from the critical position to the first position in the first active stage, and to drive the deflection mechanism to swing from the critical position to the second position in the second active stage.

[0038] In some embodiments, the deflection actuator includes an elastic member, one end of the elastic member is connected to the shell, the other end of the elastic member is connected to the deflection mechanism, the elastic member is connected to the shell to form a first connection point, the first connection point and the swing center of the deflection mechanism are located on the perpendicular bisector of a first connecting line, and the first connecting line is a connecting line between the rotation center of the cleaning component when the deflection mechanism is in the first position and the rotation center of the cleaning component when the deflection mechanism is in the second position.

[0039] In some embodiments, the deflection action member includes a first magnetic member and a second magnetic member, and a first magnetically absorbable member is provided on the deflection mechanism. In the first activity stage, the force of the first magnetic member on the first magnetically absorbable member causes the deflection mechanism to swing from the critical position to the first position. In the second activity stage, the force of the second magnetic member on the first magnetically absorbable member causes the deflection mechanism to swing from the critical position to the second position.

[0040] In some embodiments, the deflection action member includes a second magnetically absorbable member and a third magnetically absorbable member, and the deflection mechanism is provided with a third magnetic member. In the first activity stage, the force of the second magnetically absorbable member on the third magnetic member causes the deflection mechanism to swing from the critical position to the first position. In the second activity stage, the force of the third magnetically absorbable member on the third magnetic member causes the deflection mechanism to swing from the critical position to the second position.

[0041] In some embodiments, the cleaning device includes two deflection mechanisms and a connecting rod mechanism, wherein the connecting rod mechanism connects the two deflection mechanisms, and the connecting rod mechanism is configured to drive the other deflection mechanism to swing in the same direction when one of the deflection mechanisms swings.

[0042] In some embodiments, the cleaning device includes two of the deflection mechanisms, and the two swing centers of the two deflection mechanisms are separated on both sides of a second connecting line, and the second connecting line is a connecting line between the rotation center of the cleaning component of one of the deflection mechanisms and the rotation center of the cleaning component of the other deflection mechanism.

[0043] In some embodiments, the cleaning device includes a limiting structure, and the limiting structure is configured to limit the swing stroke of the deflection mechanism along the first direction and to limit the swing stroke of the deflection mechanism along the second direction.

[0044] In some embodiments, the shell includes a base plate, the base plate is provided with a through hole, the deflection mechanism passes through the through hole, the limiting structure includes a first hole wall portion and a second hole wall portion of the through hole, when the deflection mechanism abuts against the first hole wall portion, the deflection mechanism is located in a first position, and when the deflection mechanism abuts against the second hole wall portion, the deflection mechanism is located in a second position.

[0045] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0047] Figure 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;

[0048] Figure 2 yes Figure 1 An enlarged schematic diagram of part B of the cleaning device;

[0049] Figure 3 yes Figure 1 A schematic cross-sectional view of the cleaning equipment along line AA;

[0050] Figure 4 yes Figure 3 An enlarged schematic diagram of part C of the cleaning device in FIG.

[0051] Figures 5 to 7 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;

[0052] Figure 8 yes Figure 7 An enlarged schematic diagram of part D of the cleaning device in FIG.

[0053] Figures 9 to 12 is a schematic structural diagram of a second abutting member according to an embodiment of the present invention;

[0054] Fig.13 is a schematic structural diagram of a drive assembly according to an embodiment of the present invention;

[0055] Fig.14 is a schematic structural diagram of the abutment between the third limiting portion and the fourth limiting portion according to an embodiment of the present invention;

[0056] Fig.15 is a schematic diagram of the position of the swing of the cleaning component according to an embodiment of the present invention;

[0057] Figures 16 to 18 is a schematic diagram of the swinging process of the cleaning component according to an embodiment of the present invention;

[0058] Figures 19 to 22 is a schematic diagram of the positional relationship between the magnetic member and the magnetically absorbable member according to an embodiment of the present invention;

[0059] Figure 23 to Figure 26 is a schematic diagram of the deflection of the cleaning component according to an embodiment of the present invention;

[0060] Fig. 27 is a schematic diagram of the development of the ring portion of an embodiment of the present invention;

[0061] Fig.28 is a schematic diagram of a trajectory of the first abutting member rotating from the third area to the second area in an embodiment of the present invention;

[0062] Fig.29 It is another schematic diagram of the trajectory of the first resisting member rotating from the third area to the second area according to an embodiment of the present invention.

[0063] Description of main component symbols:

[0064] 100. cleaning device; 12. housing; 14. deflection mechanism; 15. limiting structure; 16. bottom plate;

[0065] 18. driving assembly; 20. cleaning assembly; 22. through hole; 24. driving member; 26. transmission assembly; 28. first connecting portion; 30. second connecting portion; 32. connecting hole; 34. second hole wall portion; 36. first abutting member; 38. second abutting member;

[0066] 40. track surface; 42. ring portion; 44. push rod; 46. gear set; 48. first limiting portion; 50. second limiting portion;

[0067] 52, first area; 54, second area; 56, third area; 60, reset member; 62, accommodating cavity; 64, mounting portion;

[0068] 66, end cover; 68, fixing member; 70, rotating shaft; 72, positioning portion; 74, third limiting portion; 76, fourth limiting portion;

[0069] 78, sleeve; 80, deflection member; 82, elastic member; 84, first magnetic member; 86, second magnetic member;

[0070] 88, first magnetically absorbable component; 90, second magnetically absorbable component; 92, third magnetically absorbable component; 94, third magnetic component;

[0071] 96. connecting rod mechanism; 98. first connecting region; 102. second connecting region; 104. first sub-region;

[0072] 106, second sub-region; 108, first connecting section; 110, third sub-region; 112, fourth sub-region;

[0073] 114. Second connecting section. DETAILED DESCRIPTION

[0074] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0075] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0076] 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 technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0077] 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" 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, rather than indicating or implying 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.

[0078] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0079] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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 directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] See also Figures 1 to 8 A cleaning device 100 according to an embodiment of the present invention includes a housing 12 and a deflection mechanism 14 .

[0081] The yaw mechanism 14 is rotatably connected to the housing 12 and includes a driving assembly 18 and a cleaning assembly 20. The driving assembly 18 is connected to the cleaning assembly 20 and is configured to drive the cleaning assembly 20 to rotate in a first direction and a second direction, wherein the first direction is opposite to the second direction.

[0082] The cleaning device 100 is configured such that when the cleaning component 20 is subjected to a friction torque along the second direction while rotating in the first direction, the yaw mechanism 14 is swung to a first position relative to the shell 12 along the second direction; and when the cleaning component 20 is subjected to a friction torque along the first direction while rotating in the second direction, the yaw mechanism 14 is swung to a second position relative to the shell 12 along the first direction.

[0083] In the above-mentioned cleaning device 100, the driving component 18 can drive the cleaning component 20 to rotate in the first direction and in the second direction. When the cleaning component 20 rotates, when the cleaning component 20 is subjected to friction torques in different directions (for example, when the cleaning component 20 contacts the ground during rotation, the cleaning component 20 will be subjected to the friction torque of the reaction of the ground), the yaw mechanism 14 can swing relative to the shell 12, and then the driving component 18 can be used to drive the cleaning component 20 and the yaw mechanism 14 without adding additional power actuators, thereby reducing complexity, cost, and improving reliability and maintainability.

[0084] Specifically, the cleaning device 100 includes, but is not limited to, a sweeping robot, a sweeping machine, a sweeping and mopping machine, a floor scrubber (a robot with a mopping function but not a sweeping function), a double-turntable sweeping machine, a floor scrubber (such as a handheld floor scrubber and a non-handheld floor scrubber), etc. Optionally, in one embodiment, the housing 12 includes a base plate 16, and the deflection mechanism 14 is rotatably connected to the base plate 16, and the base plate 16 provides a mounting platform for the deflection mechanism 14. The cleaning robot includes a body and a mop, and the mop is mounted at the bottom of the body. When the mop of this embodiment rotates, its rotation axis is substantially perpendicular to the bottom of the body. Optionally, in other embodiments, the deflection mechanism 14 can also be rotatably connected to other mounting structures on the housing 12, not limited to the base plate 16, and is not specifically limited here.

[0085] Optionally, the housing 12 includes a mounting plate 16, the mounting plate 16 is provided with a through hole 22, the driving assembly 18 includes a driving member 24 and a transmission assembly 26, the transmission assembly 26 can connect the driving member 24 and the cleaning assembly 20, and the driving member 24 can drive the cleaning assembly 20 to rotate in the first direction and the second direction through the transmission assembly 26. The transmission assembly 26 can be penetrated by the through hole 22, the driving member 24 can be located in the housing 12, and the cleaning assembly 20 can be located outside the housing 12. The cleaning assembly 20 can be detachably connected to the transmission assembly 26. In one embodiment, the cleaning assembly 20 includes a first connecting portion 28, and the transmission assembly 26 includes a second connecting portion 30, the first connecting portion 28 is non-cylindrical (such as a polyhedral prism), and the second connecting portion 30 is provided with a connecting hole 32, and the shape of the connecting hole 32 matches the shape of the first connecting portion 28. The first connecting portion 28 is located in the connecting hole 32. The driving member 24 can drive the second connecting portion 30 to rotate, and when the second connecting portion 30 rotates, it can drive the first connecting portion 28 to rotate, thereby driving the cleaning assembly 20 to rotate. The detachable connection method between the cleaning component 20 and the transmission component 26 includes, but is not limited to, bolts, magnets, snaps, etc., which are not specifically limited here.

[0086] The yaw mechanism 14 is rotatably connected to the bottom plate 16, and the rotational connection between the yaw mechanism 14 and the bottom plate 16 can form the swing center C of the yaw mechanism 14. When the driving assembly 18 drives the cleaning assembly 20 to rotate, before the cleaning assembly 20 contacts the ground or other fixed objects, the cleaning assembly 20 is not subjected to the friction torque. When the cleaning assembly 20 contacts the ground or other fixed objects, the rotating cleaning assembly 20 will be subjected to the friction torque applied by the ground or other fixed objects to the cleaning assembly 20, and the direction of the friction torque is opposite to the rotation direction of the cleaning assembly 20.

[0087] When the yaw mechanism 14 is in the second position, the driving assembly 18 drives the cleaning assembly 20 to rotate in the first direction, and when the cleaning assembly 20 is subjected to the friction torque in the second direction, the yaw mechanism 14 is swung from the second position to the first position. When the yaw mechanism 14 is in the first position, the driving assembly 18 drives the cleaning assembly 20 to rotate in the second direction, and when the cleaning assembly 20 is subjected to the friction torque in the first direction, the yaw mechanism 14 is swung from the first position to the second position.

[0088] Optionally, the first direction R1 may be a clockwise direction, or a forward rotation direction of the driving member 24. The second direction R2 may be a counterclockwise direction, or a reverse rotation direction of the driving member 24, such as Fig. 9 and Fig.10 The first position may be the outward swing position of the cleaning assembly 20, such as Figure 1 and Figure 5As shown, the cleaning assembly 20 is in a swaying state. The second position may be a retracted position of the cleaning assembly 20, and the cleaning assembly 20 is in an original state. It is understood that the description of the first direction, the second direction, the first position, and the second position of the present invention is not limited to the above description. The driving member 24 may include a driving member 24 such as a motor and a cylinder. The cleaning assembly 20 may be a mop assembly.

[0089] Optionally, the first direction R1 may be a counterclockwise direction, or a reverse direction of the driving member 24. The second direction R2 may be a clockwise direction, or a forward direction of the driving member 24, such as Fig.11 and Fig.12 shown.

[0090] In certain embodiments, see Figure 4 The transmission assembly 26 includes a first abutment 36 and a second abutment 38. The first abutment 36 is connected to the driving member 24 and the second abutment 38. The second abutment 38 is connected to the cleaning assembly 20. The second abutment 38 is provided with a track surface 40. The first abutment 36 can be movably abutted on the track surface 40. The driving member 24 is configured to drive the first abutment 36 to rotate so that the first abutment 36 moves on the track surface 40, so that the cleaning assembly 20 is lifted or lowered relative to the shell 12.

[0091] In this way, the driving member 24 can drive the cleaning assembly 20 to rise and fall relative to the housing 12 through the structure of the transmission assembly 26 .

[0092] Specifically, in some application scenarios, such as carpet cleaning, obstacle crossing, backwashing, and air drying, the cleaning device 100 may not need to perform mopping operations. If the cleaning component 20 is still in the cleaning position, the cleaning component 20 will be close to the ground. When the cleaning component 20 is close to the ground, the movement of the cleaning device 100 will cause a certain movement resistance of the cleaning device 100. Moreover, when the cleaning device 100 crosses an obstacle, the cleaning component 20 close to the ground will also increase the difficulty of crossing the obstacle.

[0093] Therefore, the cooperation between the first abutment 36 and the second abutment 38 can make the cleaning assembly 20 rise and fall relative to the housing 12. When the cleaning assembly 20 does not need to be attached to the ground, the cleaning assembly 20 can be raised, and when the cleaning assembly 20 needs to be attached to the ground, the cleaning assembly 20 can be lowered. In other words, the cleaning assembly 20 can be located in a cleaning position for abutting the ground and in a ground-lift position for detaching from the ground.

[0094] Optionally, in Fig. 9In the figure, the second abutting member 38 includes a ring portion 42, and the top surface of the ring portion 42 is provided with two track surfaces 40. The first abutting member 36 includes two push rods 44, and each push rod 44 is located above a corresponding track surface 40, and the two push rods 44 abut against the two track surfaces 40, respectively. The track surface 40 has high and low areas. When the push rod 44 abuts against the high area, the cleaning component 20 can be located in a cleaning position, and when the push rod 44 abuts against the low area, the cleaning component 20 can be located in a position off the ground. It can be understood that if the push rod 44 and the track surface 40 interchange the upper and lower positions, when the push rod 44 abuts against the high area, the cleaning component 20 can be located in a position off the ground, and when the push rod 44 abuts against the low area, the cleaning component 20 can be located in a cleaning position. It should be noted that the present invention does not specifically limit the number and relative position relationship of the track surfaces 40 and the push rods 44. Fig. 9 In the embodiment, the first abutting member 36 moves on the track surface 40 by sliding. It is understood that in other embodiments, a roller can be added to the end of the push rod 44, the roller contacts the track surface 40, and the first abutting member 36 moves on the track surface 40 by rolling. It is understood that the number of track surfaces 40 is not limited to two, and can also be one, or more than two, and the present invention does not specifically limit this. Optionally, the push rod 44 and the first abutting member 36 can be connected to form an integral structure, or can be detachably connected.

[0095] Optionally, the transmission assembly 26 includes a gear set 46, which includes at least one gear. The gear set 46 connects the driving member 24 and the first abutting member 36. The gear set 46 transmits the power of the driving member 24 to the first abutting member 36, so that the driving member 24 can drive the first abutting member 36 to move to different areas on the track surface 40, thereby adjusting the height of the cleaning assembly 20. The gear set 46 can be a reduction gear set.

[0096] In some embodiments, a first limit portion 48 and a second limit portion 50 are respectively provided on the track surface 40. When the first abutting member 36 abuts against the first limit portion 48, the first limit portion 48 is configured to limit the end point of the movement stroke of the first abutting member 36 on the track surface 40 along the first direction. When the first abutting member 36 abuts against the second limit portion 50, the second limit portion 50 is configured to limit the end point of the movement stroke of the first abutting member 36 on the track surface 40 along the second direction.

[0097] In this way, through the two limiting portions, when the first abutting member 36 abuts against the limiting portions, the first abutting member 36 stops moving on the track surface 40 .

[0098] Specifically, when the first abutting member 36 abuts against the first limiting portion 48, the first limiting portion 48 is configured to limit the end point of the movement of the first abutting member 36 along the first direction on the track surface 40. At this time, the first abutting member 36 cannot move relative to the second abutting member 38 along the first direction. If the driving member 24 continues to drive the first abutting member 36 to rotate along the first direction, the first abutting member 36 drives the second abutting member 38 to rotate along the first direction through the first limiting portion 48, and then drives the cleaning assembly 20 to rotate along the first direction.

[0099] When the first abutting member 36 abuts against the second limiting portion 50, the second limiting portion 50 is configured to limit the end point of the movement of the first abutting member 36 along the second direction on the track surface 40. At this time, the first abutting member 36 cannot move relative to the second abutting member 38 along the second direction. If the driving member 24 continues to drive the first abutting member 36 to rotate along the second direction, the first abutting member 36 drives the second abutting member 38 to rotate along the second direction through the second limiting portion 50, and then drives the cleaning assembly 20 to rotate along the second direction.

[0100] Therefore, when the first abutting member 36 has not yet abutted against the first limiting portion 48 or the second limiting portion 50, the first abutting member 36 can be moved to different areas on the track surface 40 when rotating, so as to realize the lifting and lowering of the cleaning assembly 20. When the first abutting member 36 abuts against the first limiting portion 48 or the second limiting portion 50, the first abutting member 36 can be rotated again to drive the second abutting member 38 to rotate, so as to realize the rotation of the cleaning assembly 20.

[0101] In certain embodiments, see Figures 9 to 12 The track surface 40 includes a first area 52, a second area 54 and a third area 56. Along the first direction, the first area 52, the second area 54 and the third area 56 are connected in sequence. When the first abutment member 36 abuts against the first area 52 or the third area 56, the cleaning component 20 is located in a cleaning position for abutting the ground. When the first abutment member 36 abuts against the second area 54, the cleaning component 20 is located in a ground-lift position for leaving the ground.

[0102] In this way, the cleaning assembly 20 is switched between the ground-lift position and the cleaning position through the three regions of the track surface 40 .

[0103] Specifically, in Fig. 9 and Fig.10 In the embodiment, the first direction R1 is a clockwise direction, and the second direction R2 is a counterclockwise direction.

[0104] Two adjacent areas can be connected via a connecting area, and the first abutting member 36 can be moved from one area to another via the connecting area. Fig.10 and Fig.12, the first area 52 and the third area 56 are located higher than the second area 54. The first abutting member 36 is located above the track surface 40. When the first abutting member 36 abuts against the first area 52 or the third area 56, the first abutting member 36 is far away from the cleaning assembly 20, and the cleaning assembly 20 is located at the cleaning position. When the first abutting member 36 abuts against the second area 54, the first abutting member 36 is close to the cleaning assembly 20, and the cleaning assembly 20 is located off the ground.

[0105] Along the first direction, the first region 52 , the second region 54 , and the third region 56 are connected in sequence, that is, along the second direction, the third region 56 , the second region 54 , and the first region 52 are connected in sequence.

[0106] When the first abutment 36 moves from the first area 52 to the second area 54 along the first direction, the cleaning assembly 20 switches from the cleaning position to the ground position. When the first abutment 36 moves from the second area 54 to the third area 56 along the first direction, the cleaning assembly 20 switches from the ground position to the cleaning position.

[0107] When the first abutment 36 moves from the third region 56 to the second region 54 along the second direction, the cleaning assembly 20 switches from the cleaning position to the ground position. When the first abutment 36 moves from the second region 54 to the first region 52 along the second direction, the cleaning assembly 20 switches from the ground position to the cleaning position.

[0108] In some embodiments, the yaw mechanism 14 is configured as:

[0109] When the driving member 24 drives the first abutting member 36 to rotate from the second area 54 to the third area 56 along the first direction, the cleaning assembly 20 descends from the off-the-ground position to the cleaning position and the first abutting member 36 abuts against the first limiting portion 48;

[0110] When the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the cleaning assembly 20 rises from the cleaning position to the ground-lifting position and the first abutting member 36 is separated from the first limiting portion 48 and the second limiting portion 50;

[0111] When the driving member 24 drives the first abutting member 36 to rotate from the second area 54 to the first area 52 along the second direction, the cleaning assembly 20 descends from the off-the-ground position to the cleaning position and the first abutting member 36 abuts against the second limiting portion 50;

[0112] When the driving member 24 drives the first resisting member 36 to rotate from the first area 52 to the second area 54 along the first direction, the cleaning assembly 20 rises from the cleaning position to the ground-lifting position and the first resisting member 36 is separated from the second limiting portion 50 and the first limiting portion 48 .

[0113] In this way, the driving member 24 can be used to drive the first resisting member 36 to rotate in a direction such that the first resisting member 36 resists against different areas of the track surface 40 , thereby controlling the lifting and lowering of the cleaning assembly 20 .

[0114] Specifically, initially, the first abutting member 36 abuts against the second region 54, and the driving member 24 has not yet driven the first abutting member 36 to rotate. At this time, the cleaning assembly 20 is located in a ground-lift position.

[0115] When the driving member 24 drives the first abutting member 36 to rotate from the second area 54 to the third area 56 along the first direction, the cleaning assembly 20 is lowered from the off-the-ground position to the cleaning position and the first abutting member 36 abuts against the first limiting portion 48. At this time, the continuous driving of the driving member 24 can make the first abutting member 36 drive the second abutting member 38 to rotate along the first direction through the first limiting portion 48, thereby driving the cleaning assembly 20 to rotate along the first direction.

[0116] When the cleaning assembly 20 rotating in the first direction contacts the ground or other fixed objects, the ground or other fixed objects generate a friction torque in the second direction on the cleaning assembly 20. If the yaw mechanism 14 is in the first position, the yaw mechanism 14 will not swing and will remain in the first position. If the yaw mechanism 14 is in the second position, the yaw mechanism 14 will swing from the second position to the first position in the second direction under the action of the friction torque in the second direction.

[0117] When the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the cleaning assembly 20 rises from the cleaning position to the ground-lifting position and the first abutting member 36 is separated from the first limiting portion 48 and the second limiting portion 50. At this time, the first abutting member 36 cannot drive the cleaning assembly 20 to rotate through the second abutting member 38, and the cleaning assembly 20 does not rotate and is located at the ground-lifting position.

[0118] When the driving member 24 drives the first abutting member 36 to rotate from the second area 54 to the first area 52 along the second direction, the cleaning assembly 20 is lowered from the off-the-ground position to the cleaning position and the first abutting member 36 abuts against the second limiting portion 50. At this time, the continuous driving of the driving member 24 can make the first abutting member 36 drive the second abutting member 38 to rotate along the second direction through the second limiting portion 50, thereby driving the cleaning assembly 20 to rotate along the second direction.

[0119] When the cleaning assembly 20 rotating in the second direction contacts the ground or other fixed objects, the ground or other fixed objects generate a friction torque in the first direction on the cleaning assembly 20. If the yaw mechanism 14 is located in the first position, the yaw mechanism 14 swings from the first position to the second position in the first direction under the action of the friction torque in the first direction. If the yaw mechanism 14 is located in the second position, the yaw mechanism 14 does not swing and remains in the second position.

[0120] When the driving member 24 drives the first abutting member 36 to rotate along the first direction from the first area 52 to the second area 54, the cleaning assembly 20 rises from the cleaning position to the ground-lifting position and the first abutting member 36 is separated from the second limiting portion 50 and the first limiting portion 48. At this time, the first abutting member 36 cannot drive the cleaning assembly 20 to rotate through the second abutting member 38, and the cleaning assembly 20 does not rotate and is located at the ground-lifting position.

[0121] It should be noted that when the first supporting member 36 rotates along the R1 direction, the first supporting member 36 moves along the R1 direction on the track surface 40. If the friction between the first supporting member 36 and the track surface 40 is too large, the first supporting member 36 may stay in a certain area on the track surface 40. When the friction between the cleaning component 20 and the ground is large enough and greater than the friction between the first supporting member 36 and the track surface 40, the cleaning component 20 may drive the first supporting member 36 to abut against the first limiting portion 48 through the second supporting member 38.

[0122] Optionally, the cleaning component 20 includes a friction member (not shown), which can increase the friction torque along the second direction received by the cleaning component 20 when it rotates along the first direction, so that the cleaning component 20 drives the first limiting portion 48 to abut against the first abutting member 36, and increase the friction torque along the first direction received by the cleaning component 20 when it rotates along the second direction, so that the cleaning component 20 drives the second limiting portion 50 to abut against the first abutting member 36.

[0123] In some embodiments, cleaning device 100 is configured to:

[0124] When the first abutting member 36 is in the third region 56 , the cleaning assembly 20 is in the cleaning position and the deflection mechanism 14 is in the first position, and the driving member 24 is configured to drive the cleaning assembly 20 to rotate along the first direction through the first limiting portion 48 ;

[0125] When the driving member 24 drives the first abutting member 36 to move from the third area 56 to the second area 54 along the second direction, the cleaning assembly 20 rises from the cleaning position to the ground-lifting position; when the driving member 24 drives the first abutting member 36 to move from the second area 54 to the first area 52 along the second direction, the cleaning assembly 20 descends from the ground-lifting position to the cleaning position, and the deflection mechanism 14 is swung from the first position to the second position by the friction torque along the first direction, and the driving member 24 is configured to drive the cleaning assembly 20 to rotate along the second direction through the second limiting portion 50;

[0126] When the first abutting member 36 is in the first area 52, the cleaning assembly 20 is in the cleaning position and the deflection mechanism 14 is in the second position, and the driving member 24 is configured to drive the cleaning assembly 20 to rotate along the second direction through the second limiting portion 50;

[0127] When the driving member 24 drives the first abutment member 36 to move from the first area 52 to the second area 54 along the first direction, the cleaning component 20 rises from the cleaning position to the ground position; when the driving member 24 drives the first abutment member 36 to move from the second area 54 to the third area 56 along the first direction, the cleaning component 20 descends from the ground position to the cleaning position, and the deflection mechanism 14 is swung from the second position to the first position by the friction torque along the second direction. The driving member 24 is configured to drive the cleaning component 20 to rotate along the first direction through the first limit portion 48.

[0128] In this way, the driving member 24 can drive the first abutting member 36 to control the rotation direction of the cleaning assembly 20 , thereby switching the deflection mechanism 14 between the first position and the second position.

[0129] Specifically, combined Fig. 9 and Fig.10 When the first abutting member 36 abuts against the third area 56, the cleaning assembly 20 is located at the cleaning position, and the deflection mechanism 14 is located at the first position. The first position may be an outward swing position, and the second position may be an inward retracted position.

[0130] When the first abutting member 36 abuts against the third area 56, the cleaning assembly 20 is located at the cleaning position, and the deflection mechanism 14 is located at the first position (eg, Figure 2 As shown). At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the first direction through the first limiting portion 48. When the driving member 24 drives the first abutting member 36 to move from the third area 56 to the second area 54 along the second direction, the cleaning assembly 20 rises from the cleaning position to the ground position, and the deflection mechanism 14 is still in the first position and has not swung yet. When the driving member 24 drives the first abutting member 36 to move from the second area 54 to the first area 52 along the second direction, the cleaning assembly 20 descends from the ground position to the cleaning position, and the deflection mechanism 14 is swung from the first position to the second position by the friction torque along the first direction. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the second direction through the second limiting portion 50, and the deflection mechanism 14 is in the second position.

[0131] When the first abutment member 36 is in the first region 52 (eg Figure 8As shown in the figure, the cleaning assembly 20 is located in the cleaning position, and the deflection mechanism 14 is located in the second position. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the second direction through the second limiting portion 50. When the driving member 24 drives the first abutting member 36 to move from the first area 52 to the second area 54 along the first direction, the cleaning assembly 20 rises from the cleaning position to the ground position. At this time, the deflection mechanism 14 is still in the second position and has not swung. When the driving member 24 drives the first abutting member 36 to move from the second area 54 to the third area 56 along the first direction, the cleaning assembly 20 descends from the ground position to the cleaning position, and the deflection mechanism 14 is swung from the second position to the first position by the friction torque along the second direction. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the first direction through the first limiting portion 48, and the deflection mechanism 14 is in the first position.

[0132] Optionally, combined Fig.11 and Fig.12 When the first abutting member 36 abuts against the third area 56 , the cleaning assembly 20 is located at the cleaning position, and the deflection mechanism 14 is located at the second position.

[0133] When the first abutment member 36 abuts against the third area 56, the cleaning assembly 20 is located in the cleaning position, and the deflection mechanism 14 is located in the second position. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate along the first direction through the first limiting portion 48. When the driving member 24 drives the first abutment member 36 to move from the third area 56 to the second area 54 along the second direction, the cleaning assembly 20 rises from the cleaning position to the ground position, and the deflection mechanism 14 is still in the second position and has not swung yet. When the driving member 24 drives the first abutment member 36 to move from the second area 54 to the first area 52 along the second direction, the cleaning assembly 20 descends from the ground position to the cleaning position, and the deflection mechanism 14 is subjected to the friction torque along the first direction and swings from the second position to the first position. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate along the second direction through the second limiting portion 50, and the deflection mechanism 14 is in the first position.

[0134] When the first abutment 36 is in the first area 52, the cleaning assembly 20 is in the cleaning position, and the deflection mechanism 14 is in the first position. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the second direction through the second limiting portion 50. When the driving member 24 drives the first abutment 36 to move from the first area 52 to the second area 54 along the first direction, the cleaning assembly 20 rises from the cleaning position to the ground position, and the deflection mechanism 14 is still in the first position and has not swung yet. When the driving member 24 drives the first abutment 36 to move from the second area 54 to the third area 56 along the first direction, the cleaning assembly 20 descends from the ground position to the cleaning position, and the deflection mechanism 14 is swung from the first position to the second position by the friction torque along the second direction. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the first direction through the first limiting portion 48, and the deflection mechanism 14 is in the second position.

[0135] Please combine Fig. 9 , Fig.10 and Fig.28 In some embodiments, the deflection mechanism 14 is configured as follows:

[0136] When the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the driving member 24 first drives the first abutting member 36 to rotate along the second direction by the first rotation angle, and then drives the first abutting member 36 to perform at least one reverse rotation action.

[0137] In the process that the driving member 24 drives the first abutting member 36 to rotate along the first direction from the first area 52 to the second area 54, the driving member 24 first drives the first abutting member 36 to rotate along the first direction by a first rotation angle, and then drives the first abutting member 36 to perform at least one reverse rotation action. The rotation angle of the reverse rotation action is the second rotation angle, and the first rotation angle is greater than the second rotation angle.

[0138] In this way, the first abutment 36 can be kept in the second area 54, so that the cleaning assembly 20 is located off the ground. Optionally, in one embodiment, the rotation direction of the driving member 24 (such as a motor) is opposite to the rotation direction of the first abutment 36. Optionally, in one embodiment, the rotation direction of the driving member 24 is the same as the rotation direction of the first abutment 36. The present invention is not specifically limited. In addition, the rotation direction of the first abutment 36 is the same as the rotation direction of the cleaning assembly 20, and the rotation direction of the cleaning assembly 20 is opposite to the yaw movement direction of the yaw mechanism 14.

[0139] The driving member 24 rotates a corresponding rotation angle, thereby driving the first abutting member 36 to rotate. A first connecting region 98 is provided between the second region 54 and the third region 56 , and a second connecting region 102 is provided between the first region 52 and the second region 54 .

[0140] Combination Figure 27 to Figure 29 In the process that the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the driving member 24 first drives the first abutting member 36 to rotate along the second direction by the first rotation angle. Due to the effect of inertia, the first abutting member 36 can rush from the second area 54 to the second connection area 102. At this time, the driving member 24 drives the first abutting member 36 to perform at least one reverse rotation action. The rotation angle of the reverse rotation action is the second rotation angle, and the first rotation angle is greater than the second rotation angle. In this way, it is ensured that the first abutting member 36 can rotate to the second area 54, thereby preventing the cleaning component 20 from falling to the cleaning position, keeping the first abutting member 36 in the second area 54, so that the cleaning component 20 is located off the ground.

[0141] Optionally, in Fig.28 In the process that the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the driving member 24 drives the first abutting member 36 to perform a reverse rotation action V1, and the reverse rotation action V1 is along the first direction. Fig.29 In the process that the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the driving member 24 drives the first abutting member 36 to perform two reverse rotation actions V2 and V3, and the reverse rotation action V2 is along the first direction. The reverse rotation action V3 is along the second direction. Optionally, the second rotation angle of the reverse rotation action V3 can be the same as or different from the second rotation angle of the reverse rotation action V2. Optionally, the second rotation angle of the reverse rotation action V3 is smaller than the second rotation angle of the reverse rotation action V2.

[0142] It is understood that the driving member 24 can not only drive the first abutting member 36 to perform one reverse rotation action, two reverse rotation actions, but also can drive the first abutting member 36 to perform three reverse rotation actions, four reverse rotation actions or other number of reverse rotation actions, which are not specifically limited here. It is understood that, Fig.28 and Fig.29 It only shows the change of the rotation direction of the first abutting member 36 , and does not represent the actual movement trajectory of the first abutting member 36 .

[0143] Similarly, when the driving member 24 drives the first resisting member 36 to rotate from the first area 52 to the second area 54 along the first direction, the above understanding can be obtained.

[0144] In the process of the driving member 24 driving the first abutment member 36 to rotate from the first area 52 to the second area 54 along the first direction, the driving member 24 first drives the first abutment member 36 to rotate by a first rotation angle along the first direction. Due to the effect of inertia, the first abutment member 36 can rush from the second area 54 to the first connection area 98. At this time, the first abutment member 36 is driven to rotate by a second rotation angle along the second direction. The first abutment member 36 can rotate from the first connection area 98 to the second area 54, but due to the effect of inertia, the first abutment member 36 can rush from the second area 54 to the second connection area 102. At this time, the first abutment member 36 is driven to rotate by a third rotation angle along the first direction. Then, by the first rotation angle being greater than the second rotation angle and the second rotation angle being greater than the third rotation angle, it is ensured that the first abutment member 36 can rotate to the second area 54, thereby preventing the cleaning component 20 from descending to the cleaning position and keeping the first abutment member 36 in the second area 54, so that the cleaning component 20 is located off the ground.

[0145] In some embodiments, the rotation angle of the driving member 24 corresponding to the first rotation angle is [85 degrees, 95 degrees].

[0146] In this way, it can be ensured that the driving member 24 can drive the first resisting member 36 to rotate from the first area 52 to the second area 54 or drive the first resisting member 36 to rotate from the third area 56 to the second area 54 .

[0147] Specifically, the driving member 24 may include a motor. Taking the rotation of the first abutting member 36 from the third area 56 to the second area 54 as an example, assuming that the first abutting member 36 is located in the third area 56, the corresponding rotation angle of the motor is 0 degrees. In this solution, since a transmission component such as a reduction gearbox may be provided between the driving member 24 and the first abutting member 36, the rotation angle of the driving member 24 may be inconsistent with the rotation angle of the first abutting member 36. It is understood that in other embodiments, the rotation angle of the driving member 24 may also be the same as the rotation angle of the first abutting member 36, and the present invention does not specifically limit this.

[0148] In one embodiment, when the first abutting member 36 abuts against the third region 56, the rotation angle of the driving member 24 can be calibrated as 0 degrees. When the angle of rotation of the driving member 24 along the second direction is between 85 degrees and 95 degrees, the first abutting member 36 can be driven to rotate the first rotation angle along the second direction, thereby driving the first abutting member 36 to rotate from the third region 56 to the second region 54. In one embodiment, when the first abutting member 36 abuts against the first region 52, the rotation angle of the driving member 24 can be calibrated as 0 degrees. When the angle of rotation of the driving member 24 along the first direction is between 85 degrees and 95 degrees, the first abutting member 36 can be driven to rotate the first rotation angle along the first direction, thereby driving the first abutting member 36 to rotate from the first region 52 to the second region 54.

[0149] The rotation angle of the driving member 24 corresponding to the first rotation angle may be 85 degrees, 86 degrees, 87 degrees, 88 degrees, 89 degrees, 90 degrees, 91 degrees, 92 degrees, 93 degrees, 94 degrees, 95 degrees or other values ​​between 85 degrees and 95 degrees. The rotation angle of the mop or the driving member 24 may be detected by an angle detection device such as a code disk.

[0150] Optionally, the first rotation angle may also correspond to the rotation angle of the cleaning component 20. Optionally, the second rotation angle may also correspond to the rotation angle of the cleaning component 20. Optionally, the third rotation angle may also correspond to the rotation angle of the cleaning component 20.

[0151] Please combine Fig. 9 , Fig.10 and Fig. 27 In some embodiments, the track surface 40 includes a first connection area 98 and a second connection area 102, the first connection area 98 connects the third area 56 and the second area 54, and the second connection area 102 connects the second area 54 and the first area 52;

[0152] The first connecting area 98 includes a first sub-area 104 and a second sub-area 106. Along the second direction, the third area 56 is connected to the second area 54 through the second sub-area 106 and the first sub-area 104 in sequence. The second sub-area 106 includes a plurality of first connecting segments 108 connected in sequence end to end. The slope of the first sub-area 104 is greater than the slope of at least one of the plurality of first connecting segments 108.

[0153] The second connection area 102 includes a third sub-area 110 and a fourth sub-area 112. Along the first direction, the first area 52 is connected to the second area 54 in sequence through the fourth sub-area 112 and the third sub-area 110. The fourth sub-area 112 includes a plurality of second connection segments 114 connected end to end in sequence. The slope of the third sub-area 110 is greater than the slope of at least one of the plurality of second connection segments 114.

[0154] In this way, when the first abutting member 36 rotates to the second area 54 , the first sub-area 104 and the third sub-area 110 can further ensure that the first abutting member 36 is in the second area 54 , thereby ensuring that the cleaning assembly 20 is located off the ground.

[0155] Specifically, in Fig. 27In the process of the first abutment 36 rotating from the third area 56 to the second area 54, the first abutment 36 can be rotated to the multiple first connecting segments 108, and then rotated to the first sub-area 104 through the multiple first connecting segments 108. The slope of the first sub-area 104 is greater than the slope of at least one of the multiple first connecting segments 108, so that the first abutment 36 is easy to rotate to the second area 54, thereby ensuring that the first abutment 36 is in the second area 54, ensuring that the cleaning component 20 is located off the ground.

[0156] During the process of the first abutment 36 rotating from the first area 52 to the second area 54, the first abutment 36 can be rotated to the multiple second connecting segments 114, and then rotated to the third sub-area 110 through the multiple second connecting segments 114. The slope of the third sub-area 110 is greater than the slope of at least one of the multiple second connecting segments 114, so that the first abutment 36 can be easily rotated to the second area 54, thereby ensuring that the first abutment 36 is in the second area 54 and ensuring that the cleaning component 20 is located off the ground.

[0157] The slope of the first sub-region 104 may be greater than the slope of one first connecting segment 108, the slope of two first connecting segments 108, the slope of another number of first connecting segments 108, or the slope of all first connecting segments 108. The slope of the third sub-region 110 may be greater than the slope of one second connecting segment 114, the slope of two second connecting segments 114, the slope of another number of second connecting segments 114, or the slope of all second connecting segments 114.

[0158] It is understood that the slope may refer to the angle between the area and the horizontal plane. Fig. 27 In the embodiment, the slope of the first sub-region 104 may be an angle θ between the first sub-region 104 and a horizontal plane.

[0159] In some embodiments, the yaw mechanism 14 includes a reset member 60;

[0160] When the driving member 24 drives the first abutting member 36 to rotate from the second region 54 to the third region 56 along the first direction, the restoring member 60 is compressed by the second abutting member 38 ;

[0161] When the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the restoring member 60 restores its length and drives the second abutting member 38 to drive the cleaning assembly 20 to rise from the cleaning position to the ground-lifting position;

[0162] When the driving member 24 drives the first abutting member 36 to rotate from the second area 54 to the first area 52 along the second direction, the reset member 60 is compressed by the second abutting member 38;

[0163] When the driving member 24 drives the first abutting member 36 to rotate from the first area 52 to the second area 54 along the first direction, the restoring member 60 recovers its length and drives the second abutting member 38 to drive the cleaning assembly 20 to rise from the cleaning position to the ground-lifting position.

[0164] In this way, by compressing the reset member 60, the reset member 60 can be extended to drive the cleaning assembly 20 to rise, and the structure is simple.

[0165] For details, please refer to Figure 4 and Fig.13 , a receiving cavity 62 is provided in the second abutting member 38, and the reset member 60 is located in the receiving cavity 62. In one embodiment, the second abutting member 38 includes a mounting portion 64, and the mounting portion 64 is located in the space surrounded by the ring portion 42, and the mounting portion 64 and the ring portion 42 are located at the top of the second connecting portion 30. The mounting portion 64 is provided with a receiving cavity 62, the yaw mechanism 14 includes an end cover 66 and a fixing member 68, and the transmission assembly 26 includes a rotating shaft 70, and the rotating shaft 70 can be connected to the gear set 46, and the rotating shaft 70 is driven to rotate by the gear set 46. The rotating shaft 70 passes through the first abutting member 36 and the mounting portion 64, and one end of the rotating shaft 70 extends into the receiving cavity 62. The fixing member 68 can be fixed to one end of the rotating shaft 70 located in the receiving cavity 62. The reset member 60 is clamped between the upper side wall of the receiving cavity 62 and the fixing member 68. Optionally, a positioning portion 72 is provided on the upper side wall of the accommodating cavity 62, and the reset member 60 is sleeved on the positioning portion 72, so that the reset member 60 is more stable during compression and extension. The fixing member 68 includes a bolt and / or a screw.

[0166] The lower end of the accommodating chamber 62 is open, and the end cover 66 is installed at the lower end opening of the accommodating chamber 62. The first connecting portion 28 of the cleaning assembly 20 can be detachably connected to the end cover 66 (such as by magnetic attraction).

[0167] When the driving member 24 drives the first abutting member 36 to rotate from the second region 54 to the third region 56 along the first direction, the second abutting member 38 descends, driving the cleaning assembly 20 to descend from the off-the-ground position to the cleaning position. The reset member 60 is compressed by the upper side wall of the accommodating cavity 62, shortening the reset member 60.

[0168] When the driving member 24 drives the first supporting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the reset member 60 restores its length, and the extended reset member 60 provides an upward force to the upper side wall of the accommodating cavity 62, so that the second supporting member 38 rises, driving the cleaning assembly 20 to rise from the cleaning position to the ground position.

[0169] When the driving member 24 drives the first abutting member 36 to rotate from the second area 54 to the first area 52 along the second direction, the second abutting member 38 descends, driving the cleaning assembly 20 to descend from the off-the-ground position to the cleaning position. The reset member 60 is compressed by the upper side wall of the accommodating cavity 62, shortening the reset member 60.

[0170] When the driving member 24 drives the first supporting member 36 to rotate from the first area 52 to the second area 54 along the first direction, the reset member 60 restores its length, and the extended reset member 60 provides an upward force to the upper side wall of the accommodating cavity 62, so that the second supporting member 38 rises, driving the cleaning assembly 20 to rise from the cleaning position to the ground position.

[0171] The reset member 60 includes but is not limited to elastic members such as tension springs, torsion springs, and springs, and other reset members that can be deformed by external force and can restore the deformation when the external force is removed. The reset member 60 shown in the figure is a tension spring.

[0172] In some embodiments, the deflection mechanism 14 includes a third limiting portion 74 , and a fourth limiting portion 76 is provided on the second abutting member 38 ;

[0173] When the cleaning assembly 20 is located at the cleaning position, the third limiting portion 74 and the fourth limiting portion 76 are staggered in the lifting direction of the cleaning assembly 20;

[0174] When the cleaning assembly 20 is located off the ground, the third limiting portion 74 abuts against the fourth limiting portion 76 in the circumferential direction of the cleaning assembly 20 .

[0175] In this way, when the third limiting portion 74 abuts against the fourth limiting portion 76 , the cleaning assembly 20 can be kept off the ground, thereby preventing the cleaning assembly 20 from rising and falling back and forth.

[0176] Specifically, the deflection mechanism 14 further includes a sleeve 78, and a third limiting portion 74 is convexly provided on the inner wall of the inner cavity of the sleeve 78. When the cleaning assembly 20 is located in the off-ground position, the second abutting member 38 is partially located in the inner cavity of the sleeve 78, and the third limiting portion 74 and the fourth limiting portion 76 abut against each other in the circumferential direction of the cleaning assembly 20. At this time, the first abutting member 36 abuts against the second area 54. The cleaning assembly 20 cannot rotate in the direction close to the third limiting portion 74, as shown in FIG. Fig.14 Therefore, it is possible to avoid the first abutting member 36 rushing from the second area 54 to the connecting area 58 between the second area 54 and the first area 52 and then falling on the second area 54 due to inertia when the first abutting member 36 moves from the third area 56 to the second area 54, thereby preventing the cleaning component 20 from falling and then rising. It is also possible to avoid the first abutting member 36 rushing from the second area 54 to the connecting area 58 between the second area 54 and the third area 56 and then falling on the second area 54 due to inertia when the first abutting member 36 moves from the first area 52 to the second area 54, thereby preventing the cleaning component 20 from falling and then rising. This can make the rising action of the cleaning component 20 more stable.

[0177] When the cleaning assembly 20 is in the cleaning position, the second abutting member 38 extends out of the sleeve 78, and the third limiting portion 74 and the fourth limiting portion 76 are staggered in the lifting direction of the cleaning assembly 20. At this time, the first abutting member 36 abuts against the first area 52 or the third area 56 (at Figure 8 In the embodiment, the first abutting member 36 abuts against the first region 52). Since the third limiting portion 74 and the fourth limiting portion 76 are staggered in the lifting direction of the cleaning assembly 20, as shown in FIG. Figure 4 As shown, in the rotation direction of the cleaning assembly 20 , the third limiting portion 74 will not hinder the rotation of the cleaning assembly 20 , and the first abutting member 36 can drive the cleaning assembly 20 to rotate through the first limiting portion 48 .

[0178] Further, as an example, the first abutting member 36 rotates from the third area 56 to the second area 54 along the second direction at a rotation angle of T. When the driving member 24 drives the first abutting member 36 to rotate from the third area 56 to the second area 54 along the second direction, the driving member 24 can drive the first abutting member 36 to rotate by an angle K less than T along the second direction. When the reset member 60 is extended, the second abutting member 38 can be driven to rotate by an angle (TK) relative to the first abutting member 36 along the first direction, thereby enabling the first abutting member 36 to rotate by an angle T along the second direction, so that the first abutting member 36 abuts against the second area 54, the cleaning assembly 20 is located in a position off the ground, and the fourth limiting portion 76 abuts against the third limiting portion 74. The driving member 24 drives the first abutting member 36 to rotate by an angle K less than T along the second direction, so that when the fourth limiting portion 76 abuts against the third limiting portion 74, the impact force of the first abutting member 36 on the driving member 24 and the blocking force of the driving member 24 can be reduced. The specific size of the angle K can be determined by designing the shape of the connecting area 58 .

[0179] In some embodiments, the swing stroke of the deflection mechanism 14 includes a first active stage from the first position to the critical position, and a second active stage from the critical position to the second position. The cleaning device 100 includes a deflection actuator 80, and the deflection actuator 80 is configured to drive the deflection mechanism 14 to swing from the critical position to the first position in the first active stage, and to drive the deflection mechanism 14 to swing from the critical position to the second position in the second active stage.

[0180] In this way, the deflection actuator 80 can make the deflection mechanism 14 swing more steadily and smoothly, thereby preventing the deflection mechanism 14 from getting stuck during the swinging process.

[0181] Specifically, the critical position is between the first position and the second position in the swing stroke of the deflection mechanism 14. The deflection actuator 80 can provide a force to the deflection mechanism 14. In the first activity stage, the force provided by the deflection actuator 80 causes the deflection mechanism 14 to swing from the critical position to the first position. In the second activity stage, the force provided by the deflection actuator 80 causes the deflection mechanism 14 to swing from the critical position to the second position. The critical position can be a position where the direction of the force provided by the deflection actuator 80 changes. The force provided by the deflection actuator 80 makes the deflection mechanism 14 more stable and smooth during the swing process, avoiding the deflection mechanism 14 from getting stuck during the swing process.

[0182] In certain embodiments, see Fig.15 The deflection action member 80 includes an elastic member 82, one end of the elastic member 82 is connected to the shell 12, and the other end of the elastic member 82 is connected to the deflection mechanism 14. The elastic member 82 is connected to the shell 12 to form a first connection point O. The first connection point O and the swing center C of the deflection mechanism 14 are located on the perpendicular bisector of the first connecting line L1. The first connecting line L1 is a connecting line between the rotation center R of the cleaning component 20 when the deflection mechanism 14 is in the first position and the rotation center R of the cleaning component 20 when the deflection mechanism 14 is in the second position.

[0183] In this way, the elastic member 82 can provide a force that enables the yaw mechanism 14 to swing more stably and smoothly.

[0184] Specifically, please combine Fig.17 The critical position may be the position of the yaw mechanism 14 when the rotation center R of the cleaning assembly 20, the first connection point O, and the yaw center C of the yaw mechanism 14 are collinear.

[0185] The force applied by the elastic member 82 to the deflection mechanism 14 includes a first force F1 in the radial direction and a second force F2 in the tangential direction along the swing trajectory of the deflection mechanism 14. The force driving the deflection mechanism 14 to swing is mainly the second force F2. In the first activity stage, the direction of the second force F2 points to the first position along the swing trajectory of the deflection mechanism 14. Therefore, the second force F2 can drive the deflection mechanism 14 to swing from the critical position to the first position. Fig.16 In the second activity stage, the direction of the second force F2 points to the second position along the swing trajectory of the deflection mechanism 14. Therefore, the second force F2 can drive the deflection mechanism 14 to swing from the critical position to the second position. Fig.18 At the critical position, the second force F2 is substantially equal to zero, as shown in FIG. Fig.17 shown.

[0186] The deflection mechanism 14 is located at the first position. When the cleaning component 20 rotates in the second direction and is subjected to the friction torque in the first direction, the friction torque in the first direction can enable the deflection mechanism 14 to overcome the second force F2 of the elastic member 82 (at this time, the second force F2 of the elastic member 82 is a resistance) and swing from the first position to the critical position. After the deflection mechanism 14 passes the critical position, the direction of the second force F2 changes. At this time, the second force F2 is a driving force. The second force F2 and the friction torque in the first direction work together to enable the deflection mechanism 14 to rotate from the critical position to the second position in the first direction. Fig.18 shown.

[0187] The deflection mechanism 14 is located at the second position. When the cleaning component 20 rotates in the first direction and is subjected to a friction torque in the second direction, the friction torque in the second direction can enable the deflection mechanism 14 to overcome the second force F2 of the elastic member 82 (at this time, the second force F2 of the elastic member 82 is a resistance) and swing from the second position to the critical position. After the deflection mechanism 14 passes the critical position, the direction of the second force F2 changes. At this time, the second force F2 is a driving force. The second force F2 and the friction torque in the second direction work together to enable the deflection mechanism 14 to rotate from the critical position to the first position in the second direction. Fig.16 shown.

[0188] In certain embodiments, see Fig.19 and Fig. 20 The deflection acting member 80 includes a first magnetic member 84 and a second magnetic member 86. A first magnetically absorbable member 88 is provided on the deflection mechanism 14. In the first active stage, the force of the first magnetic member 84 on the first magnetically absorbable member 88 causes the deflection mechanism 14 to swing from the critical position to the first position. In the second active stage, the force of the second magnetic member 86 on the first magnetically absorbable member 88 causes the deflection mechanism 14 to swing from the critical position to the second position.

[0189] In this way, the magnetic force can be used to make the yaw mechanism 14 swing more steadily and smoothly.

[0190] Specifically, the first magnetically absorbable member 88 includes but is not limited to a magnetic member, and a structural member made of a material that can be absorbed by the magnetic member (such as iron). The first magnetically absorbable member 88 can be a part of the yaw mechanism 14, or an additional part arranged on the yaw mechanism 14. The magnetic member includes but is not limited to a magnet, an electromagnet, etc., which are not specifically limited here.

[0191] The first magnetic member 84 and the second magnetic member 86 can be fixed on the bottom plate 16, and the position of the first magnetic member 84 is close to the first position, and the position of the second magnetic member 86 is close to the second position. In the first activity stage, the suction force of the first magnetic member 84 on the first magnetically adsorbable member 88 is greater than the suction force of the second magnetic member 86 on the first magnetically adsorbable member, so that the force of the deflection member 80 drives the deflection mechanism 14 to swing from the critical position to the first position. In the second activity stage, the suction force of the second magnetic member 86 on the first magnetically adsorbable member 88 is greater than the suction force of the first magnetic member 84 on the first magnetically adsorbable member 88, so that the force of the deflection member 80 drives the deflection mechanism 14 to swing from the critical position to the second position. For a more specific working principle, reference can be made to the implementation of the elastic member 82 described above, which will not be elaborated in detail here.

[0192] In certain embodiments, see Fig.21 and Fig. 22 The deflection action member 80 includes a second magnetically absorbable member 90 and a third magnetically absorbable member 92. A third magnetic member 94 is provided on the deflection mechanism 14. In the first active stage, the force of the second magnetically absorbable member 90 on the third magnetic member 94 causes the deflection mechanism 14 to swing from the critical position to the first position. In the second active stage, the force of the third magnetically absorbable member 92 on the third magnetic member 94 causes the deflection mechanism 14 to swing from the critical position to the second position.

[0193] In this way, the magnetic force can be used to make the yaw mechanism 14 swing more steadily and smoothly.

[0194] Specifically, the magnetically absorbable member includes but is not limited to a magnetic member and a structural member made of a material that can be absorbed by the magnetic member (such as iron). The third magnetic member 94 can be a part of the yaw mechanism 14, or an additional part arranged on the yaw mechanism 14. The magnetic member includes but is not limited to a magnet, an electromagnet, etc., which are not specifically limited here.

[0195] The second magnetically absorbable component 90 and the third magnetically absorbable component 92 can be fixed on the bottom plate 16, and the position of the second magnetically absorbable component 90 is close to the first position, and the position of the third magnetically absorbable component 92 is close to the second position. In the first active stage, the suction force of the second magnetically absorbable component 90 on the third magnetic component 94 is greater than the suction force of the third magnetically absorbable component 92 on the third magnetic component 94, so that the force of the deflection acting component 80 drives the deflection mechanism 14 to swing from the critical position to the first position. In the second active stage, the suction force of the third magnetically absorbable component 92 on the third magnetic component 94 is greater than the suction force of the second magnetically absorbable component 90 on the third magnetic component 94, so that the force of the deflection acting component 80 drives the deflection mechanism 14 to swing from the critical position to the second position. For a more specific working principle, reference can be made to the above-mentioned implementation of the elastic component 82, which will not be elaborated in detail here.

[0196] In certain embodiments, see Fig.23 and Fig.24 The cleaning device 100 includes two deflection mechanisms 14 and a connecting rod mechanism 96. The connecting rod mechanism 96 connects the two deflection mechanisms 14. The connecting rod mechanism 96 is configured to drive the other deflection mechanism 14 to swing in the same direction when one of the deflection mechanisms 14 swings.

[0197] In this way, the distance between the two cleaning components 20 can be maintained, reducing the missed cleaning area.

[0198] Specifically, for the convenience of explanation, in the forward direction, the two cleaning components 20 of the two deflection mechanisms 14 are respectively the left cleaning component 20 and the right cleaning component 20. Generally, the cleaning device 100 can reciprocate to perform the operations of straight line cleaning and edge action. When cleaning in a straight line, the two deflection mechanisms 14 are not deflected and are in the original state, such as Fig.24 When moving along the edge, one of the deflection mechanisms 14 needs to swing outward (taking the right deflection mechanism 14 swinging outward to the right as an example) so that the right cleaning assembly 20 swings outward to clean close to the wall.

[0199] If the right cleaning assembly 20 swings outward to the right while the left cleaning assembly 20 remains in the original state, the distance between the left and right cleaning assemblies 20 will increase. When moving along the edge, the ground area corresponding to the increased distance cannot be cleaned, resulting in missed cleaning.

[0200] The two deflection mechanisms 14 are connected by a connecting rod mechanism 96. When the right deflection mechanism 14 swings to the right, the right deflection mechanism 14 drives the left deflection mechanism 14 through the connecting rod mechanism 96, so that the left deflection mechanism 14 also swings to the right. Fig.24 As shown, the distance between the two cleaning components 20 remains unchanged, and when the cleaning device 100 performs an edge-by-edge action, the missed scanning area can be reduced. Fig.23 and Fig.24 In the embodiment, the connecting rod mechanism 96 is a four-bar connecting rod mechanism. It can be understood that the present invention does not specifically limit the structure of the connecting rod mechanism 96.

[0201] In certain embodiments, see Fig.25 and Fig.26 The cleaning device 100 includes two deflection mechanisms 14, and the two swing centers C of the two deflection mechanisms 14 are separated on both sides of the second line L2. The second line L2 is a line connecting the rotation center R of the cleaning component 20 of one deflection mechanism 14 and the rotation center R of the cleaning component 20 of the other deflection mechanism 14.

[0202] In this way, the distance between the two cleaning components 20 can be maintained, reducing the missed cleaning area.

[0203] Specifically, for the convenience of explanation, in the forward direction, the two cleaning components 20 of the two deflection mechanisms 14 are respectively the left cleaning component 20 and the right cleaning component 20. Generally, the cleaning device 100 can reciprocate to perform the operations of straight line cleaning and edge action. When cleaning in a straight line, the two deflection mechanisms 14 are not deflected and are in the original state, such as Fig.25 When moving along the edge, one of the deflection mechanisms 14 needs to swing outward (taking the right deflection mechanism 14 swinging outward to the right as an example) so that the right cleaning assembly 20 swings outward to clean close to the wall.

[0204] If the right deflection mechanism 14 swings rightward and outward while the left deflection mechanism 14 is still in the original state, the distance between the left and right cleaning components 20 will increase. When moving along the edge, the ground area corresponding to the increased distance cannot be cleaned, resulting in missed cleaning.

[0205] Please combine Fig.25 and Fig.26 For the left cleaning component 20, in the original state, the left cleaning component 20 rotates clockwise, and the ground friction has a counterclockwise moment M on the left cleaning component 20, which causes the swing arm to rotate counterclockwise along the rotating shaft 70, and the swing arm and the left cleaning component 20 are in the original position. In the deflection state, the left cleaning component 20 rotates counterclockwise, and the ground friction has a clockwise moment M on the mop, which causes the swing arm to rotate clockwise along the rotating shaft 70, and the swing arm and the left cleaning component 20 deflect to the right. The process of the right cleaning component 20 deflecting to the right is similar. Therefore, by adjusting the rotation direction of the cleaning components 20, the two deflection mechanisms 14 can be made to swing in one direction at the same time, so that when the right cleaning component 20 swings outward to the right, the left cleaning component 20 also swings to the right, and the distance between the left and right cleaning components 20 remains unchanged. Moreover, in the original state and the deflection state, the rotation directions of the two cleaning components 20 are opposite, so that debris can be collected toward the middle position of the cleaning device 100, which is convenient for the middle sweeping component of the cleaning device 100 to clean up the debris. At the same time, it can also prevent the two cleaning components 20 from swinging in different directions when they are in the deflection state, causing the cleaning device 100 to "turn outward". Fig.25 and Fig.26 In the figure, M represents the torque of the ground friction force on the cleaning assembly 20, ω 轴 Indicates the direction of rotation of the swing arm, ω 布 Indicates the rotation direction of the cleaning component 20.

[0206] Please combine Figure 1 and Figure 2 , Figure 7 and Figure 8 In some embodiments, the cleaning device 100 includes a limiting structure 15, and the limiting structure 15 is configured to limit the swing stroke of the deflection mechanism 14 along the first direction and to limit the swing stroke of the deflection mechanism 14 along the second direction.

[0207] In this way, the swing stroke of the yaw mechanism 14 can be limited by the limiting structure 15 .

[0208] Specifically, in Figure 2 In the embodiment, the limiting structure 15 is arranged at the end point of the swing stroke of the yaw mechanism 14 along the first direction and the end point of the swing stroke of the yaw mechanism 14 along the second direction. When the yaw mechanism 14 swings along the first direction, the limiting structure 15 can limit the yaw mechanism 14 to the second position. When the yaw mechanism 14 swings along the second direction, the limiting structure 15 can limit the yaw mechanism 14 to the first position.

[0209] Please combine Figure 1 and Figure 2 In some embodiments, the shell 12 includes a bottom plate 16, the bottom plate 16 is provided with a through hole 22, the deflection mechanism 14 passes through the through hole 22, and the limiting structure 15 includes a first hole wall portion and a second hole wall portion 34 of the through hole 22. When the deflection mechanism 14 abuts against the first hole wall portion, the deflection mechanism 14 is located in the first position, and when the deflection mechanism 14 abuts against the second hole wall portion 34, the deflection mechanism 14 is located in the second position.

[0210] In this way, the yaw stroke of the yaw mechanism 14 may be limited by the first hole wall portion and the second hole wall portion 34 .

[0211] Specifically, the bottom plate 16 is provided with a through hole 22. Figure 2 In the embodiment, the transmission assembly 26 can be provided with a through hole 22. The through hole 22 can limit the swing stroke of the deflection mechanism 14, and the shape of the through hole 22 can be designed according to the swing trajectory of the deflection mechanism 14.

[0212] In one embodiment, when the transmission assembly 26 abuts against the first hole wall portion, the deflection mechanism 14 is located at the first position, and when the transmission assembly 26 abuts against the second hole wall portion 34, the deflection mechanism 14 is located at the second position. It can be understood that the present invention is not limited to limiting the swing stroke of the deflection mechanism 14 by using the cooperation of the transmission assembly 26 and the through hole 22, and other structural members can also be provided to cooperate with other structural members of the deflection mechanism 14 to limit the swing stroke of the deflection mechanism 14, which is not specifically limited here.

[0213] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0214] Although embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, combinations, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that: It includes a housing and a deflection mechanism; The deflection mechanism is rotatably connected to the housing, and the deflection mechanism includes a driving assembly and a cleaning assembly, wherein the driving assembly is connected to the cleaning assembly, and the driving assembly is configured to drive the cleaning assembly to rotate in a first direction and in a second direction, wherein the first direction is opposite to the second direction; The cleaning device is configured such that when the cleaning component is subjected to a friction torque along the second direction when rotating along the first direction, the yaw mechanism is swung to a first position relative to the shell along the second direction; and when the cleaning component is subjected to a friction torque along the first direction when rotating along the second direction, the yaw mechanism is swung to a second position relative to the shell along the first direction.

2. The cleaning device according to claim 1, characterized in that The driving assembly includes a driving member and a transmission assembly, the transmission assembly includes a first abutting member and a second abutting member, the first abutting member connects the driving member and the second abutting member, the second abutting member connects the cleaning assembly, the second abutting member is provided with a track surface, the first abutting member can movably abut on the track surface, the driving member is configured to drive the first abutting member to rotate so that the first abutting member moves on the track surface, so that the cleaning assembly is lifted and lowered relative to the shell.

3. The cleaning device according to claim 2, characterized in that: The track surface is respectively provided with a first limiting portion and a second limiting portion. When the first supporting member abuts against the first limiting portion, the first limiting portion is configured to limit the end point of the movement of the first supporting member on the track surface along the first direction. When the first supporting member abuts against the second limiting portion, the second limiting portion is configured to limit the end point of the movement of the first supporting member on the track surface along the second direction.

4. The cleaning device according to claim 3, characterized in that: The track surface includes a first area, a second area and a third area. Along the first direction, the first area, the second area and the third area are connected in sequence. When the first abutment member abuts against the first area or the third area, the cleaning component is located in a cleaning position for abutting against the ground. When the first abutment member abuts against the second area, the cleaning component is located in a ground-lift position for leaving the ground.

5. The cleaning device according to claim 4, characterized in that The deflection mechanism is configured as follows: When the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the first limiting portion; When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the first limiting portion and the second limiting portion; When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the cleaning assembly descends from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion; When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the cleaning assembly rises from the cleaning position to the ground-lifting position and the first resisting member is separated from the second limiting portion and the first limiting portion.

6. The cleaning device according to claim 5, characterized in that The cleaning equipment is configured as follows: When the first abutting member is in the third area, the cleaning assembly is in the cleaning position and the deflection mechanism is in the first position, and the driving member is configured to drive the cleaning assembly to rotate along the first direction through the first limiting portion; When the driving member drives the first abutting member to move from the third area to the second area along the second direction, the cleaning assembly rises from the cleaning position to the ground-lifting position; When the driving member drives the first abutting member to move from the second area to the first area along the second direction, the cleaning assembly descends from the ground-lifting position to the cleaning position, and the deflection mechanism is swung from the first position to the second position by the friction torque along the first direction, and the driving member is configured to drive the cleaning assembly to rotate along the second direction through the second limiting portion; When the first abutting member is in the first area, the cleaning assembly is in the cleaning position and the deflection mechanism is in the second position, and the driving member is configured to drive the cleaning assembly to rotate along the second direction through the second limiting portion; When the driving member drives the first abutting member to move from the first area to the second area along the first direction, the cleaning assembly rises from the cleaning position to the ground-lifting position; When the driving member drives the first supporting member to move along the first direction from the second area to the third area, the cleaning component descends from the ground position to the cleaning position, and the deflection mechanism swings from the second position to the first position due to the friction torque along the second direction. The driving member is configured to drive the cleaning component to rotate along the first direction through the first limiting portion.

7. The cleaning device according to claim 5, characterized in that The deflection mechanism is configured as follows: In the process that the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the driving member first drives the first abutting member to rotate along the second direction by a first rotation angle, and then drives the first abutting member to perform at least one reverse rotation action; In the process of the driving member driving the first resisting member to rotate from the first area to the second area along the first direction, the driving member first drives the first resisting member to rotate along the first direction by the first rotation angle, and then drives the first resisting member to perform at least one reverse rotation action; Wherein, the rotation angle of the reverse rotation action is a second rotation angle, and the first rotation angle is greater than the second rotation angle.

8. The cleaning device according to claim 7, characterized in that The rotation angle of the driving member corresponding to the first rotation angle is [85 degrees, 95 degrees].

9. The cleaning device according to claim 5, characterized in that The track surface includes a first connection area and a second connection area, the first connection area connects the third area and the second area, and the second connection area connects the second area and the first area; The first connection area includes a first sub-area and a second sub-area, and along the second direction, the third area is connected to the second area via the second sub-area and the first sub-area in sequence, the second sub-area includes a plurality of first connection segments connected in sequence end to end, and the slope of the first sub-area is greater than the slope of at least one of the plurality of first connection segments; The second connection area includes a third sub-area and a fourth sub-area. Along the first direction, the first area is connected to the second area through the fourth sub-area and the third sub-area in sequence. The fourth sub-area includes a plurality of second connection segments connected end to end in sequence. The slope of the third sub-area is greater than the slope of at least one of the plurality of second connection segments.

10. The cleaning device according to claim 5, characterized in that The deflection mechanism includes a reset member; When the driving member drives the first resisting member to rotate from the second area to the third area along the first direction, the restoring member is compressed by the second resisting member; When the driving member drives the first abutting member to rotate from the third area to the second area along the second direction, the restoring member restores its length and drives the second abutting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position; When the driving member drives the first resisting member to rotate from the second area to the first area along the second direction, the restoring member is compressed by the second resisting member; When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the restoring member recovers its length and drives the second resisting member to drive the cleaning assembly to rise from the cleaning position to the ground-lifting position.

11. The cleaning device according to claim 10, characterized in that The deflection mechanism includes a third limiting portion, and the second abutting member is provided with a fourth limiting portion; When the cleaning assembly is located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the cleaning assembly; When the cleaning component is located at the off-ground position, the third limiting portion abuts against the fourth limiting portion in the circumferential direction of the cleaning component.

12. The cleaning device according to claim 1, characterized in that The swing stroke of the deflection mechanism includes a first active stage from the first position to the critical position, and a second active stage from the critical position to the second position. The cleaning device includes a deflection actuator, and the deflection actuator is configured to drive the deflection mechanism to swing from the critical position to the first position in the first active stage, and to drive the deflection mechanism to swing from the critical position to the second position in the second active stage.

13. The cleaning device according to claim 12, characterized in that The deflection action member includes an elastic member, one end of the elastic member is connected to the shell, and the other end of the elastic member is connected to the deflection mechanism. The elastic member is connected to the shell to form a first connection point. The first connection point and the swing center of the deflection mechanism are located on the perpendicular bisector of a first connecting line. The first connecting line is a connecting line between the rotation center of the cleaning component when the deflection mechanism is in the first position and the rotation center of the cleaning component when the deflection mechanism is in the second position.

14. The cleaning device according to claim 12, characterized in that The deflection action member includes a first magnetic member and a second magnetic member. The deflection mechanism is provided with a first magnetically absorbable member. In the first activity stage, the force of the first magnetic member on the first magnetically absorbable member causes the deflection mechanism to swing from the critical position to the first position. In the second activity stage, the force of the second magnetic member on the first magnetically absorbable member causes the deflection mechanism to swing from the critical position to the second position.

15. The cleaning device according to claim 12, characterized in that The deflection action member includes a second magnetically absorbable member and a third magnetically absorbable member. The deflection mechanism is provided with a third magnetic member. In the first activity stage, the force of the second magnetically absorbable member on the third magnetic member causes the deflection mechanism to swing from the critical position to the first position. In the second activity stage, the force of the third magnetically absorbable member on the third magnetic member causes the deflection mechanism to swing from the critical position to the second position.

16. The cleaning device according to claim 1, characterized in that The cleaning device comprises two deflection mechanisms and a connecting rod mechanism, wherein the connecting rod mechanism connects the two deflection mechanisms, and the connecting rod mechanism is configured to drive the other deflection mechanism to swing in the same direction when one of the deflection mechanisms swings.

17. The cleaning device according to claim 1, characterized in that The cleaning device comprises two deflection mechanisms, and the two swing centers of the two deflection mechanisms are separated on both sides of a second connecting line, and the second connecting line is a connecting line between the rotation center of the cleaning component of one of the deflection mechanisms and the rotation center of the cleaning component of the other deflection mechanism.

18. The cleaning device according to claim 1, characterized in that The cleaning device comprises a limiting structure, and the limiting structure is configured to limit the swing stroke of the deflection mechanism along the first direction and to limit the swing stroke of the deflection mechanism along the second direction.

19. The cleaning device according to claim 18, characterized in that The shell includes a bottom plate, the bottom plate is provided with a through hole, the deflection mechanism passes through the through hole, the limiting structure includes a first hole wall portion and a second hole wall portion of the through hole, when the deflection mechanism abuts against the first hole wall portion, the deflection mechanism is located at the first position, and when the deflection mechanism abuts against the second hole wall portion, the deflection mechanism is located at the second position.

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