Cleaning device

Abstract

The invention discloses cleaning equipment. The cleaning equipment comprises a shell, a first cleaning mechanism and a second cleaning mechanism, wherein the shell comprises a mounting plate; the first cleaning mechanism comprises a first driving assembly and a first cleaning assembly, and the first driving assembly is configured to be connected with the first cleaning assembly and drive the first cleaning assembly to rotate in the first direction and the second direction; the second cleaning mechanism comprises a second driving assembly and a second cleaning assembly, and the second driving assembly is configured to be connected with the second cleaning assembly and drive the second cleaning assembly to rotate in the first direction and the second direction; the cleaning equipment is configured to bear friction torque in the second direction when the first cleaning assembly rotates in the first direction, so that the first cleaning assembly swings to the first position relative to the mounting plate in the second direction, and the second cleaning assembly rotates in the second direction. When the first cleaning assembly rotates in the second direction, the first cleaning assembly bears friction torque in the first direction, so that the first cleaning assembly swings to the second position relative to the mounting plate in the first direction, and the second cleaning assembly rotates in the first direction.

Description

Technical Field

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

[0002] In the related art, a sweeping robot can automatically perform operations such as sweeping, mopping, and vacuuming to reduce the cleaning burden of the user. In order to improve the cleanliness in scenes such as near walls, the sweeping robot has a mop that can swing outward. When cleaning near walls, the mop can swing outward to clean against the wall. However, the rotating mop that swings outward will cause uneven force on the sweeping robot, resulting in unstable operation of the sweeping robot. 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, a first cleaning mechanism and a second cleaning mechanism;

[0005] The first cleaning mechanism is connected to the housing, the first cleaning mechanism comprises a first driving assembly and a first cleaning assembly, the first driving assembly is connected to the first cleaning assembly, the first driving assembly is configured to drive the first cleaning assembly to rotate along a first direction and along a second direction, the first direction is opposite to the second direction;

[0006] The second cleaning mechanism is connected to the housing, the second cleaning mechanism comprises a second driving assembly and a second cleaning assembly, the second driving assembly is connected to the second cleaning assembly, and the second driving assembly is configured to drive the second cleaning assembly to rotate along the first direction and along the second direction;

[0007] The cleaning device is configured such that when the first cleaning component is subjected to a friction torque along the second direction while rotating along the first direction, the first cleaning component is swung to a first position relative to the shell along the second direction and the second cleaning component is rotated along the second direction; and when the first cleaning component is subjected to a friction torque along the first direction while rotating along the second direction, the first cleaning component is swung to a second position relative to the shell along the first direction and the second cleaning component is rotated along the first direction.

[0008] In the above-mentioned cleaning device, when the first cleaning component is subjected to friction torques in different directions (for example, when the first cleaning component contacts the ground during rotation, the first cleaning component will be subjected to the friction torque of the reaction of the ground), the first cleaning component can swing relative to the shell, thereby realizing the deflection of the first cleaning component. At the same time, the second cleaning component rotates in the opposite direction to the first cleaning component, and the friction forces exerted on the second cleaning component and the first cleaning component can offset each other, thereby ensuring the stability of the cleaning device during operation.

[0009] In some embodiments, the first cleaning mechanism is rotatably connected to the housing;

[0010] The cleaning device is configured to cause the first cleaning mechanism to swing relative to the housing to the first position along the second direction when the first cleaning component is subjected to a friction torque along the second direction when rotating along the first direction;

[0011] When the first cleaning assembly is subjected to a friction torque along the first direction while rotating along the second direction, the first cleaning mechanism is swung to a second position relative to the housing along the first direction.

[0012] In some embodiments, the swing stroke of the first cleaning 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.

[0013] In some embodiments, the deflection action member 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 first cleaning mechanism, the elastic member and the shell are connected to form a first connection point, the first connection point and the swing center of the first cleaning 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 first cleaning component when the first cleaning mechanism is in the first position and the rotation center of the first cleaning component when the first cleaning mechanism is in the second position.

[0014] In some embodiments, the first cleaning mechanism includes a first deflection assembly, and the first driving assembly is connected to the first cleaning assembly via the first deflection assembly;

[0015] The cleaning device is configured such that when the first cleaning component is subjected to a friction torque along the second direction when rotating along the first direction, the first deflection assembly and the first cleaning component are swung to a first position relative to the shell along the second direction, and when the first cleaning component is subjected to a friction torque along the first direction when rotating along the second direction, the first deflection assembly and the first cleaning component are swung to a second position relative to the shell along the first direction.

[0016] In some embodiments, the first yaw assembly includes a first transmission member and a second transmission member, the first transmission member is configured to connect to the driving member, and the first transmission member has a first rotation axis;

[0017] The second transmission member is rotatably connected to the first transmission member, and the second transmission member is configured to connect to the cleaning component and drive the cleaning component to rotate;

[0018] The first yaw assembly is configured to cause the first yaw assembly and the first cleaning assembly to swing around the first rotation axis to a first position along the second direction when the first transmission member drives the second transmission member to rotate so that the first cleaning assembly rotates along the first direction and is subjected to a friction torque along the second direction; and to cause the first yaw assembly and the first cleaning assembly to swing around the first rotation axis to a second position along the first direction when the first transmission member drives the second transmission member to rotate so that the first cleaning assembly rotates along the second direction and is subjected to a friction torque along the first direction. The first direction is opposite to the second direction.

[0019] In some embodiments, the first driving assembly includes a driving member and a transmission assembly, the transmission assembly includes a first abutment member and a second abutment member, the first abutment member connects the driving member and the second abutment member, the second abutment member connects the first cleaning assembly, the second abutment member is provided with a track surface, 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, and the cleaning device is configured as follows:

[0020] 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;

[0021] 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;

[0022] 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.

[0023] In some embodiments, the rotation angle of the driving member corresponding to the first rotation angle is [85 degrees, 95 degrees].

[0024] 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;

[0025] 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;

[0026] 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.

[0027] In some embodiments, the first driving assembly and the second driving assembly each include 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 first cleaning assembly and the second cleaning member, the second abutting member is provided with a track surface, and the first abutting member can movably abut on the track surface;

[0028] The driving member is configured to drive the first resisting member to rotate so that the first resisting member moves on the track surface, so that the first cleaning component is lifted or lowered relative to the housing; and / or,

[0029] The driving member is configured to drive the first resisting member to rotate so that the first resisting member moves on the track surface, so that the second cleaning component is lifted or lowered relative to the shell.

[0030] 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.

[0031] 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 first cleaning component and the second cleaning component are located in a cleaning position for abutting against the ground. When the first abutment member abuts against the second area, the first cleaning component and the second cleaning component are located in a ground-lift position for leaving the ground.

[0032] In some embodiments, the cleaning device is configured as:

[0033] When the driving member drives the first abutting member to rotate from the second area to the third area along the first direction, the first cleaning assembly and the second cleaning assembly descend from the off-ground position to the cleaning position and the first abutting member abuts against the first limiting portion;

[0034] When the driving member drives the first resisting member to rotate from the third area to the second area along the second direction, the first cleaning assembly and the second cleaning assembly rise 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;

[0035] When the driving member drives the first abutting member to rotate from the second area to the first area along the second direction, the first cleaning assembly and the second cleaning assembly descend from the off-the-ground position to the cleaning position and the first abutting member abuts against the second limiting portion;

[0036] When the driving member drives the first resisting member to rotate along the first direction from the first area to the second area, the first cleaning assembly and the second cleaning assembly rise 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.

[0037] In some embodiments, the first cleaning mechanism and the second cleaning mechanism both include a reset member;

[0038] 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;

[0039] 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 first cleaning assembly and the second cleaning assembly to rise from the cleaning position to the ground-lifting position;

[0040] 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;

[0041] When the driving member drives the first resisting member to rotate from the first area to the second area along the first direction, the reset member restores its length and drives the second resisting member to drive the first cleaning assembly and the second cleaning assembly to rise from the cleaning position to the ground-lift position.

[0042] In some embodiments, the first cleaning mechanism and the second cleaning mechanism both include a third limiting portion, and the second abutting member is provided with a fourth limiting portion;

[0043] When the first cleaning assembly and the second cleaning assembly are located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the first cleaning assembly, and the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the second cleaning assembly;

[0044] When the first cleaning assembly and the second cleaning assembly are located in the off-ground position, the third limiting portion abuts against the fourth limiting portion in the circumferential direction of the first cleaning assembly, and the third limiting portion abuts against the fourth limiting portion in the circumferential direction of the second cleaning assembly.

[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 is another structural schematic diagram of a cleaning device according to an embodiment of the present invention;

[0049] Figure 3 yes Figure 2 An enlarged schematic diagram of part B of the cleaning device;

[0050] Figure 4 yes Figure 2 A schematic cross-sectional view of the cleaning equipment along line AA;

[0051] Figure 5 yes Figure 4 An enlarged schematic diagram of part C of the cleaning device in FIG.

[0052] Figures 6 to 8 is another schematic diagram of the structure of the cleaning device according to the embodiment of the present invention;

[0053] Fig. 9 yes Figure 8 An enlarged schematic diagram of part D of the cleaning device in FIG.

[0054] Figure 10 to Figure 11 is a schematic structural diagram of a second abutting member according to an embodiment of the present invention;

[0055] Fig.12 is a schematic structural diagram of a first drive assembly in an embodiment of the present invention;

[0056] Fig.13 is a schematic diagram of the position of the swing of the first cleaning component in an embodiment of the present invention;

[0057] Figures 14 to 16 is a schematic diagram of the swinging process of the first cleaning component according to an embodiment of the present invention;

[0058] Fig.17 It is a partial structural schematic diagram of a cleaning device according to an embodiment of the present invention;

[0059] Fig.18 yes Fig.17 Sectional view along line EE;

[0060] Fig.19 yes Fig.18 Enlarged view of part F;

[0061] Fig. 20 is a partially exploded schematic diagram of a cleaning device according to an embodiment of the present invention;

[0062] Fig.21 is another partial structural schematic diagram of the cleaning device according to an embodiment of the present invention;

[0063] Fig. 22 It is another schematic diagram of the structure of a cleaning device according to an embodiment of the present invention;

[0064] Fig.23 yes Fig. 22Enlarged view of section G;

[0065] Fig.24 It is a schematic diagram of another part of the structure of the cleaning device according to the embodiment of the present invention;

[0066] Fig.25 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;

[0067] Fig.26 is a schematic diagram of the development of the ring portion of an embodiment of the present invention;

[0068] Fig. 27 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;

[0069] Fig.28 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.

[0070] Description of main component symbols:

[0071] 300, cleaning device; 200, second cleaning mechanism; 100, first cleaning mechanism; 10, first deflection assembly; 11, first transmission member; 12, second transmission member; 13, housing; 14, driving member; 16, first cleaning assembly; 17, second cleaning assembly; 18, first stop member; 20, second stop member; 28, transmission assembly; 40, first drive assembly; 42, second drive assembly; 44, mounting plate; 48, first stop member; 50, second stop member; 52, ring; 54, track surface; 56, push rod; 58, gear set; 60, first limit portion; 62, second limit portion; 64, first area; 66, The second area; 68, the third area; 70, the first connecting area; 71, the second connecting area; 74, the reset member; 76, the accommodating chamber; 78, the mounting portion; 82, the fixing member; 84, the rotating shaft; 86, the positioning portion; 88, the third limiting portion; 90, the fourth limiting portion; 92, the sleeve; 94, the first sub-area; 96, the second sub-area; 98, the first connecting section; 102, the third sub-area; 104, the fourth sub-area; 106, the second connecting section; 108, the through hole; 110, the first connecting portion; 112, the second connecting portion; 114, the connecting hole; 116, the second hole wall portion; 118, the deflection effect member; 120, the elastic member. DETAILED DESCRIPTION

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] See also Figures 1 to 16 A cleaning device 300 provided in an embodiment of the present invention includes a housing 13, a first cleaning mechanism 100, and a second cleaning mechanism 200. The first cleaning mechanism 100 is connected to a mounting plate 44. The first cleaning mechanism 100 includes a first driving assembly 40 and a first cleaning assembly 16, the first driving assembly 40 is connected to the first cleaning assembly 16, and the first driving assembly 40 is configured to drive the first cleaning assembly 16 to rotate in a first direction and in a second direction, and the first direction is opposite to the second direction. The second cleaning mechanism 200 is connected to the mounting plate 44. The second cleaning mechanism 200 includes a second driving assembly 42 and a second cleaning assembly 17, the second driving assembly 42 is connected to the second cleaning assembly 17, and the second driving assembly 42 is configured to drive the second cleaning assembly 17 to rotate in the first direction and in the second direction. The cleaning device 300 is configured such that when the first cleaning component 16 is subjected to a friction torque along the second direction while rotating in the first direction, the first cleaning component 16 is swung to the first position relative to the mounting plate 44 along the second direction and the second cleaning component 17 is rotated in the second direction; and when the first cleaning component 16 is subjected to a friction torque along the first direction while rotating in the second direction, the first cleaning component 16 is swung to the second position relative to the mounting plate 44 along the first direction and the second cleaning component 17 is rotated in the first direction.

[0079] In the above-mentioned cleaning device 300, when the first cleaning component 16 is subjected to friction torques in different directions (for example, when the first cleaning component 16 contacts the ground during rotation, the first cleaning component 16 will be subjected to the friction torque of the reaction of the ground), the first cleaning component 16 can swing relative to the mounting plate 44, thereby realizing the deflection of the first cleaning component 16. At the same time, the second cleaning component 17 rotates in the opposite direction to the first cleaning component 16, and the friction forces exerted on the second cleaning component 17 and the first cleaning component 16 can offset each other, thereby ensuring the stability of the cleaning device 300 during operation.

[0080] Specifically, the cleaning device 300 includes but is not limited to a sweeping robot, a sweeping and mopping machine, a floor scrubber (a robot with a mopping function but no sweeping function), a double-turntable sweeping machine, a floor scrubber (such as a handheld floor scrubber, a non-handheld floor scrubber), etc. The mounting plate 44 can be the bottom plate of the housing 13, and the mounting plate 44 can also be other mounting plates 44 except the bottom plate, which are not specifically limited here. The mounting plate 44 provides a mounting platform for the first cleaning mechanism 100 and the second cleaning mechanism 200. 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.

[0081] Optionally, the first cleaning mechanism 100 can be a deflection mechanism, the housing 13 includes a mounting plate 44, the mounting plate 44 is provided with a through hole 108, the first drive assembly 40 includes a driving member 14 and a transmission assembly 28, the transmission assembly 28 can connect the driving member 14 and the first cleaning assembly 16, and the driving member 14 can drive the first cleaning assembly 16 to rotate in the first direction and the second direction through the transmission assembly 28. The transmission assembly 28 can be penetrated by the through hole 108, the driving member 14 can be located in the housing 13, and the first cleaning assembly 16 can be located outside the housing 13. The first cleaning assembly 16 can be detachably connected to the transmission assembly 28. In one embodiment, the first cleaning assembly 16 includes a first connecting portion 110, and the transmission assembly 28 includes a second connecting portion 112, the first connecting portion 110 is non-cylindrical (such as a polygonal prism), and the second connecting portion 112 is provided with a connecting hole 114, and the shape of the connecting hole 114 matches the shape of the first connecting portion 110. The first connecting portion 110 is located in the connecting hole 114. The driving member 14 can drive the second connecting portion 112 to rotate, and when the second connecting portion 112 rotates, the first connecting portion 110 can be driven to rotate, thereby driving the first cleaning component 16 to rotate. The detachable connection method between the first cleaning component 16 and the transmission component 28 includes, but is not limited to, bolts, magnets, buckles, etc., which are not specifically limited here.

[0082] Further, the through hole 108 can limit the swing stroke of the first cleaning mechanism 100, and the shape of the through hole 108 can be designed according to the swing trajectory of the first cleaning mechanism 100. The hole wall of the through hole 108 includes a first hole wall portion and a second hole wall portion 116. When the transmission component 28 abuts against the first hole wall portion, the first cleaning mechanism 100 is located in the first position, and when the transmission component 28 abuts against the second hole wall portion 116, the first cleaning mechanism 100 is located in the second position. It can be understood that the present invention is not limited to using the transmission component 28 and the through hole 108 to cooperate to limit the swing stroke of the first cleaning mechanism 100, and other structural members can also be set to cooperate with other structural members of the first cleaning mechanism 100 to limit the swing stroke of the first cleaning mechanism 100, which is not specifically limited here.

[0083] The first cleaning mechanism 100 is rotatably connected to the mounting plate 44, and the rotational connection between the first cleaning mechanism 100 and the mounting plate 44 can form a swing center C1 of the first cleaning mechanism 100. When the driving assembly drives the first cleaning assembly 16 to rotate, before the first cleaning assembly 16 contacts the ground or other fixed objects, the first cleaning assembly 16 is not subjected to the effect of the friction torque. When the first cleaning assembly 16 contacts the ground or other fixed objects, the rotating first cleaning assembly 16 will be subjected to the friction torque applied to the first cleaning assembly 16 by the ground or other fixed objects, and the direction of the friction torque is opposite to the rotation direction of the first cleaning assembly 16.

[0084] When the first cleaning mechanism 100 is located in the second position, the driving assembly drives the first cleaning assembly 16 to rotate along the first direction, and when the first cleaning assembly 16 is subjected to a friction torque along the second direction, the first cleaning mechanism 100 is swung from the second position to the first position. When the first cleaning mechanism 100 is located in the first position, the driving assembly drives the first cleaning assembly 16 to rotate along the second direction, and when the first cleaning assembly 16 is subjected to a friction torque along the first direction, the first cleaning mechanism 100 is swung from the first position to the second position.

[0085] Optionally, the second cleaning mechanism 200 may have the same structure as the first cleaning mechanism, and the second cleaning mechanism 200 may be rotatably connected to the mounting plate 44, so that when the transmission assembly 28 abuts against the first hole wall portion, the second cleaning mechanism 200 is located in the first position, and when the transmission assembly 28 abuts against the second hole wall portion 116, the second cleaning mechanism 200 is located in the second position. Optionally, the second cleaning mechanism 200 may also be different from the first cleaning mechanism 100, and may be a non-swinging mechanism, so that the second driving assembly 42 drives the second cleaning assembly 17 to rotate, so that the second cleaning assembly 17 cleans the floor by rotating, and the second cleaning assembly 17 does not swing.

[0086] When the first cleaning component 16 is subjected to friction torques in different directions (for example, when the first cleaning component 16 contacts the ground during rotation, the first cleaning component 16 will be subjected to the friction torque of the reaction of the ground), the first cleaning component 16 can swing relative to the mounting plate 44, thereby achieving the deflection of the first cleaning component 16. At the same time, the second cleaning component 17 rotates in the opposite direction to the first cleaning component 16, and the friction forces exerted on the second cleaning component 17 and the first cleaning component 16 can offset each other, thereby ensuring the stability of the cleaning device 300 during operation.

[0087] Optionally, the first direction may be a clockwise direction R1, or a forward rotation direction of the driving member 14. The second direction may be a counterclockwise direction R2, or a reverse rotation direction of the driving member 14, such as Fig.10 and Fig.11The first position can be the outward swing position of the first cleaning component 16 and the outward swing position of the second cleaning component 17, and the first cleaning component 16 is in a deflected state (such as Figure 1 As shown). The second position may be the retracted position of the first cleaning assembly 16 and the retracted position of the second cleaning assembly 17, and the first cleaning assembly 16 and the second cleaning assembly 17 are both in the 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 14 may include a driving member 14 such as a motor and a cylinder. The first cleaning assembly 16 may be a mop assembly, and the second cleaning assembly 17 may be a mop assembly.

[0088] Please refer to Figures 2 to 9 In some embodiments, the first cleaning mechanism 100 is rotatably connected to the mounting plate 44. The cleaning device 300 is configured to swing the first cleaning mechanism 100 to a first position relative to the mounting plate 44 along the second direction when the first cleaning component 16 is rotated along the first direction and subjected to a friction torque along the second direction. When the first cleaning component 16 is rotated along the second direction and subjected to a friction torque along the first direction, the first cleaning mechanism 100 is swung to a second position relative to the mounting plate 44 along the first direction.

[0089] In this way, the overall deflection of the first cleaning mechanism 100 can be achieved.

[0090] Specifically, the first cleaning structure is rotatably connected to the mounting plate 44, and the first driving assembly 40 can drive the first cleaning assembly 16 to rotate in the first direction and in the second direction. When the first cleaning assembly 16 rotates, when the first cleaning assembly 16 is subjected to friction torques in different directions, the first cleaning mechanism 100 can swing relative to the mounting plate 44, thereby achieving the overall swing of the first cleaning mechanism 100. For other specific descriptions, please refer to above.

[0091] In some embodiments, the swing stroke of the first cleaning mechanism 100 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 300 includes a deflection actuator 118, and the deflection actuator 118 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.

[0092] In this way, the deflection member 118 can make the first cleaning mechanism 100 swing more steadily and smoothly, thereby preventing the first cleaning mechanism 100 from getting stuck during the swinging process.

[0093] Specifically, the critical position is between the first position and the second position in the swing stroke of the first cleaning mechanism 100. The deflection member 118 can provide a force to the first cleaning mechanism 100. In the first activity stage, the force provided by the deflection member 118 causes the first cleaning mechanism 100 to swing from the critical position to the first position. In the second activity stage, the force provided by the deflection member 118 causes the first cleaning mechanism 100 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 member 118 changes. The force provided by the deflection member 118 makes the first cleaning mechanism 100 more stable and smooth during the swing process, avoiding the first cleaning mechanism 100 from getting stuck during the swing process.

[0094] Please refer to Figures 8 to 16 In some embodiments, the deflection member 118 includes an elastic member 120, one end of the elastic member 120 is connected to the mounting plate 44, and the other end of the elastic member 120 is connected to the first cleaning mechanism 100. The elastic member 120 is connected to the mounting plate 44 to form a first connection point. The first connection point and the swing center of the first cleaning mechanism 100 are located on the perpendicular bisector of the first connecting line. The first connecting line is the connecting line between the rotation center of the first cleaning component 16 when the first cleaning mechanism 100 is in the first position and the rotation center of the first cleaning component 16 when the first cleaning mechanism 100 is in the second position.

[0095] In this way, the elastic member 120 can provide a force to make the first cleaning mechanism 100 swing more stably and smoothly.

[0096] Specifically, please combine Fig.13 The critical position may be the position of the first cleaning mechanism 100 when the rotation center R of the first cleaning assembly 16 , the first connection point O, and the swing center C1 of the first cleaning mechanism 100 are collinear.

[0097] The force applied by the elastic member 120 to the first cleaning mechanism 100 includes a first force F1 in the radial direction and a second force F2 in the tangential direction along the swing trajectory of the first cleaning mechanism 100. The force driving the first cleaning mechanism 100 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 first cleaning mechanism 100. Therefore, the second force F2 can drive the first cleaning mechanism 100 to swing from the critical position to the first position. Fig.14 In the second activity stage, the direction of the second force F2 points to the second position along the swing trajectory of the first cleaning mechanism 100. Therefore, the second force F2 can drive the first cleaning mechanism 100 to swing from the critical position to the second position. Fig.16 At the critical position, the second force F2 is substantially equal to zero, as shown in FIG. Fig.15 shown.

[0098] The first cleaning mechanism 100 is located at the first position. When the first cleaning assembly 16 is rotated in the second direction and subjected to the friction torque in the first direction, the friction torque in the first direction can enable the first cleaning mechanism 100 to overcome the second force F2 of the elastic member 120 (at this time, the second force F2 of the elastic member 120 is a resistance) and swing from the first position to the critical position. After the first cleaning mechanism 100 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 first cleaning mechanism 100 to rotate from the critical position to the second position in the first direction. Fig.16 shown.

[0099] The first cleaning mechanism 100 is located at the second position. When the first cleaning assembly 16 is rotated in the first direction and subjected to a friction torque in the second direction, the friction torque in the second direction can enable the first cleaning mechanism 100 to overcome the second force F2 of the elastic member 120 (at this time, the second force F2 of the elastic member 120 is a resistance) and swing from the second position to the critical position. After the first cleaning mechanism 100 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 first cleaning mechanism 100 to rotate from the critical position to the first position in the second direction. Fig.14 shown.

[0100] Please refer to Figure 1 , Figures 17 to 19 In some embodiments, the first cleaning mechanism 100 includes a first deflection assembly 10, and the first driving assembly 40 is connected to the first cleaning assembly 16 through the first deflection assembly 10. The cleaning device 300 is configured to cause the first deflection assembly 10 and the first cleaning assembly 16 to swing to a first position relative to the mounting plate 44 along the second direction when the first cleaning assembly 16 rotates along the first direction and is subjected to a friction torque along the second direction, and to cause the first deflection assembly 10 and the first cleaning assembly 16 to swing to a second position relative to the mounting plate 44 along the first direction when the first cleaning assembly 16 rotates along the second direction and is subjected to a friction torque along the first direction.

[0101] In this way, partial deflection of the first cleaning mechanism 100 can be achieved, so that the first cleaning assembly 16 and the first deflection assembly 10 are deflected.

[0102] Specifically, along the height direction H of the cleaning device 300, the first driving assembly 40 is located above the first deflection assembly 10, and the first cleaning assembly 16 is located below the first deflection assembly 10. The first driving assembly 40 is rotatably connected to the first deflection assembly 10, and the first deflection assembly 10 is rotatably connected to the first cleaning assembly 16. In one embodiment, the first driving assembly 40 drives the first cleaning assembly 16 to rotate through the first deflection assembly 10, and when the first cleaning assembly 16 rotates in the first direction and is subjected to a friction torque in the second direction, the first deflection assembly 10 and the first cleaning assembly 16 swing to the first position relative to the mounting plate 44 in the second direction. In one embodiment, the first driving assembly 40 drives the first cleaning assembly 16 to rotate through the first deflection assembly 10, and when the first cleaning assembly 16 rotates in the second direction and is subjected to a friction torque in the first direction, the first deflection assembly 10 and the first cleaning assembly 16 swing to the second position relative to the mounting plate 44 in the first direction.

[0103] Please refer to Figures 17 to 24 In some embodiments, the first deflection assembly 10 includes a first transmission member 11 and a second transmission member 12, wherein the first transmission member 11 is configured to connect to the driving member 14, and the first transmission member 11 has a first rotation axis. The second transmission member 12 is rotatably connected to the first transmission member 11, and the second transmission member 12 is configured to connect to the cleaning assembly and drive the cleaning assembly to rotate. The first deflection assembly 10 is configured to cause the first deflection assembly 10 and the first cleaning assembly 16 to swing around the first rotation axis in the second direction to a first position when the first transmission member 11 drives the second transmission member 12 to rotate so that the first cleaning assembly 16 rotates in the first direction and is subjected to a friction torque in the second direction, and causes the first deflection assembly 10 and the first cleaning assembly 16 to swing around the first rotation axis in the first direction to a second position when the first transmission member 11 drives the second transmission member 12 to rotate so that the first cleaning assembly 16 rotates in the second direction and is subjected to a friction torque in the first direction, and causes the first deflection assembly 10 and the first cleaning assembly 16 to swing around the first rotation axis in the first direction to a second position, and the first direction is opposite to the second direction.

[0104] In this way, the first transmission member 11 can drive the second transmission member 12 to make the first cleaning component 16 rotate in the first direction and in the second direction. When the first cleaning component 16 rotates, when the first cleaning component 16 is subjected to friction torques in different directions (such as when the first cleaning component 16 contacts the ground when rotating, the first cleaning component 16 will be subjected to the friction torque of the reaction of the ground), the first yaw assembly 101 can swing around the first rotation axis, and then the first transmission member 11 and the second transmission member 12 can be used to drive the first yaw assembly 10 and the first cleaning component 16, so as to realize the swing of the first yaw assembly 10 and the first cleaning component 16.

[0105] Specifically, the first transmission member 11 may include a belt, and the second transmission member 12 may include a synchronous wheel. The connection between the first transmission member 11 and the second transmission member 12 may be a rotational connection between a belt and a synchronous wheel. Fig.19 In the figure, along the height direction H of the cleaning device 300, the driving member 14 is arranged above the first transmission member 11 and the second transmission member 12, and the first transmission member 11 and the second transmission member 12 can be arranged above the first cleaning assembly 16. A mop can be arranged below the first cleaning assembly 16, and the mop can be attached to the ground and clean the ground. The first transmission member 11 is a belt, and the first transmission member 11 can have two rotation axes. The first transmission member 11 can have a first rotation axis O1 and a second rotation axis O2, as shown in FIG. Fig.19 As shown. The second transmission member 12 can rotate around the second rotation axis O2. The height direction of the cleaning device 300 includes the up and down direction. It can be understood that in other embodiments, the rotational connection between the first transmission member 11 and the second transmission member 12 can also be a rotational connection between gears. It should be noted that the first transmission member 11 can be rotating or driving the second transmission member 12 to rotate in a translational manner. The first transmission member 11 driving the second transmission member 12 to rotate in a translational manner can refer to that the reciprocating motion of the connecting rod drives the synchronous wheel to rotate.

[0106] Optionally, in Fig.21 In the embodiment, the cleaning device 300 is provided with a first stopper 18 and a second stopper 20. The first stopper 18 and the second stopper 20 can be provided at the bottom of the cleaning device 300 close to the ground. When the first deflection assembly 10 swings to the first position, the first deflection assembly 10 abuts against the first stopper 18. When the first deflection assembly 10 abuts against the second position, the first deflection assembly 10 abuts against the second stopper 20.

[0107] In one embodiment, the driving member 14 can drive the first transmission member 11 to rotate, the first transmission member 11 can drive the second transmission member 12 to rotate, and the rotation of the second transmission member 12 can cause the first cleaning component 16 to be subjected to a friction torque along the second direction when rotating in the first direction, so that the first deflection assembly 10 and the first cleaning component 16 can be swung around the first rotation axis O1 in the second direction to a first position, at which time the first deflection assembly 10 abuts against the first stop member 18. In one embodiment, the driving member 14 can drive the first transmission member 11 to rotate, the first transmission member 11 can drive the second transmission member 12 to rotate, and the rotation of the second transmission member 12 can cause the first cleaning component 16 to be subjected to a friction torque along the first direction when rotating in the second direction, so that the first deflection assembly 10 and the first cleaning component 16 can be swung around the first rotation axis O1 in the first direction to a second position, at which time the first deflection assembly 10 abuts against the second stop member 20. That is to say, the first transmission member 11 can drive the second transmission member 12 to rotate the first cleaning component 16 in the first direction and in the second direction. When the first cleaning component 16 rotates, when the first cleaning component 16 is subjected to friction torques in different directions (such as when the first cleaning component 16 contacts the ground during rotation, the first cleaning component 16 will be subjected to the friction torque of the reaction of the ground), the first yaw assembly 10 can swing around the first rotation axis O1, and then the first transmission member 11 and the second transmission member 12 can be used to drive the first yaw assembly 10 and the first cleaning component 16, thereby realizing the swing of the first yaw assembly 10 and the first cleaning component 16.

[0108] In some embodiments, the first driving assembly 40 includes a driving member 14 and a transmission assembly 28, the transmission assembly 28 includes a first abutting member 48 and a second abutting member 50, the first abutting member 48 connects the driving member 14 and the second abutting member 50, the second abutting member 50 connects the first cleaning assembly 16, and a track surface 54 is provided on the second abutting member 50, the track surface 54 includes a first area 64, a second area 66 and a third area 68, along the first direction, the first area 64, the second area 66 and the third area 68 are connected in sequence, and the cleaning device 300 is configured as follows:

[0109] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 first drives the first abutting member 48 to rotate along the second direction by the first rotation angle, and then drives the first abutting member 48 to perform at least one reverse rotation action.

[0110] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the driving member 14 first drives the first abutting member 48 to rotate along the first direction by a first rotation angle, and then drives the first abutting member 48 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.

[0111] In this way, the first abutting member 48 can be kept in the second area 66 , thereby allowing the first cleaning assembly 16 to be located off the ground.

[0112] Optionally, in one embodiment, the rotation direction of the driving member 14 is opposite to the rotation direction of the first abutting member 48. Optionally, in one embodiment, the rotation direction of the driving member 14 is the same as the rotation direction of the first abutting member 48. The present invention is not specifically limited. In addition, the rotation direction of the first abutting member 48 is the same as the rotation direction of the first cleaning assembly 16, and the rotation direction of the first cleaning assembly 16 is opposite to the yaw motion direction of the first cleaning structure 100.

[0113] The driving member 14 rotates a corresponding rotation angle, thereby driving the first abutting member 48 to rotate. A first connecting region 70 is provided between the second region 66 and the third region 68 , and a second connecting region 71 is provided between the first region 64 and the second region 66 .

[0114] Combination Figure 26 to Figure 28 In the process of the driving member 14 driving the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 first drives the first abutting member 48 to rotate along the second direction by the first rotation angle. Due to the effect of inertia, the first abutting member 48 can rush from the second area 66 to the second connection area 71. At this time, the driving member 14 drives the first abutting member 48 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 48 can rotate to the second area 66, thereby preventing the first cleaning component 16 from falling to the cleaning position, keeping the first abutting member 48 in the second area 66, and making the first cleaning component 16 located off the ground.

[0115] Optionally, in Fig. 27 In the process that the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 drives the first abutting member 48 to perform a reverse rotation action V1, and the reverse rotation action V1 is along the first direction. Fig.28In the process that the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the driving member 14 drives the first abutting member 48 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.

[0116] It is understood that the driving member 14 can not only drive the first abutting member 48 to perform one reverse rotation action, two reverse rotation actions, but also drive the first abutting member 48 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. 27 and Fig.28 It only shows the change of the rotation direction of the first abutting member 48 , and does not represent the actual movement trajectory of the first abutting member 48 .

[0117] Similarly, when the driving member 14 drives the first resisting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the above understanding can be obtained.

[0118] In the process of the driving member 14 driving the first abutment 48 to rotate from the first area 64 to the second area 66 along the first direction, the driving member 14 first drives the first abutment 48 to rotate by a first rotation angle along the first direction. Due to the effect of inertia, the first abutment 48 can rush from the second area 66 to the first connecting area 70. At this time, the first abutment 48 is driven to rotate by a second rotation angle along the second direction. The first abutment 48 can rotate from the first connecting area 70 to the second area 66, but due to the effect of inertia, the first abutment 48 can rush from the second area 66 to the second connecting area 71. At this time, the first abutment 48 is driven to rotate by a third rotation angle along the first direction. Then, the first rotation angle is greater than the second rotation angle, and the second rotation angle is greater than the third rotation angle, thereby ensuring that the first abutment 48 can rotate to the second area 66, thereby preventing the first cleaning component 16 from descending to the cleaning position and keeping the first abutment 48 in the second area 66, so that the first cleaning component 16 is located off the ground.

[0119] In some embodiments, the rotation angle of the driving member 14 corresponding to the first rotation angle is [85 degrees, 95 degrees].

[0120] In this way, it can be ensured that the driving member 14 can drive the first resisting member 48 to rotate from the first area 64 to the second area 66 or drive the first resisting member 48 to rotate from the third area 68 to the second area 66 .

[0121] Specifically, the driving member 14 may include a motor. Taking the rotation of the first abutting member 48 from the third area 68 to the second area 66 as an example, assuming that the first abutting member 48 is located in the third area 68, 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 14 and the first abutting member 48, the rotation angle of the driving member 14 may be inconsistent with the rotation angle of the first abutting member 48. It is understood that in other embodiments, the rotation angle of the driving member 14 may also be the same as the rotation angle of the first abutting member 48, and the present invention does not specifically limit this.

[0122] In one embodiment, when the first abutting member 48 abuts against the third region 68, the rotation angle of the driving member 14 can be calibrated as 0 degrees. When the angle of rotation of the driving member 14 along the second direction is between 85 degrees and 95 degrees, the first abutting member 48 can be driven to rotate the first rotation angle along the second direction, thereby driving the first abutting member 48 to rotate from the third region 68 to the second region 66. In one embodiment, when the first abutting member 48 abuts against the first region 64, the rotation angle of the driving member 14 can be calibrated as 0 degrees. When the angle of rotation of the driving member 14 along the first direction is between 85 degrees and 95 degrees, the first abutting member 48 can be driven to rotate the first rotation angle along the first direction, thereby driving the first abutting member 48 to rotate from the first region 64 to the second region 66.

[0123] The rotation angle of the driving member 14 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 14 may be detected by an angle detection device such as a code disk.

[0124] Optionally, the first rotation angle may also correspond to the rotation angle of the first cleaning assembly 16. Optionally, the second rotation angle may also correspond to the rotation angle of the first cleaning assembly 16. Optionally, the third rotation angle may also correspond to the rotation angle of the first cleaning assembly 16.

[0125] Please refer to Fig.10 , Fig.11 and Fig.26 In some embodiments, the track surface 54 includes a first connection area 70 and a second connection area 71, the first connection area 70 connects the third area 68 and the second area 66, and the second connection area 71 connects the second area 66 and the first area 64;

[0126] The first connecting area 70 includes a first sub-area 94 and a second sub-area 96. Along the second direction, the third area 68 is connected to the second area 66 in sequence through the second sub-area 96 and the first sub-area 94. The second sub-area 96 includes a plurality of first connecting segments 98 connected in sequence end to end. The slope of the first sub-area 94 is greater than the slope of at least one of the plurality of first connecting segments 98.

[0127] The second connection area 71 includes a third sub-area 102 and a fourth sub-area 104. Along the first direction, the first area 64 is connected to the second area 66 in sequence through the fourth sub-area 104 and the third sub-area 102. The fourth sub-area 104 includes a plurality of second connection segments 106 connected end to end in sequence. The slope of the third sub-area 102 is greater than the slope of at least one of the plurality of second connection segments 106.

[0128] In this way, when the first abutting member 48 rotates to the second area 66 , the first sub-area 94 and the third sub-area 102 can further ensure that the first abutting member 48 is in the second area 66 , thereby ensuring that the first cleaning assembly 16 is located off the ground.

[0129] Specifically, in Fig.26 In the process of the first abutment 48 rotating from the third area 68 to the second area 66, the first abutment 48 can be rotated to the plurality of first connecting segments 98, and then rotated to the first sub-area 94 through the plurality of first connecting segments 98. The slope of the first sub-area 94 is greater than the slope of at least one of the plurality of first connecting segments 98, so that the first abutment 48 is easy to rotate to the second area 66, thereby ensuring that the first abutment 48 is in the second area 66, and ensuring that the first cleaning component 16 is located off the ground.

[0130] During the process of the first abutment 48 rotating from the first area 64 to the second area 66, the first abutment 48 can be rotated to the multiple second connecting segments 106, and then rotated to the third sub-area 102 through the multiple second connecting segments 106. The slope of the third sub-area 102 is greater than the slope of at least one of the multiple second connecting segments 106, so that the first abutment 48 is easy to rotate to the second area 66, thereby ensuring that the first abutment 48 is in the second area 66, ensuring that the first cleaning component 16 is located off the ground.

[0131] The slope of the first sub-region 94 may be greater than the slope of one first connecting segment 98, the slope of two first connecting segments 98, the slope of another number of first connecting segments 98, or the slope of all first connecting segments 98. The slope of the third sub-region 102 may be greater than the slope of one second connecting segment 106, the slope of two second connecting segments 106, the slope of another number of second connecting segments 106, or the slope of all second connecting segments 106.

[0132] It is understood that the slope may refer to the angle between the area and the horizontal plane. Fig.26 In the embodiment, the slope of the first sub-region 94 may be an angle θ between the first sub-region 94 and a horizontal plane.

[0133] In some embodiments, the first driving assembly 40 and the second driving assembly 42 both include a driving member 14 and a transmission assembly 28, the transmission assembly 28 includes a first abutting member 48 and a second abutting member 50, the first abutting member 48 is connected to the driving member 14 and the second abutting member 50, the second abutting member 50 is connected to the first cleaning assembly 16 and the second cleaning member, the second abutting member 50 is provided with a track surface 54, and the first abutting member 48 can be movably abutted on the track surface 54. The driving member 14 is configured to drive the first abutting member 48 to rotate so that the first abutting member 48 moves on the track surface 54, so that the first cleaning assembly 16 is lifted and lowered relative to the mounting plate 44; and / or, the driving member 14 is configured to drive the first abutting member 48 to rotate so that the first abutting member 48 moves on the track surface 54, so that the second cleaning assembly 17 is lifted and lowered relative to the mounting plate 44.

[0134] In this way, the structure of the transmission assembly 28 can be used to enable the driving member 14 to drive the first cleaning assembly 16 to move up and down relative to the mounting plate 44 or to drive the second cleaning assembly 17 to move up and down relative to the mounting plate 44 .

[0135] Specifically, the first drive assembly 40 may include a drive member 14 and a transmission assembly 28, and the second drive assembly 42 may include a drive member 14 and a transmission assembly 28. The structures of the first drive assembly 40 and the second drive assembly 42 may be the same.

[0136] In one embodiment, the driving member 14 can drive the first abutting member 48 to rotate so that the first abutting member 48 moves on the track surface 54, so that the first cleaning assembly 16 is lifted relative to the mounting plate 44. In one embodiment, the driving member 14 can drive the first abutting member 48 to rotate so that the first abutting member 48 moves on the track surface 54, so that the second cleaning assembly 17 is lifted relative to the mounting plate 44. In one embodiment, the driving member 14 can drive the first abutting member 48 to rotate so that the first abutting member 48 moves on the track surface 54, so that the first cleaning assembly 16 is lifted relative to the mounting plate 44 and the second cleaning assembly 17 is lifted relative to the mounting plate 44.

[0137] The following takes the first driving component 40 as an example. In some application scenarios, such as carpet cleaning, obstacle crossing, backwashing, and air drying, the cleaning device 300 may not need to perform mopping operations. If the first cleaning component 16 is still in the cleaning position, the first cleaning component 16 will be attached to the ground. When the first cleaning component 16 is attached to the ground, the movement of the cleaning device 300 will cause a certain movement resistance of the cleaning device 300. Moreover, when the cleaning device 300 crosses an obstacle, the first cleaning component 16 sticking to the ground will also increase the difficulty of crossing the obstacle.

[0138] Therefore, the cooperation between the first abutment 48 and the second abutment 50 can make the first cleaning assembly 16 rise and fall relative to the mounting plate 44. When the first cleaning assembly 16 does not need to be attached to the ground, the first cleaning assembly 16 can be raised, and when the first cleaning assembly 16 needs to be attached to the ground, the first cleaning assembly 16 can be lowered. In other words, the first cleaning assembly 16 can be located in a cleaning position for abutting the ground and in a ground-lift position for detaching from the ground.

[0139] Optionally, in Fig. 9 In the embodiment, the second abutting member 50 includes a ring portion 52, and the top surface of the ring portion 52 is provided with two track surfaces 54. The first abutting member 48 includes two push rods 56, and each push rod 56 is located above a corresponding track surface 54, and the two push rods 56 abut against the two track surfaces 54, respectively. The track surface 54 has high and low areas. When the push rod 56 abuts against the high area, the first cleaning component 16 can be located in a cleaning position, and when the push rod 56 abuts against the low area, the first cleaning component 16 can be located in a position off the ground. It can be understood that if the push rod 56 and the track surface 54 interchange their upper and lower positions, when the push rod 56 abuts against the high area, the first cleaning component 16 can be located in a position off the ground, and when the push rod 56 abuts against the low area, the first cleaning component 16 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 54 and the push rods 56. Fig. 9 In the embodiment, the first abutting member 48 moves on the track surface 54 by sliding. It is understood that in other embodiments, a roller may be added to the end of the push rod 56, the roller contacts the track surface 54, and the first abutting member 48 moves on the track surface 54 by rolling. It is understood that the number of track surfaces 54 is not limited to two, and may be one, or more than two, and the present invention does not specifically limit this.

[0140] Optionally, the transmission assembly 28 includes a gear set 58, the gear set 58 includes at least one gear, the gear set 58 connects the driving member 14 and the first abutting member 48, and the gear set 58 transmits the power of the driving member 14 to the first abutting member 48, so that the driving member 14 can drive the first abutting member 48 to move to different areas on the track surface 54, thereby adjusting the height of the first cleaning assembly 16. The gear set 58 can be a reduction gear set 58. The second driving assembly 42 can refer to the description of the first driving assembly 40.

[0141] Please refer to Fig.10 and Fig.11In some embodiments, a first limit portion 60 and a second limit portion 62 are respectively provided on the track surface 54. When the first abutting member 48 abuts against the first limit portion 60, the first limit portion 60 is configured to limit the end point of the movement of the first abutting member 48 on the track surface 54 along the first direction. When the first abutting member 48 abuts against the second limit portion 62, the second limit portion 62 is configured to limit the end point of the movement of the first abutting member 48 on the track surface 54 along the second direction.

[0142] In this way, through the two limiting portions, when the first abutting member 48 abuts against the limiting portions, the first abutting member 48 stops moving on the track surface 54 .

[0143] Specifically, taking the first cleaning assembly 16 as an example, when the first abutting member 48 abuts against the first limiting portion 60, the first limiting portion 60 is configured to limit the end point of the movement of the first abutting member 48 along the first direction on the track surface 54. At this time, the first abutting member 48 cannot move relative to the second abutting member 50 along the first direction. If the driving member 14 continues to drive the first abutting member 48 to rotate along the first direction, the first abutting member 48 drives the second abutting member 50 to rotate along the first direction through the first limiting portion 60, and then drives the first cleaning assembly 16 to rotate along the first direction.

[0144] When the first abutting member 48 abuts against the second limiting portion 62, the second limiting portion 62 is configured to limit the end point of the movement of the first abutting member 48 along the second direction on the track surface 54. At this time, the first abutting member 48 cannot move relative to the second abutting member 50 along the second direction. If the driving member 14 continues to drive the first abutting member 48 to rotate along the second direction, the first abutting member 48 drives the second abutting member 50 to rotate along the second direction through the second limiting portion 62, and then drives the first cleaning assembly 16 to rotate along the second direction.

[0145] Therefore, when the first abutting member 48 has not yet abutted against the first limiting portion 60 or the second limiting portion 62, the first abutting member 48 can be moved to different areas on the track surface 54 when rotating, thereby realizing the lifting and lowering of the first cleaning assembly 16. When the first abutting member 48 abuts against the first limiting portion 60 or the second limiting portion 62, the first abutting member 48 can be rotated again to drive the second abutting member 50 to rotate, thereby realizing the rotation of the first cleaning assembly 16.

[0146] It should be noted that when the first supporting member 48 rotates along the R1 direction, the first supporting member 48 moves along the R1 direction on the track surface 54. If the friction between the push rod 56 and the track surface 54 is too large, the push rod 56 may stay in a certain area on the track surface 54. When the friction between the first cleaning component 16 and the ground is large enough and greater than the friction between the push rod 56 and the track surface 54, the first cleaning component 16 can drive the first supporting member 48 to abut against the first limiting portion 60 through the second supporting member 50.

[0147] In some embodiments, the first cleaning component 16 includes a friction member (not shown), which is configured to increase the friction torque along the second direction received by the first cleaning component 16 when it rotates along the first direction, so that the first cleaning component 16 drives the first abutting member 48 to abut against the first limiting portion 60, and to increase the friction torque along the first direction received by the first cleaning component 16 when it rotates along the second direction, so that the first cleaning component 16 drives the first abutting member 48 to abut against the second limiting portion 62.

[0148] In this way, the friction between the first cleaning assembly 16 and the ground can be increased, so that the first abutting member 48 can abut against the first limiting portion 60 or the second limiting portion 62 .

[0149] Specifically, in one embodiment, when the first cleaning component 16 descends to the cleaning position, the first cleaning component 16 rotates in the first direction, and the friction member contacts the ground. The friction member can increase the friction between the first cleaning component 16 and the ground, so that the friction between the first cleaning component 16 and the ground is greater than the friction between the push rod 56 and the track surface 54. The first cleaning component 16 can drive the push rod 56 to abut against the first limiting portion 60 through the second abutment member 50.

[0150] Similarly, when the first cleaning assembly 16 rotates in the second direction, the friction member makes the friction between the first cleaning assembly 16 and the ground greater than the friction between the push rod 56 and the track surface 54, so that the first cleaning assembly 16 drives the push rod 56 to abut against the second limit portion 62 through the second abutting member 50. The second cleaning assembly 17 can refer to the description of the first cleaning assembly 16.

[0151] Please refer to Fig.10 and Fig.11 In some embodiments, the track surface 54 includes a first area 64, a second area 66 and a third area 68. Along the first direction, the first area 64, the second area 66 and the third area 68 are connected in sequence. When the first abutment member 48 abuts against the first area 64 or the third area 68, the first cleaning component 16 and the second cleaning component 17 are located in a cleaning position for abutting the ground. When the first abutment member 48 abuts against the second area 66, the first cleaning component 16 and the second cleaning component 17 are located in a ground-lift position for leaving the ground.

[0152] In this way, the first cleaning assembly 16 and the second cleaning assembly 17 are switched between the off-ground position and the cleaning position through the three regions of the track surface 54 .

[0153] Specifically, in Fig.10 and Fig.11In the embodiment, the first direction is the clockwise direction and the second direction is the counterclockwise direction. It can be understood that in other embodiments, the first direction may be the counterclockwise direction and the second direction may be the clockwise direction.

[0154] The following takes the first cleaning assembly 16 as an example. Two adjacent areas can be connected by the first connecting area 70 and the second connecting area 71, respectively, and the first abutting member 48 can be moved from one area to another through the first connecting area 70 and the second connecting area 71. Fig.10 , the positions of the first area 64 and the third area 68 are higher than the position of the second area 66. The first abutting member 48 is located above the track surface 54. When the first abutting member 48 abuts against the first area 64 or the third area 68, the distance between the first abutting member 48 and the first cleaning assembly 16 is relatively far, and the first cleaning assembly 16 is located at the cleaning position. When the first abutting member 48 abuts against the second area 66, the distance between the first abutting member 48 and the first cleaning assembly 16 is relatively close, and the first cleaning assembly 16 is located off the ground.

[0155] exist Fig.10 and Fig.11 In the embodiment, the first area 64, the second area 66, and the third area 68 are planes. Furthermore, the first area 64, the second area 66, and the third area 68 can also be inclined surfaces. In one embodiment, when the first area 64, the second area 66, and the third area 68 are inclined surfaces, when the friction force of the first abutting member 48 abutting against the first area 64, the second area 66, and the third area 68 is large enough, the first abutting member 48 can stay on the first area 64, the second area 66, and the third area 68.

[0156] Along the first direction, the first region 64 , the second region 66 , and the third region 68 are connected in sequence, that is, along the second direction, the third region 68 , the second region 66 , and the first region 64 are connected in sequence.

[0157] When the first abutment 48 moves from the first region 64 to the second region 66 along the first direction, the first cleaning assembly 16 switches from the cleaning position to the ground-lifting position. When the first abutment 48 moves from the second region 66 to the third region 68 along the first direction, the first cleaning assembly 16 switches from the ground-lifting position to the cleaning position.

[0158] When the first abutment 48 moves from the third region 68 to the second region 66 along the second direction, the first cleaning assembly 16 switches from the cleaning position to the off-ground position. When the first abutment 48 moves from the second region 66 to the first region 64 along the second direction, the first cleaning assembly 16 switches from the off-ground position to the cleaning position. The second cleaning assembly 17 can refer to the description of the first cleaning assembly 16.

[0159] In some embodiments, cleaning device 300 is configured to:

[0160] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the third area 68 along the first direction, the first cleaning assembly 16 and the second cleaning assembly 17 are lowered from the off-ground position to the cleaning position and the first abutting member 48 abuts against the first limiting portion 60;

[0161] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the first cleaning assembly 16 and the second cleaning assembly 17 rise from the cleaning position to the ground-lifting position and the first abutting member 48 is separated from the first limiting portion 60 and the second limiting portion 62;

[0162] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the first area 64 along the second direction, the first cleaning assembly 16 and the second cleaning assembly 17 are lowered from the off-ground position to the cleaning position and the first abutting member 48 abuts against the second limiting portion 62;

[0163] When the driving member 14 drives the first resisting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the first cleaning assembly 16 and the second cleaning assembly 17 rise from the cleaning position to the ground position and the first resisting member 48 is separated from the second limiting portion 62 and the first limiting portion 60 .

[0164] In this way, the driving member 14 can be used to drive the first abutting member 48 to rotate in a direction such that the first abutting member 48 abuts against different areas of the track surface 54 , thereby driving the first cleaning assembly 16 and the second cleaning assembly 17 to rise and fall.

[0165] Specifically, taking the first cleaning assembly 16 as an example, initially, the first abutting member 48 abuts against the second region 66, and the driving member 14 has not yet driven the first abutting member 48 to rotate. At this time, the first cleaning assembly 16 is located off the ground.

[0166] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the third area 68 along the first direction, the first cleaning assembly 16 is lowered from the ground position to the cleaning position and the first abutting member 48 abuts against the first limiting portion 60. At this time, the continuous driving of the driving member 14 can make the first abutting member 48 drive the second abutting member 50 to rotate along the first direction through the first limiting portion 60, and then drive the first transmission member 11 to drive the first cleaning assembly 16 to rotate along the first direction.

[0167] When the first cleaning assembly 16 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 first cleaning assembly 16. If the first cleaning mechanism 100 is in the first position, the first cleaning mechanism 100 will not swing and will remain in the first position. If the first cleaning mechanism 100 is in the second position, the first cleaning mechanism 100 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.

[0168] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the first cleaning assembly rises from the cleaning position to the ground-lifting position and the first abutting member 48 is separated from the first limiting portion 60 and the second limiting portion 62. At this time, the first abutting member 48 cannot drive the first cleaning assembly 16 to rotate through the second abutting member 50, and the first cleaning assembly 16 does not rotate and is located at the ground-lifting position.

[0169] When the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the first area 64 along the second direction, the first cleaning assembly 16 is lowered from the off-the-ground position to the cleaning position and the first abutting member 48 abuts against the second limiting portion 62. At this time, the continuous driving of the driving member 14 can make the first abutting member 48 drive the second abutting member 50 to rotate along the second direction through the second limiting portion 62, thereby driving the first cleaning assembly 16 to rotate along the second direction.

[0170] When the first cleaning assembly 16 rotating in the second direction contacts the ground or other fixed objects, the ground or other fixed objects generate a friction torque along the first direction on the cleaning assembly. If the first cleaning mechanism 100 is located in the first position, the first cleaning mechanism 100 swings from the first position to the second position along the first direction under the action of the friction torque along the first direction. If the first cleaning mechanism 100 is located in the second position, the first cleaning mechanism 100 does not swing and remains in the second position.

[0171] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the first cleaning assembly 16 rises from the cleaning position to the ground-lifting position and the first abutting member 48 is separated from the second limiting portion 62 and the first limiting portion 60. At this time, the first abutting member 48 cannot drive the first cleaning assembly 16 to rotate through the second abutting member 50, and the first cleaning assembly 16 does not rotate and is located at the ground-lifting position.

[0172] It should be noted that the driving member 14 includes a motor, and the rotation direction of the driving member 14 can be the same as or opposite to the rotation direction of the first abutting member 48. The second cleaning assembly 17 can refer to the description of the first cleaning assembly 16.

[0173] In some embodiments, the first cleaning mechanism 100 and the second cleaning mechanism 200 both include a reset member 74;

[0174] When the driving member 14 drives the first abutting member 48 to rotate from the second region 66 to the third region 68 along the first direction, the restoring member 74 is compressed by the second abutting member 50 ;

[0175] When the driving member 14 drives the first abutting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the restoring member 74 restores its length and drives the second abutting member 50 to drive the first cleaning assembly 16 and the second cleaning assembly 17 to rise from the cleaning position to the ground-lifting position;

[0176] When the driving member 14 drives the first abutting member 48 to rotate from the second region 66 to the first region 64 along the second direction, the restoring member 74 is compressed by the second abutting member 50 ;

[0177] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the restoring member 74 restores its length and drives the second abutting member 50 to drive the first cleaning assembly 16 and the second cleaning assembly 17 to rise from the cleaning position to the ground position.

[0178] In this way, by compressing the reset member 74, the reset member 74 can drive the first cleaning assembly 16 and the second cleaning member to rise when it is extended, and the structure is simple.

[0179] For details, please refer to Figure 5 and Fig.19 , a receiving cavity 76 is provided in the second abutting member 50, and the reset member 74 is located in the receiving cavity 76. In one embodiment, the second abutting member 50 includes a mounting portion 78, and the mounting portion 78 is located in the space surrounded by the ring portion 52. The second abutting member 50 also includes a second connecting portion 112, and the second connecting portion 112 is fixedly connected to the ring portion 52 and the mounting portion 78, and can be rotatably connected to the first transmission member 11. The mounting portion 78 and the ring portion 52 are located at the top of the second connecting portion 112. A receiving cavity 76 is provided in the mounting portion 78, and a fixing member 82 is provided in the receiving cavity 76, and the fixing member 82 can include a screw. The transmission assembly 28 includes a rotating shaft 84, and the rotating shaft 84 can be connected to the gear set 58, and the rotating shaft 84 is driven to rotate by the gear set 58. The rotating shaft 84 passes through the first abutting member 48 and the mounting portion 78, and one end of the rotating shaft 84 extends into the receiving cavity 76. The rotating shaft 84 is fixedly connected to the first abutting member 48, and the rotation of the rotating shaft 84 can drive the first abutting member 48 to rotate. The reset member 74 is clamped between the upper side wall of the accommodating cavity 76 and the fixing member 82. Optionally, a positioning portion 86 is provided on the upper side wall of the accommodating cavity 76, and the reset member 74 is sleeved on the positioning portion 86 to make the reset member 74 more stable during compression and extension.

[0180] Taking the first cleaning assembly 16 as an example, when the driving member 14 drives the first abutting member 48 to rotate from the second area 66 to the third area 68 along the first direction, the second abutting member 50 descends, and the first cleaning assembly 16 descends from the off-the-ground position to the cleaning position. The reset member 74 is compressed by the upper side wall of the accommodating cavity 76, so that the reset member 74 becomes shorter.

[0181] When the driving member 14 drives the first supporting member 48 to rotate from the third area 68 to the second area 66 along the second direction, the reset member 74 restores its length, and the extended reset member 74 provides an upward force to the upper side wall of the accommodating cavity 76, so that the second supporting member 50 rises, and then the first cleaning component 16 rises from the cleaning position to the ground position.

[0182] When the driving member 14 drives the first abutting member 48 to rotate from the second region 66 to the first region 64 along the second direction, the second abutting member 50 descends, and the first cleaning assembly 16 descends from the off-ground position to the cleaning position. The reset member 74 is compressed by the upper side wall of the accommodating cavity 76, shortening the reset member 74.

[0183] When the driving member 14 drives the first abutting member 48 to rotate from the first area 64 to the second area 66 along the first direction, the restoring member 74 recovers its length, and the extended restoring member 74 provides an upward force to the upper side wall of the accommodating cavity 76, so that the second abutting member 50 rises, thereby raising the first cleaning assembly 16 from the cleaning position to the ground-lifting position. The second cleaning assembly 17 can refer to the description of the first cleaning assembly 16.

[0184] The reset member 74 includes but is not limited to elastic members 120 such as tension springs, torsion springs, and springs, and other reset members 74 that can be deformed by external force and can restore the deformation when the external force is removed. The reset member 74 shown in the figure is a tension spring.

[0185] Please refer to Figure 5 and Fig.25 In some embodiments, the first cleaning mechanism 100 and the second cleaning mechanism 200 both include a third limiting portion 88, and the second abutting member 50 is provided with a fourth limiting portion 90;

[0186] When the first cleaning assembly 16 and the second cleaning assembly 17 are located at the cleaning position, the third limiting portion 88 and the fourth limiting portion 90 are staggered in the lifting direction of the first cleaning assembly 16, and the third limiting portion 88 and the fourth limiting portion 90 are staggered in the lifting direction of the second cleaning assembly 17;

[0187] When the first cleaning assembly 16 and the second cleaning assembly 17 are located off the ground, the third limiting portion 88 abuts against the fourth limiting portion 90 in the circumferential direction of the first cleaning assembly 16 , and the third limiting portion 88 abuts against the fourth limiting portion 90 in the circumferential direction of the second cleaning assembly 17 .

[0188] In this way, when the third limiting portion 88 abuts against the fourth limiting portion 90 , the first cleaning assembly 16 and the second cleaning assembly 17 can be kept off the ground, thereby preventing the first cleaning assembly 16 and the second cleaning assembly 17 from rising and falling back and forth.

[0189] Specifically, the cleaning device 300 further includes a sleeve 92 , and a third limiting portion 88 is protrudingly provided on the inner wall of the inner cavity of the sleeve 92 .

[0190] The following takes the first cleaning assembly 16 as an example. When the first cleaning assembly 16 is in the off-ground position, the second abutting member 50 is partially located in the inner cavity of the sleeve 92, and the third limiting portion 88 and the fourth limiting portion 90 abut against each other in the circumferential direction of the first cleaning assembly 16. At this time, the first abutting member 48 abuts against the second area 66. The first cleaning assembly 16 cannot rotate in the direction close to the third limiting portion 88, as shown in FIG. Figure 5 Therefore, it is possible to avoid the first abutting member 48 rushing from the second area 66 to the second connecting area 71 between the second area 66 and the first area 64 and then falling on the second area 66 due to inertia when the first abutting member 48 moves from the third area 68 to the second area 66, thereby preventing the first cleaning component 16 from falling and then rising due to inertia when the first abutting member 48 moves from the first area 64 to the second area 66, thereby preventing the first cleaning component 16 from falling and then rising due to inertia when the first abutting member 48 rushing from the second area 66 to the first connecting area 70 between the second area 66 and the third area 68 and then falling on the second area 66, thereby making the rising action of the first cleaning component 16 more stable.

[0191] When the first cleaning assembly 16 is in the cleaning position, the second abutting member 50 extends out of the sleeve 92, and the third limiting portion 88 and the fourth limiting portion 90 are staggered in the lifting direction of the first cleaning assembly 16. At this time, the first abutting member 48 abuts against the first area 64 or the third area 68 (at Fig. 9 , the first abutting member 48 abuts against the first area 64). Since the third limiting portion 88 and the fourth limiting portion 90 are staggered in the lifting direction of the first cleaning assembly 16, the third limiting portion 88 will not block the rotation of the first cleaning assembly 16 in the rotation direction of the first cleaning assembly 16, and the first abutting member 48 can drive the first cleaning assembly 16 to rotate through the first limiting portion 60. The staggered setting means that in the lifting direction of the first cleaning assembly 16, the third limiting portion 88 and the fourth limiting portion 90 do not overlap and do not correspond to each other.

[0192] 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.

[0193] 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, a first cleaning mechanism and a second cleaning mechanism; The first cleaning mechanism is connected to the housing, the first cleaning mechanism comprises a first driving assembly and a first cleaning assembly, the first driving assembly is connected to the first cleaning assembly, the first driving assembly is configured to drive the first cleaning assembly to rotate along a first direction and along a second direction, the first direction is opposite to the second direction; The second cleaning mechanism is connected to the housing, the second cleaning mechanism comprises a second driving assembly and a second cleaning assembly, the second driving assembly is connected to the second cleaning assembly, and the second driving assembly is configured to drive the second cleaning assembly to rotate along the first direction and along the second direction; The cleaning device is configured such that when the first cleaning component is subjected to a friction torque along the second direction while rotating along the first direction, the first cleaning component is swung to a first position relative to the shell along the second direction and the second cleaning component is rotated along the second direction; and when the first cleaning component is subjected to a friction torque along the first direction while rotating along the second direction, the first cleaning component is swung to a second position relative to the shell along the first direction and the second cleaning component is rotated along the first direction.

2. The cleaning device according to claim 1, characterized in that The first cleaning mechanism is rotatably connected to the housing; The cleaning device is configured to cause the first cleaning mechanism to swing relative to the housing to the first position along the second direction when the first cleaning component is subjected to a friction torque along the second direction when rotating along the first direction; When the first cleaning assembly is subjected to a friction torque along the first direction while rotating along the second direction, the first cleaning mechanism is swung to a second position relative to the housing along the first direction.

3. The cleaning device according to claim 2, characterized in that: The swing stroke of the first cleaning 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.

4. The cleaning device according to claim 3, 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 first cleaning 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 first cleaning 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 first cleaning component when the first cleaning mechanism is in the first position and the rotation center of the first cleaning component when the first cleaning mechanism is in the second position.

5. The cleaning device according to claim 1, characterized in that: The first cleaning mechanism comprises a first deflection assembly, and the first driving assembly is connected to the first cleaning assembly via the first deflection assembly; The cleaning device is configured such that when the first cleaning component is subjected to a friction torque along the second direction when rotating along the first direction, the first deflection assembly and the first cleaning component are swung to a first position relative to the shell along the second direction, and when the first cleaning component is subjected to a friction torque along the first direction when rotating along the second direction, the first deflection assembly and the first cleaning component are swung to a second position relative to the shell along the first direction.

6. The cleaning device according to claim 5, characterized in that The first deflection assembly includes a first transmission member and a second transmission member, the first transmission member is configured to connect to the driving member, and the first transmission member has a first rotation axis; The second transmission member is rotatably connected to the first transmission member, and the second transmission member is configured to connect to the cleaning component and drive the cleaning component to rotate; The first yaw assembly is configured to cause the first yaw assembly and the first cleaning assembly to swing around the first rotation axis to a first position along the second direction when the first transmission member drives the second transmission member to rotate so that the first cleaning assembly rotates along the first direction and is subjected to a friction torque along the second direction; and to cause the first yaw assembly and the first cleaning assembly to swing around the first rotation axis to a second position along the first direction when the first transmission member drives the second transmission member to rotate so that the first cleaning assembly rotates along the second direction and is subjected to a friction torque along the first direction. The first direction is opposite to the second direction.

7. The cleaning device according to claim 2 or 5, characterized in that: The first 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 first cleaning assembly, the second abutting member is provided with a track surface, 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, the cleaning device 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 7, 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 1, characterized in that The first driving assembly and the second driving assembly each include 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 first cleaning assembly and the second cleaning member, 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 resisting member to rotate so that the first resisting member moves on the track surface, so that the first cleaning component is lifted or lowered relative to the housing; and / or, The driving member is configured to drive the first resisting member to rotate so that the first resisting member moves on the track surface, so that the second cleaning component is lifted or lowered relative to the shell.

11. The cleaning device according to claim 10, 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.

12. The cleaning device according to claim 11, 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 first cleaning component and the second cleaning component are located in a cleaning position for abutting against the ground. When the first abutment member abuts against the second area, the first cleaning component and the second cleaning component are located in a ground-lift position for leaving the ground.

13. The cleaning device according to claim 12, characterized in that The cleaning equipment 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 first cleaning assembly and the second cleaning assembly descend from the off-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 first cleaning assembly and the second cleaning assembly rise 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 first cleaning assembly and the second cleaning assembly descend 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 along the first direction from the first area to the second area, the first cleaning assembly and the second cleaning assembly rise 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.

14. The cleaning device according to claim 13, characterized in that The first cleaning mechanism and the second cleaning mechanism both include 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 first cleaning assembly and the second 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 reset member restores its length and drives the second resisting member to drive the first cleaning assembly and the second cleaning assembly to rise from the cleaning position to the ground-lift position.

15. The cleaning device according to claim 14, characterized in that The first cleaning mechanism and the second cleaning mechanism both include a third limiting portion, and the second abutting member is provided with a fourth limiting portion; When the first cleaning assembly and the second cleaning assembly are located at the cleaning position, the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the first cleaning assembly, and the third limiting portion and the fourth limiting portion are staggered in the lifting direction of the second cleaning assembly; When the first cleaning assembly and the second cleaning assembly are located in the off-ground position, the third limiting portion abuts against the fourth limiting portion in the circumferential direction of the first cleaning assembly, and the third limiting portion abuts against the fourth limiting portion in the circumferential direction of the second cleaning assembly.

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