Cleaning device

Abstract

The invention discloses a cleaning device. The cleaning equipment comprises a main machine and a first cleaning mechanism, the first cleaning mechanism comprises a first power part, a first cleaning part and a first stopping part, and the first power part is connected with the first cleaning part to drive the first cleaning part to rotate in the first direction or the second direction opposite to the first direction; the first cleaning part is provided with an inward-retracting position close to the host and an outward-expanding position exceeding the outer edge of the host; the first stopping part is arranged on the first power part, and when the first cleaning part is located at the external expansion position and makes contact with an obstacle, the first stopping part drives the first cleaning mechanism to move under the acting force applied by the obstacle so as to drive the first cleaning part to move in the direction close to the internal contraction position. According to the cleaning equipment, the problems that obstacles such as wall surfaces and furniture are easily abraded when the mop of the cleaning equipment is expanded outwards, and the edges of the obstacles such as the wall surfaces and the furniture are inconvenient to clean can be solved.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 2024229809193 and the utility model name "Cleaning Equipment" filed on December 03, 2024, the entire content of which is incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning technology, and more particularly, to a cleaning equipment. Background Art

[0003] In the related art, cleaning equipment such as a floor sweeping robot can automatically perform operations such as floor sweeping, mopping, and dust suction to reduce the cleaning burden of users. In order to improve the cleaning degree in blind area scenarios such as along the wall, at the edge of an obstacle, and inside and outside right angles, the floor sweeping robot has a mop that can swing outward to extend beyond the edge of the machine body, and when the mop extends outward, it can clean blind areas and the like.

[0004] Currently, cleaning equipment mainly controls the power expansion mechanism through algorithms such as vision / navigation, such as controlling components such as a wire-pulling motor and a linear motor, to realize the recycling of the extended mop near obstacles such as walls and furniture. In this structure, when the mop bracket hits obstacles such as walls and furniture, it is easy to scratch the walls and furniture, and it is not convenient to clean the edges of obstacles such as walls and furniture. Summary of the Invention

[0005] The main object of this application is to provide a cleaning equipment to solve the problems that the mop bracket of the cleaning equipment in the prior art is easy to scratch the walls and furniture when expanding, and it is not convenient to clean the edges of obstacles such as walls and furniture.

[0006] According to one aspect of this application, a cleaning equipment is provided, including:

[0007] A main body;

[0008] A first cleaning mechanism, the first cleaning mechanism includes a first power component, a first cleaning component, and a first stop component, the first power component is connected to the first cleaning component to drive the first cleaning component to rotate along a first direction or a second direction opposite to the first direction, the first cleaning component has an inward position close to the main body and an outward position extending beyond the outer edge of the main body, and within the projection in the height direction of the main body, the area of the first cleaning component extending beyond the outer edge of the main body when the first cleaning component is in the outward position is larger than the area of the first cleaning component extending beyond the outer edge of the main body when the first cleaning component is in the inward position;

[0009] The first stop member is provided on the first power member. When the first cleaning member is in the outward expansion position and contacts an obstacle, the first stop member is driven by the force exerted by the obstacle to move the first cleaning mechanism, so as to drive the first cleaning member to move in a direction close to the inward retraction position.

[0010] Further, when the first cleaning member is in the outward expansion position, within the projection in the height direction of the main body, the rotation center of the first cleaning member is located outside the main body.

[0011] Further, the first cleaning member includes:

[0012] A mop bracket, which is connected to the first power member and rotates along the first direction or the second direction under the drive of the first power member;

[0013] A flexible mop, which is provided on the bottom surface of the mop bracket. Within the projection in the height direction of the main body, the flexible mop protrudes from the outer edge of the mop bracket, and the first stop member is located inside the flexible mop;

[0014] Within the projection in the height direction of the main body, at least part of the first stop member protrudes from the outer edge of the mop bracket.

[0015] Further, the first stop member includes a stop plate. Within the projection in the height direction of the main body, at least part of the stop plate protrudes from the outer edge of the mop bracket for contacting an obstacle when the first cleaning member is in the outward expansion position.

[0016] Further, the first cleaning member further includes a soft rubber layer, which covers at least part of the outer periphery of the mop bracket. Within the projection in the height direction of the main body, the soft rubber layer protrudes from the outer edge of the mop bracket, and the soft rubber layer is located inside the first stop member to prevent the mop bracket from contacting an obstacle.

[0017] Further, within the projection in the height direction of the main body:

[0018] The maximum width D of the stop plate protruding from the outer edge of the mop bracket satisfies the relation: 0 < D ≤ 5 mm; and / or,

[0019] The maximum width L of the flexible mop protruding from the outer edge of the stop plate satisfies the relation: 0 ≤ L ≤ 5 mm.

[0020] Further, within the projection in the height direction of the host, the stop baffle has a convex arc portion protruding beyond the outer edge of the mop bracket. The convex arc portion extends along the outer periphery of the mop bracket, and the minimum central angle of the convex arc portion is A. A is the included angle between a first radius line and a second radius line, where,

[0021] The first radius line is the connection line between the center of the mop bracket and a first tangent point. The first tangent point is the tangent point when the mop bracket expands outward to be tangent to the outermost edge of the host in a predetermined direction. The first tangent is parallel to the moving direction of the host;

[0022] The second radius line is the connection line between the center of the mop bracket and a second tangent point. The second tangent point is the tangent point between the mop bracket and a second tangent when the mop bracket expands outward to the limit position. The second tangent is a tangent passing through the point on the mop bracket that is farthest from the host in the predetermined direction and is parallel to the first tangent.

[0023] Further, along the predetermined direction of the host, there is a predetermined distance between the second tangent and the first tangent. The predetermined distance is the distance between the second tangent and the first tangent when the first cleaning component expands outward to the farthest position from the host.

[0024] Further, a rotating portion is provided on the host, and the maximum outward expansion angle of the first cleaning component is less than 180°;

[0025] Within the projection in the height direction of the host: when the first cleaning component is in the retracted position, the connection line between the center of the mop bracket and the rotating portion is J1, and when the first cleaning component expands outward to the limit position, the connection line between the center of the mop bracket and the rotating portion is J2. The maximum outward expansion angle is the included angle between J1 and J2.

[0026] Further, a rotating portion and an elastic member are provided on the host. The first cleaning mechanism is rotatably connected to the host through the rotating portion to drive the first cleaning component to move between the outward expansion position and the retracted position. The elastic member expands and contracts along the rotation direction of the rotating portion, and both ends of the elastic member are respectively connected to the host and the first cleaning mechanism; or,

[0027] Both ends of the elastic member are respectively connected to the host and the first cleaning mechanism, and the first cleaning mechanism rotates along the first direction or the second direction to drive the elastic member to move and stretch.

[0028] Further, an arc-shaped groove is provided on the main body, the center of the arc-shaped groove coincides with the rotation center of the rotating part, and the elastic member is disposed in the arc-shaped groove and can be telescoped along the extending direction of the arc-shaped groove; or,

[0029] A first connecting portion is provided on the main body, a second connecting portion is provided on the first cleaning mechanism, one end of the elastic member is connected to the first connecting portion, and the other end of the elastic member is connected to the second connecting portion. When the first cleaning member is in the retracted position, the elastic member is in a stretched state, and during the process of the first cleaning member being converted from the retracted position to the expanded position, the stretching amount of the elastic member gradually increases.

[0030] Further, the first power component includes a first driving member and a first transmission assembly. A rotating part is provided on the main body, and the main body includes a bottom case;

[0031] The first driving member is rotatably mounted on the bottom case through the rotating part. The first driving member has a rotating shaft, and the rotating shaft is coaxially arranged with the rotating part, or the rotating shaft is misaligned with the rotating part and the first driving member can swing around the rotating part;

[0032] The first transmission assembly is connected between the first driving member and the first cleaning member. The rotation of the rotating shaft drives the first transmission assembly to drive the first cleaning member to rotate along the first direction or the second direction, and the first stop member is provided on the first transmission assembly.

[0033] Further, the first cleaning member is located at the bottom of the main body. An avoidance notch is provided on the main body. The avoidance notch extends from the inner side of the main body to the edge of the main body, and an opening is provided at one end of the avoidance notch close to the edge of the main body. The first cleaning mechanism moves along the avoidance notch to move between the expanded position and the retracted position. The opening is at least used to avoid the first cleaning mechanism to allow the rotation center of the first cleaning member to be located outside the main body when the first cleaning member is in the expanded position;

[0034] In the projection in the height direction of the main body: when the maximum width of the outer contour of the first transmission assembly is less than or equal to the maximum outer expansion radius from the rotating part to the avoidance notch, the maximum width of the outer contour of the first transmission assembly is arranged along the direction parallel to the maximum outer expansion radius or intersects with the maximum outer expansion radius; or,

[0035] when the maximum width of the outer contour of the first transmission assembly is greater than the maximum outer expansion radius from the rotating part to the avoidance notch, the maximum width of the outer contour of the first transmission assembly intersects with the maximum outer expansion radius.

[0036] Further, the first transmission assembly further includes a reduction gearbox, a first transmission member, and a second transmission member, and the first stop member includes a connecting portion and a stop baffle;

[0037] The connecting portion is integrally formed with or fixedly connected to the outer shell of the reduction gearbox, and the connecting portion surrounds the outer peripheries of the first transmission member and the second transmission member. The stop baffle is integrally formed with or fixedly connected to the connecting portion, and the stop baffle covers a part of the outer periphery of the first cleaning member;

[0038] The power input end of the reduction gearbox is connected to the first driving member, and the power output end of the reduction gearbox is connected to the first transmission member to drive the first transmission member to rotate in the first direction or the second direction.

[0039] In this application, by providing the first stop member, when the first cleaning member expands outward to protrude beyond the outermost edge of the host in a predetermined direction to clean the edges of obstacles such as walls and furniture, if the first cleaning member is relatively close to the obstacle, the first stop member can contact the obstacle, thereby avoiding hard contact between the first cleaning member and the obstacle and preventing the obstacle from being scratched. At the same time, the first stop member is subjected to the force exerted by the obstacle, which can cause the entire first cleaning mechanism to swing, driving the first cleaning member to move in the direction close to the retracted position to achieve retraction. It can be seen that the cleaning device in this application is not only convenient for cleaning along the edges of obstacles but also not easily scratches the obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings described herein are used to provide a further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0041] Figure 1 is a three-dimensional structure diagram of a cleaning device disclosed in an embodiment of the present application;

[0042] Figure 2 is Figure 1 a top view of the cleaning device in

[0043] Figure 3 when the first cleaning member is in the retracted position; Figure 1 is

[0044] Figure 4 a top view of the cleaning device in Figure 1 when the first cleaning member is in the expanded position;

[0045] Figure 5 is Figure 4 exploded view;

[0046] Figure 6 is a perspective view of another cleaning device disclosed in an embodiment of the present application;

[0047] Figure 7 is Figure 6 a top view when both the first cleaning component and the second cleaning component of the cleaning device in

[0048] Figure 8 is Figure 6 a top view when the first cleaning component of the cleaning device in

[0049] Figure 9 is Figure 6 a perspective view of the cleaning device in another perspective;

[0050] Figure 10 is Figure 6 the first exploded view of the cleaning device in

[0051] Figure 11 a schematic diagram when the first cleaning component of the cleaning device disclosed in an embodiment of the present application expands from one position to the limit position;

[0052] Figure 12 is a structural diagram of a partial structure of the first cleaning mechanism or the second cleaning mechanism of the cleaning device disclosed in an embodiment of the present application;

[0053] Figure 13 is a cross-sectional view of the first cleaning mechanism or the second cleaning mechanism of the cleaning device disclosed in an embodiment of the present application;

[0054] Figure 14 is a perspective view of the second transmission member of the cleaning device disclosed in an embodiment of the present application;

[0055] Figure 15 is a force analysis diagram when the cleaning device disclosed in an embodiment of the present application does not have the first stop member and collides with an obstacle;

[0056] Figure 16 is a force analysis diagram when the cleaning device disclosed in an embodiment of the present application is provided with the first stop member and collides with an obstacle;

[0057] Figure 17 is Figure 6 a top view when both the first cleaning component and the second cleaning component of the cleaning device in

[0058] Figure 18 is Figure 17An elevation view when both the first cleaning component and the second cleaning component of the cleaning device are in the retracted position;

[0059] Figure 19 is Figure 17 A top view of the cleaning device in [reference] after removing the housing;

[0060] Figure 20 is Figure 17 A structural diagram of the cleaning device in [reference] after removing the first cleaning mechanism and the second cleaning mechanism and viewed from another perspective;

[0061] Figure 21 Schematic diagrams of the first cleaning component of the cleaning device disclosed in the embodiment of the present application when retracted to the limit position and expanded to the limit position;

[0062] Figure 22 is Figure 17 A top view of the bottom shell of the cleaning device in [reference];

[0063] Figure 23 Schematic diagram of the first cleaning component of the cleaning device disclosed in the embodiment of the present application when expanded to the limit position relative to the bottom shell.

[0064] Among them, the above-mentioned drawings include the following reference numerals:

[0065] 100. Cleaning device; 10. Main body; 11. Rotating part; 12. Elastic part; 13. Arc-shaped groove; 14. Avoidance notch; 15. First connecting part; 16. Second connecting part; 17. Bottom shell; 171. Positioning post; 20. First cleaning mechanism; 21. First power component; 211. First driving part; 212. First transmission assembly; 22. First cleaning part; 221. Mop bracket; 222. Flexible mop; 223. Soft rubber layer; 23. First stop component; 231. Stop plate; 23101. Convex arc part; 232. Connecting part; 2321. Avoidance opening; 2311. Reduction gearbox; 23111. Output shaft; 23112. Support block; 2312. First transmission part; 2313. Second transmission part; 23131. Trajectory surface; 23131a. First area; 23131b. Second area; 23131c. Third area; 23131d. Connection area; 23132. Limiting structure; 2314. Elastic element; 30. Second cleaning mechanism; 31. Second power component; 311. Second driving part; 312. Second transmission assembly; 32. Second cleaning part; 40. Middle sweeping mechanism; 50. Cover plate assembly; X. First radius line; Y. Second radius line; B1. First tangent point; B2. Second tangent point; R1. First tangent line; R2. Second tangent line; O. Center of the mop bracket; S. Predetermined distance; α. Maximum outward expansion angle; M. Maximum width of the outer contour; r. Outward expansion radius; g. Center line; L4. Common tangent line; L5. Tangent line of the edge; 60. Auxiliary component; 61. Radar; 62. Water tank; 63. Universal wheel assembly; 64. Dust collection box; 641. Dust conveying channel; 65. Air pump; 66. First conveying channel; 661. First bending section; 67. Second conveying channel; 671. Second bending section; 68. Moving wheel set; 70. Limiting component; 71. Limiting part; 72. Elastic reset part. Detailed implementation manners

[0066] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0067] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0068] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0069] As described in the background art, when the mop of an existing cleaning device hits an obstacle such as a wall or furniture, it is easy to scratch the wall, furniture and other obstacles, and it is not convenient to clean the edges of the wall, furniture and other obstacles. To this end, the present application provides a new cleaning device. When the cleaning components such as the mop of the cleaning device touch an obstacle such as a wall or furniture, it is not easy to scratch the wall, furniture and other obstacles, and it is also convenient to clean the edges of the wall, furniture and other obstacles. The cleaning device of the present application will be introduced below with reference to the drawings.

[0070] See Figures 1 to 23 As shown, an embodiment of the present application provides a cleaning device 100, which includes but is not limited to a sweeping robot (including a robot with one or more cleaning mechanisms), a mopping machine (a robot with mopping function but without sweeping function), a sweeping and mopping integrated machine, a floor washing machine (such as a handheld floor washing machine, a non-handheld floor washing machine), or a base station of the above-mentioned sweeping robot, mopping machine, sweeping and mopping integrated machine, floor washing machine, etc. The cleaning device 100 includes a main body 10 and a first cleaning mechanism 20.

[0071] Wherein, the first cleaning mechanism 20 includes a first power component 21, a first cleaning component 22, and a first stop component 23. The first power component 21 is connected to the first cleaning component 22 to drive the first cleaning component 22 to rotate along a first direction or a second direction opposite to the first direction. The first cleaning component 22 has an inward position (such as Figure 1 , Figure 2 , Figure 6 and Figure 7 shown) close to the main body 10 and an outward position (such as Figure 3 , Figure 8As shown, within the projection in the height direction of the host 10, when the first cleaning component 22 is in the extended position, the area exceeding the outer edge of the host 10 is larger than the area where the first cleaning component 22 exceeds the outer edge of the host 10 when the first cleaning component 22 is in the retracted position. It can be understood that when the first cleaning component 22 is in the retracted position, the first cleaning component 22 can partially extend beyond the outer edge of the host 10 or can be entirely located inside the host 10 without protruding beyond the outer edge of the host 10; when the first cleaning component 22 is in the extended position, the area where the first cleaning component 22 protrudes beyond the outer edge of the host 10 is larger than the area where the first cleaning component 22 protrudes beyond the outer edge of the host 10 when the first cleaning component 22 is in the retracted position. In some embodiments of the present application, when the first cleaning component 22 is in the extended position, it is preferably made to protrude beyond the outermost edge of the host 10 in a predetermined direction (a direction perpendicular to the moving direction of the host 10). Thus, when the host 10 moves, it is more suitable to drive the first cleaning component 22 to clean the edges of obstacles such as walls and furniture.

[0072] When the cleaning device 100 in the present application is working, the cleaning device 100 is configured such that when the first cleaning component 22 rotates in the first direction and is subjected to a torque in the second direction, the first cleaning mechanism 20 swings relative to the host 10 in the second direction to drive the first cleaning component 22 to be in the extended position. Specifically, when the first power component 21 drives the first cleaning component 22 to rotate in the first direction, when the first cleaning component 22 contacts a cleaning surface such as the ground or a tabletop, a torque will be generated. This torque can cause the entire first cleaning mechanism 20 to swing relative to the host 10 in the second direction opposite to the first direction, driving the first cleaning component 22 to protrude beyond the outer edge of the host 10 and be in the extended position. At this time, the first cleaning component 22 can avoid mutual interference between the host 10 and obstacles such as furniture or walls and contact the edges of the walls or furniture for edge cleaning.

[0073] The cleaning device is also simultaneously configured such that when the first cleaning component 22 rotates in the second direction and is subjected to a torque in the first direction, the first cleaning mechanism 20 swings relative to the host 10 in the first direction to drive the first cleaning component 22 to be in the retracted position. Specifically, when the first power component 21 drives the first cleaning component 22 to rotate in the second direction, when the first cleaning component 22 contacts a cleaning surface such as the ground or a tabletop, a torque will be generated. This torque can cause the entire first cleaning mechanism 20 to swing relative to the host 10 in the first direction opposite to the second direction, driving the first cleaning component 22 to retract to the inside close to the host 10 and be in the retracted position. At this time, it is convenient to store and retrieve the cleaning device 100.

[0074] It can be understood that the first direction in the present application can be the clockwise direction or the counterclockwise direction. When the first direction is the clockwise direction, the second direction is the counterclockwise direction; when the first direction is the counterclockwise direction, the second direction is the clockwise direction. In addition, the torque in the present application can be the frictional torque exerted on the first cleaning component 22 by the ground or the tabletop when the first cleaning component 22 rubs against the ground or the tabletop, etc., or can be the torque generated by the reaction force of other objects on the first cleaning component 22 when the centrifugal force of the first cleaning component 22 rotating centrifugally acts on other objects, or can also be the torque exerted on the first cleaning component 22 by other friction mechanisms when the first cleaning component 22 contacts other friction mechanisms, etc.

[0075] Exemplarily, the retracted position includes a plurality of retracted position points. When the first cleaning component 22 is retracted to the innermost position of the main body 10, the first cleaning component 22 is at the limit position of the retracted position. The expanded position includes a plurality of expanded position points. When the first cleaning component 22 is expanded to the outermost position of the main body 10, the first cleaning component 22 is at the limit position of the expanded position. The positions of the first cleaning component 22 within a first predetermined distance range of moving from the limit position of the retracted position to the limit position of the expanded position all belong to the retracted position. The positions of the first cleaning component 22 within a second predetermined distance range of moving from the limit position of the expanded position to the limit position of the retracted position all belong to the expanded position. The specific sizes of the first predetermined distance and the second predetermined distance can be adjusted according to needs and actual situations. The present application does not limit the specific sizes of the first predetermined distance and the second predetermined distance. Any implementation manner of adjusting the first predetermined distance and the second predetermined distance under the concept of the present application is within the scope protected by the present application. Refer to Figure 11 As shown, R1 is the first tangent line R1 that is tangent to the edge of the main body 10 along a predetermined direction of the main body 10. When the first cleaning component 22 moves along the direction from N1 to N2, if the first cleaning component 22 is in a position that does not exceed the first tangent line R1 (that is, the first cleaning component 22 is in a position that does not exceed Figure 11 the position of the mop bracket 221 shown by the solid line in Figure 11 ), then the first cleaning component 22 is in the retracted position; if the first cleaning component 22 is in a position that exceeds the first tangent line R1 (that is, the first cleaning component 22 is in a position that exceeds Figure 11 the position of the mop bracket 221 shown by the solid line in

[0076] Further, refer to Figure 3 and Figure 8 and Figure 11As shown, when the first cleaning member 22 is in the expanded position, within the projection of the main body 10 in the height direction, the rotation center of the first cleaning member 22 is located outside the main body 10. It can be understood that when the first cleaning member 22 moves between the expanded position and the retracted position in this embodiment, within the projection of the main body 10 in the height direction, the rotation center of the first cleaning member 22 can be located outside the main body 10 or inside the main body 10. In this application, it is preferably requested to protect the situation where at least one moment when the first cleaning member 22 is in the expanded position is located outside the main body 10.

[0077] Specifically, the rotation center of the first cleaning member 22 is the Figure 11 center O of the middle mop bracket. When the cleaning device performs edge cleaning (i.e., the cleaning device closely adheres to the edges of obstacles such as walls and furniture for cleaning), in order to ensure the cleaning effect of the cleaning device, it is necessary to convert the first cleaning member 22 to the expanded position for edge cleaning. However, when the expanded first cleaning member 22 cleans a corner (an inner right-angle corner or an outer right-angle corner), in order to make the first cleaning member 22 closely adhere to the corner, the main body 10 needs to rotate accordingly following the shape of the corner to adjust the posture of the main body 10 itself. During this process, if within the projection direction of the main body 10, the rotation center of the first cleaning member 22 is located inside the main body 10, it may cause the first cleaning member 22 not to expand out of the outer edge of the main body 10 as much as possible, resulting in a poor edge cleaning effect of the first cleaning member 22 (because the main body 10 may bump into obstacles such as walls, thus changing the posture of the first cleaning member 22). Therefore, in this application, when the first cleaning member 22 expands to a certain moment in the expanded position, within the projection direction of the main body 10, the rotation center of the first cleaning member 22 is located outside the main body 10, which can prevent the main body 10 from interfering with the wall surface during edge cleaning and causing the first cleaning member 22 not to closely adhere to the wall edge or corner for movement, and can expand the cleaning range of the first cleaning member 22 to a certain extent, thereby greatly improving the cleaning efficiency of the cleaning device.

[0078] Furthermore, the first stop member 23 is arranged on the first power member 21, and the first stop member 23 is configured to contact an obstacle when the first cleaning member 22 is in the expanded position to prevent the first cleaning member 22 from making hard contact with the obstacle. It can be understood that the prevention of the first cleaning member 22 from making hard contact with the obstacle here means that there is no hard object or other structure with a hard support inside the first cleaning member 22 directly contacting the obstacle.

[0079] The first stop member 23 is driven by the reaction force exerted by the obstacle to swing the first cleaning mechanism 20 (specifically, swing relative to the main body 10), so as to drive the first cleaning member 22 to move in the direction close to the retracted position. It can be understood that the obstacles described in this application include but are not limited to indoor walls, coffee tables, chairs, beds, refrigerators and other furniture, as well as other objects placed in the space, etc.

[0080] In this application, by setting the first stop member 23, when the first cleaning member 22 expands to protrude beyond the outermost edge of the main body 10 in a predetermined direction to clean the edges of obstacles such as walls and furniture, if the first cleaning member 22 is relatively close to the obstacle, the first stop member 23 is used to contact the obstacle to prevent the first cleaning member 22 from coming into hard contact with the obstacle. In this way, the rotating first cleaning member 22 will not scratch the obstacle. At the same time, the first stop member 23 is driven by the reaction force exerted by the obstacle, so that the entire first cleaning mechanism 20 can swing to drive the first cleaning member 22 to move in the direction close to the retracted position to achieve retraction. After that, when the force exerted by the obstacle on the first stop member 23 disappears, the first power member 21 continuously drives the first cleaning member 22 to rotate in the first direction, and the first cleaning member 22 contacts the ground to generate a frictional torque, which can drive the first cleaning member 22 to switch to the expanded position to clean the edge of the obstacle.

[0081] It can be seen that the cleaning device 100 in this application is not only convenient for cleaning the edges of obstacles, but also not easy to scratch the obstacles.

[0082] See Figure 15 and Figure 16 As shown, the first cleaning member 22 rotates in the clockwise direction. Among them, f is the frictional force between the first cleaning member 22 and the ground, F1 is the contact force generated when the obstacle contacts the first cleaning member 22 or the first stop member 23, and F2 is the frictional force exerted by the obstacle on the first stop member 23 or the first cleaning member 22. The torques exerted by the above forces on the first cleaning mechanism 20 are M f = f * L3, M F1 = F1 * L2, M F2 = F1 * L1. Among them, it is defined that if the resultant torque of the first cleaning mechanism 20 is greater than 0, the first cleaning mechanism 20 rotates counterclockwise; if the torque is less than 0, the first cleaning mechanism 20 rotates clockwise. The resultant torque received by the first cleaning mechanism 20 is M f + M F1 + M F2 .

[0083] In Figure 15 , by combining the force analysis, it can be judged that: M f + M F1 + M F2> 0, that is to say, when the first cleaning member 22 contacts an obstacle without the first stopper member 23 being provided, the resultant moment of the first cleaning mechanism 20 is positive, and the first cleaning mechanism 20 rotates counterclockwise, always showing an outward expansion trend. When hitting, the first cleaning mechanism 20 cannot be retracted. In Figure 16 it can be judged by combining the force analysis: M f + M F1 + M F2 < 0, that is to say, when the first stopper member 23 is provided in this embodiment, when the first cleaning member 22 contacts an obstacle, the resultant moment of the first cleaning mechanism 20 is negative, and the first cleaning mechanism 20 rotates clockwise. The moment generated by the contact force between the first stopper member 23 and the obstacle on the rotation center of the outward expansion movement of the entire first cleaning mechanism 20 will cause the assembly to retract, so that the entire first cleaning mechanism 20 realizes flexible outward expansion.

[0084] As Figures 2 to 5 、 Figure 8 and Figure 13 shown, within the projection in the height direction of the host 10, at least a part of the first stopper member 23 protrudes beyond the outer edge of the first cleaning member 22 for contacting an obstacle, thereby preventing the first cleaning member 22 from hard-contacting the obstacle. That is to say, in this application, by connecting the first stopper member 23 to the first power member 21 and making at least a part of the first stopper member 23 protrude beyond the outer edge of the first cleaning member 22 within the projection in the height direction of the host 10, it can be made that when the first cleaning member 22 expands outward to the outward expansion position, it can contact the obstacle, thereby avoiding the hard contact between the first cleaning member 22 and the obstacle, avoiding abrasion of the obstacle when the first cleaning member 22 rotates, with a simple structure and being easy to implement.

[0085] In some embodiments of the present application, the first cleaning component 22 includes, but is not limited to, a mop assembly, a roller assembly, a side sweeping assembly, etc. In the present application, the first cleaning component 22 is introduced as a mop assembly. Specifically, the first cleaning component 22 includes a mop bracket 221 and a flexible mop 222. Among them, the mop bracket 221 is connected to the first power component 21 and rotates along the first direction or the second direction under the drive of the first power component 21; the flexible mop 222 is disposed on the bottom surface of the mop bracket 221, and within the projection in the height direction of the main body 10, the flexible mop 222 protrudes beyond the outer edge of the mop bracket 221, and the first stop component 23 is located inside the flexible mop 222. And, within the projection in the height direction of the main body 10, at least a part of the first stop component 23 protrudes beyond the outer edge of the mop bracket 221. With such a setting, when the first stop component 23 contacts an obstacle, the flexible mop 222 can also contact the obstacle. At this time, if the mop bracket 221 drives the flexible mop 222 to rotate, the flexible mop 222 can effectively clean the edge of the obstacle. During this process, the first stop component 23 can protect the mop bracket 221 from contacting the obstacle, thereby preventing the mop bracket 221 from being damaged by an external impact. It can be seen that during the cleaning operation of the cleaning device 100 in the present application, not only can the edge of the obstacle be cleaned, but also the obstacle will not be scratched. Further, referring to Figures 3 to 5 As shown, the first stop component 23 includes a stop plate 231. Within the projection in the height direction of the main body 10, at least a part of the stop plate 231 protrudes beyond the outer edge of the mop bracket 221. Thus, when the first cleaning component 22 expands to the expanded position, the stop plate 231 can contact the obstacle prior to the hard mop bracket 221 on the first cleaning component 22, avoiding scratching the obstacle during the process of the hard mop bracket 221 rotating to perform the cleaning operation. Moreover, since the stop plate 231 contacts the obstacle prior to the hard mop bracket 221 on the first cleaning component 22, the stop plate 231 can, to a certain extent, prevent the mop bracket 221 from being damaged by hitting the obstacle.

[0086] For the convenience of processing and assembly, the stop plate 231 in the present application can be disposed on the first transmission component 212 of the first power component 21 by means of snap connection, screw connection, welding, magnetic attraction, integral molding, etc., and is specifically disposed on the outer shell or surface of the first transmission component 212, and no specific limitation is made in the present application. In addition, in other embodiments of the present application, the first stop component 23 can also be a stop block, a stop post, etc. As long as it is other deformation methods under the concept of the present application, they are all within the protection scope of the present application.

[0087] Further, referring to Figure 3 、 Figures 6 to 8 、 Figure 10 、 Figures 12 to 13 andFigure 22 As shown, the first cleaning component 22 further includes a soft rubber layer 223. The soft rubber layer 223 covers at least a partial area of the outer periphery of the mop bracket 221. Within the projection in the height direction of the main body 10, the soft rubber layer 223 protrudes beyond the outer edge of the mop bracket 221, and the soft rubber layer 223 is located inside the first stopper component 23 to prevent the mop bracket 221 from contacting an obstacle.

[0088] Specifically, the soft rubber layer 223 can cover the entire outer periphery of the mop bracket 221, or can cover a partial area of the outer periphery of the mop bracket 221. This embodiment shows the case where the soft rubber layer 223 covers a partial area of the outer periphery of the mop bracket 221, specifically, the soft rubber layer 223 covers the outer ring of the mop bracket 221 along the radial direction of the mop bracket 221. Although the stop plate 231 can play a certain protective role for the mop bracket 221, due to the complexity of the working environment of the cleaning device, some obstacles may collide with the mop bracket 221 from the area not protected by the stop plate 231, which is likely to cause damage to the mop bracket 221. The setting of the soft rubber layer 223 can play a protective role for the mop bracket 221 to a certain extent. When the mop bracket 221 encounters an obstacle, the soft rubber layer 223 contacts first, which can play a certain buffering role to prevent the mop bracket 221 from directly colliding with the obstacle rigidly, and avoid damaging the mop bracket 221 and the obstacle (when the obstacle is a structure such as a table leg or a wall surface, it is necessary to prevent the structure such as the table leg or the wall surface from being damaged).

[0089] Furthermore, as Figure 13 shown, within the projection in the height direction of the main body 10: the maximum width D by which the stop plate 231 protrudes beyond the outer edge of the mop bracket 221 satisfies the relationship: 0 < D ≤ 5 mm. Exemplarily, the value of D can be 1 mm, 2 mm, 3 mm, 4 mm or 5 mm. When the maximum width D by which the stop plate 231 protrudes beyond the outer edge of the mop bracket 221 is less than or equal to 0, the stop plate 231 cannot contact the obstacle prior to the mop bracket 221; when the maximum width D by which the stop plate 231 protrudes beyond the outer edge of the mop bracket 221 is greater than 5 mm, the mop bracket 221 cannot support the flexible mop 222 well, which is not convenient for effectively cleaning along the edge of the obstacle. It can be seen that in this application, by making the maximum width D by which the stop plate 231 protrudes beyond the outer edge of the mop bracket 221 satisfy the relationship 0 < D ≤ 5 mm, it can not only prevent the hard mop bracket 221 from scratching the obstacle, but also be convenient for supporting the flexible mop 222, so as to facilitate effective cleaning along the edge of the obstacle.

[0090] Optionally, the maximum width L of the flexible mop 222 in the present application protruding beyond the outer edge of the stop baffle 231 satisfies the relationship 0 ≤ L ≤ 5 mm. Exemplarily, the value of L can be 0 mm, 1 mm, 2 mm, 3 mm, 4 mm, or 5 mm, etc. When the maximum width L of the flexible mop 222 protruding beyond the outer edge of the stop baffle 231 is less than 0, the flexible mop 222 cannot contact the obstacle, which is not convenient for cleaning the edge of the obstacle; when the maximum width of the flexible mop 222 protruding beyond the outer edge of the stop baffle 231 is greater than 5 mm, during the operation of the cleaning device 100, the flexible mop 222 is likely to be hooked with objects in the space, and it is not convenient to stably install the flexible mop 222 on the mop bracket 221, and the cleaning device 100 is likely to get stuck during operation. It can be seen that by making the maximum spacing width L of the flexible mop 222 protruding beyond the outer edge of the stop baffle 231 satisfy the relationship 0 ≤ L ≤ 5 mm in the present application, it is not only convenient for cleaning the edge of the obstacle, but also convenient to stably install the flexible mop 222 on the mop bracket 221, preventing the flexible mop 222 from being hooked with the obstacle or other objects in the space, and improving the operation stability and reliability of the cleaning device 100.

[0091] It should be noted that the maximum width L of the flexible mop 222 protruding beyond the outer edge of the stop baffle 231 in the present application is the maximum width when the cleaning device 100 is in the natural state. The cleaning device 100 being in the natural state means that the cleaning device 100 is placed on a horizontal ground, the flexible mop 222 is in contact with the ground, and the flexible mop 222 is not under extrusion pressure.

[0092] During actual assembly, the flexible mop 222 in the present application is detachably installed at the bottom of the mop bracket 221 through Velcro. With this setting, it is convenient to detach the flexible mop 222 for cleaning or replacement. Of course, in other embodiments of the present application, the flexible mop 222 can also be detachably installed on the mop bracket 221 through fasteners such as buckles, magnetic absorption, and screws. As long as it is other deformation methods under the concept of the present application, they are all within the protection scope of the present application.

[0093] Combined with Figures 1 to 10 As shown, the stop baffle 231 in the present application includes a circular plate or a sector plate. In the drawings of the present application, the case where the stop baffle 231 is a sector plate is shown. By setting the stop baffle 231 as a sector plate in the present application, the occupied space of the stop baffle 231 in the cleaning device 100 can be reduced to a certain extent, which is convenient for avoiding other components on the cleaning device 100, and then facilitating the realization of the lightweight and miniaturized design of the cleaning device 100, and can also reduce the material cost of the cleaning device 100.

[0094] See Figures 10 to 12As shown in the figure, the mop bracket 221 in the present application includes the mop bracket 221. Within the projection of the main body 10 in the height direction, the stop baffle 231 has a convex arc portion 23101 that protrudes from the mop bracket 221. The convex arc portion 23101 extends along the outer periphery of the mop bracket 221. In actual design, the minimum central angle of the convex arc portion 23101 is A, and A is the included angle between the first radius line X and the second radius line Y. Among them, the first radius line X is the connection line between the center O of the mop bracket and the first tangent point B1. The first tangent point B1 is the tangent point formed when the mop bracket 221 expands outward to be tangent to the first tangent line R1 at the outermost edge in a predetermined direction of the main body 10, and the first tangent line R1 is parallel to the moving direction of the main body 10; the second radius line Y is the connection line between the center O of the mop bracket and the second tangent point B2. The second tangent point B2 is the tangent point between the mop bracket 221 and the second tangent line R2 when the mop bracket 221 expands to the limit position. The second tangent line R2 is a tangent line that passes through the point on the mop bracket 221 that is farthest from the main body 10 in the predetermined direction and is parallel to the first tangent line R1. It can be understood that the limit position described in the present application refers to the position where the mop bracket 221 expands to the position that is farthest from the outermost edge of the main body 10 in the predetermined direction.

[0095] In the present application, by making the minimum central angle of the convex arc portion 23101 be A and making A be the included angle between the first radius line X and the second radius line Y, in this way, when the cleaning device 100 is moving, when the first cleaning component 22 expands outward to the outer edge of the main body 10, the first stop component 23 can contact the obstacle first before the mop bracket 221, and the situation where the obstacle hits the mop bracket 221 will not occur. In addition, when designing the stop baffle 231, it only needs to be ensured that there is a convex arc portion 23101 on the stop baffle 231 that protrudes from the mop bracket 221 and the central angle corresponding to the convex arc portion 23101 is greater than or equal to A, which can optimize the size of the stop baffle 231. Furthermore, while ensuring that the first stop component 23 contacts the obstacle first before the mop bracket 221, the size of the first stop component 23 can be reasonably designed to be the smallest, so that the first stop component 23 can effectively avoid other components on the cleaning device 100.

[0096] Further, referring to Figure 3 、 Figure 8 and Figure 11 As shown, along the predetermined direction of the main body 10, there is a predetermined distance S between the second tangent line R2 and the first tangent line R1. The predetermined distance S is the distance between the second tangent line R2 and the first tangent line R1 when the first cleaning component 22 expands outward to the position that is farthest from the main body 10.

[0097] Specifically, the predetermined direction of the main body 10 is that the main body 10 is in Figure 3 、 Figure 8 and Figure 11When in the state shown in the figure, it is the direction from the left side of the host 10 to the right side of the host 10, and this predetermined direction is perpendicular to the moving direction of the host 10. In this application, the size of the predetermined distance S can be reasonably selected according to the sizes of the host 10 and the first cleaning component 22. On the premise that the rotation center of the first cleaning component 22 protrudes from the outer edge of the host 10, by reasonably adjusting the size of the predetermined distance S, the limit position of the first cleaning component 22 expanding relative to the host 10 can be reasonably arranged. In this way, the cleaning range of the first cleaning component 22 can be controlled. Thus, for different types of cleaning devices and cleaning environments, by reasonably selecting the size of the predetermined distance S, the first cleaning component 22 can have a better cleaning effect after expansion. At the same time, in order to enable the first cleaning component 22 to perform the cleaning task better when it expands to the limit position, in this application, after the first cleaning component 22 expands to the limit position, the structure of the first cleaning mechanism 20 can be optimized so that the first cleaning component 22 can move back and forth in the direction where the second tangent R2 is located, so that the first cleaning component 22 has a degree of freedom parallel to the moving direction of the host 10, and further enables the first cleaning component 22 to be more flexible when performing the cleaning task, which can improve the cleaning efficiency of the cleaning device to a certain extent.

[0098] Further, as shown in Figure 11 , Figure 19 and Figure 21 shown, a rotating part 11 is provided on the host 10, and the maximum expansion angle α of the first cleaning component 22 is less than 180°. Among them, within the projection in the height direction of the host 10: when the first cleaning component 22 is in the retracted position, the connection line between the center O of the mop bracket and the rotating part 11 is J1, and when the first cleaning component 22 expands to the limit position, the connection line between the center O of the mop bracket and the rotating part 11 is J2, and the maximum expansion angle α is the included angle between J1 and J2.

[0099] Specifically, the setting of the rotating part 11 facilitates the installation of the first cleaning mechanism 20 on the host 10 and enables the first cleaning mechanism 20 to rotate relative to the host 10, so that the first cleaning component 22 can be switched between the expanded position and the retracted position, and further enables the first cleaning component 22 to be more flexible when performing the cleaning task, and at the same time enables the cleaning device to meet the cleaning requirements of more scenarios. As Figure 21As shown, when the first cleaning member 22 is in the retracted position, the projection of the center of the mop bracket in the height direction of the main body is O1. At this time, the connecting line between the center O1 of the mop bracket and the rotating portion 11 is J1. When the first cleaning member 22 is expanded to the limit position, the projection of the center of the mop bracket in the height direction of the main body is O2. At this time, the connecting line between the center O2 of the mop bracket and the rotating portion 11 is J2. In the present application, the reason for limiting the angle between J1 and J2 (i.e., the maximum expansion angle α) to be less than 180° is that such a setting method facilitates the conversion of the first cleaning member 22 between the expanded position and the retracted position. If the maximum expansion angle α is equal to 180°, at this time, a dead point will occur during the conversion of the first cleaning member 22 from the expanded position to the retracted position, resulting in an unclear swinging direction of the first cleaning member 22. If the maximum expansion angle α is greater than 180°, it will cause interference between the first cleaning member 22 and other structures of the cleaning device (such as the moving wheel set 68). In order to prevent interference between the structures of the cleaning device, a larger space needs to be reserved for the first cleaning mechanism 20, resulting in an increase in the size of the main body 10. Therefore, in the present application, the maximum expansion angle α of the first cleaning member 22 is set to be less than 180°.

[0100] Combined with Figures 1 to 5 As shown, a rotating portion 11 and an elastic member 12 are provided on the main body 10. The first cleaning mechanism 20 is rotatably connected to the main body 10 through the rotating portion 11 to drive the first cleaning member 22 to move between the expanded position and the retracted position. The elastic member 12 expands and contracts along the rotation direction of the rotating portion 11, and both ends of the elastic member 12 are respectively connected to the first cleaning mechanism 20 and the main body 10. Exemplarily, the elastic member 12 in the present application may be a spring, an elastic rubber strip, etc. Through the action of the elastic member 12, during the process of an obstacle applying a force to the first cleaning mechanism 20, the elastic member 12 can maintain the current position of the first cleaning mechanism 20, and is more suitable for enabling the flexible mop 222 on the first cleaning member 22 to continuously contact the edge of the obstacle to perform a cleaning operation. That is to say, the setting of the elastic member 12 can make the flexible mop 222 of the first cleaning member 22 abut against the obstacle for edge cleaning, and facilitate the flexible recovery of the first cleaning member 22.

[0101] Optionally, referring to Figure 22As shown, another embodiment of the present application shows another implementation manner of the elastic member 12. Both ends of the elastic member 12 are respectively connected to the host 10 and the first cleaning mechanism 20. The first cleaning mechanism 20 rotates in the first direction or the second direction to drive the elastic member 12 to swing and stretch. Specifically, different from the above-described setting manner in which the elastic member 12 expands and contracts along the rotation direction of the rotating part 11, the elastic member 12 here does not expand and contract along the rotation direction of the rotating part 11, but swings around the end of the elastic member 12 and stretches along the length direction of the elastic member 12. Through the action of the elastic member 12, during the process of the obstacle applying a force to the first cleaning mechanism 20, the elastic member 12 can maintain the current position of the first cleaning mechanism 20 through the elastic force, and is more suitable for making the flexible mop 222 on the first cleaning component 22 continuously contact the edge of the obstacle to perform the cleaning operation. In addition, when the first cleaning component 22 needs to move from the outward-expanded position to the inward-retracted position, the setting of the elastic member 12 can make the first cleaning component 22 achieve flexible recovery through the elastic force, avoiding damage to the first cleaning component 22 or other components on the cleaning device due to mechanical impact.

[0102] As Figure 5 shown, in order to limit and guide the elastic member 12, an arc-shaped groove 13 is provided on the host 10 of the present application. The center of the arc-shaped groove 13 coincides with the rotation center of the rotating part 11. The elastic member 12 is installed in the arc-shaped groove 13 and can expand and contract along the extension direction of the arc-shaped groove 13. Optionally, both ends of the elastic member 12 in the present application can be respectively fixed to the host 10 and the first cleaning mechanism 20 by means of hooks, buckles, welding, etc. As long as it is other deformation methods under the concept of the present application, they are all within the protection scope of the present application.

[0103] Optionally, referring to Figure 22 shown, for the above-described setting manner in which the elastic member 12 swings and stretches during operation: a first connection part 15 is provided on the host 10, a second connection part 16 is provided on the first cleaning mechanism 20, one end of the elastic member 12 is connected to the first connection part 15, and the other end of the elastic member 12 is connected to the second connection part 16. When the first cleaning component 22 is in the inward-retracted position, the elastic member 12 is in a stretched state, and during the process of the first cleaning component 22 converting from the inward-retracted position to the outward-expanded position, the stretching amount of the elastic member 12 gradually increases.

[0104] Specifically, the settings of the first connecting portion 15 and the second connecting portion 16 provide a suitable installation position for the elastic member 12. When the first cleaning member 22 is in the retracted position, the elastic member 12 is in a stretched state, and during the process of the first cleaning member 22 transitioning from the retracted position to the expanded position, the stretching amount of the elastic member 12 gradually increases. That is to say, the stretching amount of the elastic member 12 when the first cleaning member 22 is in the expanded position is greater than the stretching amount of the elastic member 12 when the first cleaning member 22 is in the retracted position. In this way, the first cleaning member 22 can be made to have a tendency to move towards the retracted position when it is in the expanded position. If the external force maintaining the first cleaning member 22 in the expanded position decreases or disappears, the first cleaning member 22 can automatically retract to the retracted position under the action of the elastic member 12, ensuring the flexible operation of the device in a complex environment. This embodiment shows the case where the elastic member 12 is a tension spring, and the specific structure of the elastic member 12 can be reasonably adjusted according to the actual situation.

[0105] Further, referring to Figure 4 、 Figure 5 and Figure 10 as shown, the first power component 21 in the present application includes a first driving member 211 and a first transmission assembly 212. The first driving member 211 is rotatably mounted on the bottom case 17 through the rotating portion 11. The first driving member 211 has a rotating shaft, and the rotating shaft is coaxially arranged with the rotating portion 11. The first transmission assembly 212 is connected between the first driving member 211 and the first cleaning member 22. The rotation of the rotating shaft drives the first transmission assembly 212 to drive the first cleaning member 22 to rotate in the first direction or the second direction. Specifically, the first driving member 211 in the present application includes a motor, and the rotating shaft of the motor is coaxially arranged with the rotating portion 11. In this way, the space occupied by the first power component 21 when swinging relative to the main body 10 can be optimized, and it is more suitable for reasonably arranging the components on the cleaning device 100.

[0106] Optionally, referring to Figure 19 、 Figure 20 and Figure 22 as shown, in another embodiment of the present application, the rotating shaft is arranged offset from the rotating portion 11 and the first driving member 211 can swing around the rotating portion 11. Such a setting not only facilitates the layout of the first driving member 211 and the first transmission assembly 212, making the internal structure of the main body 10 more compact, but also makes it more convenient for power transmission between the first driving member 211 and the first transmission assembly 212, and minimizes the power loss of the first driving member 211 as much as possible.

[0107] Exemplarily, the rotating portion 11 in the present application includes structures such as a rotating shaft. During actual installation, by installing a bearing on the outer shell of the first driving member 211, that is, the motor, and fixedly sleeving the bearing on the rotating shaft, as long as it is other deformation methods within the concept of the present application, they are all within the protection scope of the present application.

[0108] Further, referring to Figures 19 to 22 As shown, the first cleaning component 22 is located at the bottom of the main body 10. An avoidance notch 14 is provided on the main body 10. The avoidance notch 14 extends from the inner side of the main body 10 towards the edge of the main body 10, and an opening is provided at one end of the avoidance notch 14 close to the edge of the main body 10. The first cleaning mechanism 20 moves along the avoidance notch 14 to move between an extended position and a retracted position. The opening is at least used to avoid the first cleaning mechanism 20 to allow the rotation center of the first cleaning component 22 to be located outside the main body 10 when the first cleaning component 22 is in the extended position. In some embodiments, within the projection in the height direction of the main body 10: when the maximum width M of the outer contour of the first transmission component 212 is less than or equal to the maximum extended radius r from the rotating part 11 to the avoidance notch 14, the maximum width M of the outer contour of the first transmission component 212 is arranged parallel to the direction of the maximum extended radius r (i.e., the maximum radius from the rotating part 11 to the edge of the avoidance notch 14) or intersects with the maximum extended radius r. Specifically, the first cleaning component 22 is located at the bottom of the main body 10, which not only facilitates the first cleaning component 22 to clean the surface to be cleaned, but also prevents the first cleaning component 22 from interfering with other components of the cleaning device. At the same time, in order to connect the first cleaning component 22 with the first power component 21 and to enable the first power component 21 to drive the first cleaning component 22 to swing relative to the main body 10, an avoidance notch 14 extending from the inner side of the main body towards the edge of the main body is provided on the main body 10 of the present application, and the shape and size of the avoidance notch 14 can be reasonably adjusted according to the swinging direction and size of the first cleaning mechanism 20, so that the first cleaning mechanism 20 will not interfere with other structures (such as the moving wheel set 68) of the cleaning device during the swinging process relative to the main body 10. In addition, in the present application, the arrangement manner of the first transmission component 212 on the main body 10 can be reasonably adjusted according to the size of the first transmission component 212, such as Figure 19 As shown, the first transmission component 212 in this embodiment is generally strip-shaped. Within the projection in the height direction of the main body 10: when the maximum width M of the outer contour of the first transmission component 212 (i.e., the maximum length of the strip-shaped first transmission component 212) is less than or equal to the maximum extended radius r, the maximum width M of the outer contour of the first transmission component 212 is arranged along the extended radius r of the first cleaning component 22 or intersects with the maximum extended radius r.

[0109] In some other embodiments, within the projection in the height direction of the host 10: when the maximum width M of the outer contour of the first transmission assembly 212 is greater than the maximum outward expansion radius r from the rotating portion 11 to the avoidance notch 14, the maximum width M of the outer contour of the first transmission assembly 212 intersects with the maximum outward expansion radius r. Specifically, when the maximum width M of the outer contour of the first transmission assembly 212 is greater than the maximum outward expansion radius r, the maximum width M of the outer contour of the first transmission assembly 212 intersects with the outward expansion radius r of the first cleaning member 22. With such a setting, not only can it prevent the first transmission assembly 212 from interfering with other structures (such as the air pump 65) inside the cleaning device, but also to a certain extent, it can reduce the size of the avoidance notch 14, so that the avoidance notch 14 can meet the installation of the first cleaning mechanism 20 and avoid the situation where the structural strength of the host 10 is weakened due to the overly large size of the avoidance notch 14. This embodiment shows the situation where the maximum width M of the outer contour of the first transmission assembly 212 is less than the maximum outward expansion radius r and the maximum width M of the outer contour of the first transmission assembly 212 intersects with the maximum outward expansion radius r.

[0110] Further, referring to Figure 12 , Figure 13 and Figure 23 as shown, the first transmission assembly 212 further includes a reduction gearbox 2311, and the first stop member 23 includes a connecting portion 232 and a stop baffle 231; the connecting portion 232 is integrally formed or fixedly connected to the outer shell of the reduction gearbox 2311, and the connecting portion 232 surrounds the outer circumference of the first transmission member 2312 and the second transmission member 2313, and the avoidance opening 2321 is located in the connecting portion 232, the stop baffle 231 is integrally formed or fixedly connected to the connecting portion 232, and the stop baffle 231 covers a part of the outer circumference of the first cleaning member 22; the power input end of the reduction gearbox 2311 is connected to the first driving member 211, and the power output end of the reduction gearbox 2311 is connected to the first transmission member 2312 to drive the first transmission member 2312 to rotate in the first direction or the second direction.

[0111] Specifically, the speed reducer 2311 is usually used to reduce the speed of the motor while increasing the output torque, which means that by adjusting the speed and torque after the motor output, the rotational movement of the first transmission member 2312 can be more precisely controlled, and thus the cleaning operation of the first cleaning member 22 can be further controlled. The connecting portion 232 is integrally formed or fixedly connected to the outer shell of the speed reducer 2311 and surrounds the outer circumferences of the first transmission member 2312 and the second transmission member 2313. Such a design helps to protect the first transmission member 2312 and the second transmission member 2313 from the influence of the external environment, such as dust, debris, etc., and at the same time can also prevent other components of the cleaning device 100 from interfering with the movement of the first transmission member 2312 and the second transmission member 2313. In addition, the stop plate 231 is integrally formed or fixedly connected to the connecting portion 232, and the stop plate 231 covers a part of the outer circumference of the first cleaning member 22. In this way, when the first cleaning member 22 is in the outward expansion position for cleaning, the stop plate 231 can first contact the wall or obstacle, etc., so that it can play a good protective role for the first cleaning member 22. In addition, the avoidance opening 2321 located on the connecting portion 232 can extend along the outer circumference of the connecting portion 232, and the specific position and size of the avoidance opening 2321 on the connecting portion 232 can be reasonably adjusted according to the actual situation, as long as it is ensured that the first stop member 23 does not interfere with the movement of the limiting member 70. The power input end of the speed reducer 2311 is connected to the first driving member 211, and the power output end of the speed reducer 2311 is connected to the first transmission member 2312, so that the first driving member 211 can effectively drive the first transmission member 2312 to rotate in two directions (the first direction and the second direction) through the speed reducer 2311. Such a setting not only improves the operation flexibility, but also enhances the adaptability of the internal system of the cleaning device 100 and the cleaning efficiency of the cleaning device 100.

[0112] Further, referring to Figures 3 to 5 、 Figure 8 and Figure 13 As shown, the first cleaning member 22 further includes a mop bracket 221 and a flexible mop 222. Within the projection in the height direction of the main body 10, the flexible mop 222 protrudes beyond the outer edge of the mop bracket 221. The stop plate 231 is located inside the flexible mop 222, and the stop plate 231 at least partially protrudes beyond the outer edge of the mop bracket 221. In this way, when the first cleaning member 22 is in the outward expansion position for edge cleaning, the edge of the flexible mop 222 can continue to clean the edge of the obstacle. If the first cleaning member 22 collides with the obstacle, the stop plate 231 can contact the obstacle, so that it can play a good protective role for the mop bracket 221, and at the same time can also prevent the mop bracket 221 and the obstacle from being scratched (when the obstacle is a table leg or a wall surface, it is necessary to prevent being scratched).

[0113] Further, referring to Figure 1 , Figure 6 , Figure 8 and Figure 10 as shown, the cleaning device further includes a cover plate assembly 50. The cover plate assembly 50 is disposed on the main body 10, and the cover plate assembly 50 has an open state in which the opening is opened when the first cleaning member 22 is converted from the retracted position to the expanded position, and the cover plate assembly 50 also has a covering state in which the opening is covered when the first cleaning member 22 is in the retracted position.

[0114] Specifically, the cover plate assembly 50 is located at the opening of the avoidance notch 14, and can open or cover the opening of the avoidance notch 14 according to the state of the first cleaning member 22 (i.e., the expanded position and the retracted position). The cover plate assembly 50 of the present application can be a single cover plate or two cover plates. Moreover, the cover plate of the present application can be a full soft glue (i.e., a full soft glue cover plate), or a combination of a hard cover plate and soft glue (abbreviated as a semi-soft glue cover plate). This embodiment shows the case where the cover plate assembly 50 includes two cover plates. In addition, the two cover plates can be automatically opened according to the state of the first cleaning member 22, or can be opened by the thrust generated during the swinging of the first cleaning mechanism 20. When the first cleaning member 22 moves from the expanded position to the retracted position, the two cover plates can automatically cover along with the first cleaning mechanism 20, so as to cover the opening of the avoidance notch 14. Moreover, when the cover plate assembly 50 is converted between the open state and the covering state, according to the different structures of the two cover plates (i.e., the two cover plates are full soft glue cover plates or semi-soft glue cover plates), the principles for the two cover plates to realize the conversion between the open state and the covering state are also different. When the two cover plates are full soft glue cover plates, the two cover plates realize the conversion between the open state and the covering state through the good elasticity of the soft glue. When the two cover plates are semi-soft glue cover plates, the two cover plates realize the conversion between the open state and the covering state through elastic components such as torsion springs and the good elasticity of the soft glue. The use of soft glue can play a good protective role for the cover plate assembly 50, avoiding the cover plate assembly 50 from colliding with obstacles and being damaged. At the same time, the setting of the cover plate assembly 50 can prevent dust, sundries, etc. from entering the interior of the main body 10, reduce the wear and faults of the internal parts of the main body 10, and extend the service life of the cleaning device.

[0115] Further, referring to Figure 22 as shown, the cleaning device further includes a limiting member 70. The limiting member 70 has a first state of avoiding the first cleaning member 22 to allow the first cleaning member 22 to be converted between the retracted position and the expanded position, and the limiting member 70 also has a second state of blocking the first cleaning member 22 to prevent the first cleaning member 22 from being converted from the retracted position to the expanded position.

[0116] Specifically, when it is necessary to move the first cleaning member 22 from the retracted position to the expanded position so that the first cleaning member 22 can perform edge cleaning, the limiting member 70 is converted from the second state to the first state. When the first cleaning member 22 does not need to perform edge cleaning, the first cleaning member 22 is in the retracted position. To prevent the first cleaning member 22 from being accidentally pulled out under the action of an external force, the limiting member 70 is converted from the first state to the second state. The limiting member 70 can be converted between the first state and the second state by means of rotation, movement, and swinging. This embodiment shows the situation where the limiting member 70 is converted between the first state and the second state by swinging. In this embodiment, the limiting member 70 includes a limiting member 71 and an elastic reset member 72. A positioning post 171 is provided on the bottom shell 17. The positioning post 171 is located on the outer peripheral side of the avoidance notch 14. The limiting member 71 is sleeved on the positioning post 171 and can rotate around the limiting member 71, so that the limiting member 71 can be converted between the first state and the second state. The two ends of the elastic reset member 72 respectively abut against the main machine bottom shell 17 and the limiting member 71. The elastic reset member 72 can provide an elastic force for the limiting member 71, so that the limiting member 71 can automatically return to the second state.

[0117] In some embodiments of the present application, the cleaning device 100 may be provided with only one cleaning mechanism, that is, the first cleaning mechanism 20 (as shown in FIGS. 1 to Figure 5 as shown). In some other embodiments of the present application, the cleaning device 100 may also be provided with multiple cleaning mechanisms, such as Figures 6 to 10As shown, the cleaning device 100 includes two cleaning mechanisms, which are respectively labeled as the first cleaning mechanism 20 and the second cleaning mechanism 30 for the convenience of driving. When the cleaning device 100 has two cleaning mechanisms, the cleaning device 100 is configured as follows: when the first cleaning component 22 is in the retracted position, the rotation direction of the first cleaning component 22 is opposite to that of the second cleaning component 32; when the first cleaning component 22 is in the extended position, the rotation direction of the first cleaning component 22 is the same as or opposite to that of the second cleaning component 32. That is to say: when the first cleaning component 22 is in the retracted position, if the first cleaning component 22 of the first cleaning mechanism 20 rotates in the first direction, then the second cleaning component 32 of the second cleaning mechanism 30 rotates in the second direction; if the first cleaning component 22 rotates in the second direction, then the second cleaning component 32 rotates in the first direction. When the first cleaning component 22 is in the extended position, if the first cleaning component 22 rotates in the first direction, then the second cleaning component 32 can rotate in the first direction or the second direction; if the first cleaning component 22 rotates in the second direction, then the second cleaning component 32 can rotate in the second direction or the first direction. It should be noted that: the first direction can be the clockwise direction or the counterclockwise direction, and the second direction can be the clockwise direction or the counterclockwise direction. Specifically, it depends on which one of the first cleaning component 22 and the second cleaning component 32 can expand relative to the main body 10, such as Figure 7 As shown, if the cleaning component on the right side of the main body 10 (i.e., the first cleaning component 22) can expand relative to the main body 10, then the first direction is the clockwise direction and the second direction is the counterclockwise direction; if the cleaning component on the left side of the main body 10 (i.e., the second cleaning component 32) can expand relative to the main body 10, then the first direction is the counterclockwise direction and the second direction is the clockwise direction. This embodiment shows the case where the cleaning component on the right side of the main body 10 (i.e., the first cleaning component 22) can expand relative to the main body 10.

[0118] Combined with Figures 6 to 10 、 Figures 12 to 14 As shown, in this cleaning device 100, when the first cleaning mechanism 20 is subject to frictional torques in different directions (such as when the first cleaning mechanism 20 rotates and contacts the ground, the first cleaning mechanism 20 will be subject to the frictional torque of the ground reaction), the first cleaning mechanism 20 can swing relative to the main body 10, thereby realizing the yaw of the first cleaning mechanism 20. At the same time, the rotation direction of the second cleaning mechanism 30 is opposite to that of the first cleaning mechanism 20, and the frictions received by the second cleaning mechanism 30 and the first cleaning mechanism 20 can cancel each other out, thereby ensuring the stability of the cleaning device 100 during operation.

[0119] When the cleaning device 100 has both the first cleaning mechanism 20 and the second cleaning mechanism 30, at least one of the first cleaning mechanism 20 and the second cleaning mechanism 30 can swing relative to the host 10. Figure 10 , it is shown that the first cleaning mechanism 20 can swing relative to the main body 10, while the second cleaning mechanism 30 cannot swing relative to the main body 10. Of course, in other embodiments of the present application, the second cleaning mechanism 30 can also swing relative to the main body 10. When the first cleaning mechanism 20 and the second cleaning mechanism 30 can both swing relative to the main body 10, the structures of the first cleaning mechanism 20 and the second cleaning mechanism 30 are consistent, but the rotation directions of the first cleaning component 22 and the second cleaning component 32 are opposite.

[0120] Further, see Figures 17 to 19 As shown, the first cleaning component 22 and the second cleaning component 32 are both located on the side of the main machine 10 away from the moving direction of the main machine 10. When the first cleaning component 22 is retracted to the retracted position, in the projection in the height direction of the main machine 10, the first cleaning component 22 and the second cleaning component 32 are symmetrical about the center line g of the main machine 10, and the projection of the first cleaning mechanism 20 and the projection of the second cleaning mechanism 30 partially overlap, and the center line g of the main machine 10 is parallel to the moving direction of the main machine 10.

[0121] Specifically, the moving direction of the main machine 10 is the direction to which the front end of the main machine 10 points when the main machine 10 moves forward in a straight line. The double cleaning effect of the first cleaning component 22 and the second cleaning component 32 ensures that the cleaning equipment covers and thoroughly cleans the surface to be cleaned, thereby improving the cleaning efficiency. At the same time, the symmetrical design of the first cleaning component 22 and the second cleaning component 32 enables the main machine 10 to evenly distribute the cleaning force during the movement, ensuring that the cleaning effect on both sides of the main machine 10 is consistent, avoiding omissions or uneven cleaning. The projections of the first cleaning component 22 and the second cleaning component 32 in the height direction of the main machine 10 partially overlap, which means that they (i.e., the first cleaning component 22 and the second cleaning component 32) can work together when working, and perform a deeper cleaning of the overlapping area, thereby improving the cleaning quality. The center line g is parallel to the moving direction of the main machine 10. This design enables the cleaning components (i.e., the first cleaning component 22 and the second cleaning component 32) to more effectively cover the cleaning path during the movement, reduce repeated cleaning or cleaning blind spots, and improve cleaning efficiency. In addition, the symmetrical cleaning components arranged along the moving direction enable the host 10 to clean a larger area when moving in a straight line, reducing the number of turns and direction adjustments, and further improving the cleaning efficiency. Moreover, the symmetrical layout of the first cleaning component 22 and the second cleaning component 32 about the center line g helps to maintain the stability of the host during movement, reduce shaking caused by center of gravity offset or uneven cleaning force, and improve user experience. The cleaning components are located on the side of the host away from the moving direction, and the projections overlap. This compact design can save installation space, making the host more compact and easy to operate in a small space, and avoid the appearance of cleaning dead corners (here mainly refers to the cleaning dead corners between the first cleaning component 22 and the second cleaning component 32), thereby improving the comprehensiveness of cleaning.

[0122] Further, see Figure 17 As shown, on the side away from the moving direction of the mainframe 10: the common tangent line L4 of the edge of the first cleaning member 22 and the edge of the second cleaning member 32 is flush with the tangent line L5 of the edge of the mainframe 10; or, the common tangent line L4 of the edge of the first cleaning member 22 and the edge of the second cleaning member 32 is closer to the inner side of the mainframe 10 than the tangent line L5 of the edge of the mainframe 10. The common tangent line L4 of the edge of the first cleaning member 22 and the edge of the second cleaning member 32 is parallel to the predetermined direction of the mainframe 10.

[0123] Specifically, when the first cleaning member 22 is in the retracted position, the common tangent line L4 of the edges of the first cleaning member 22 and the second cleaning member 32 is flush with or closer to the inner side of the host than the tangent line L5 of the host edge. This design ensures that the cleaning members (i.e., the first cleaning member 22 and the second cleaning member 32) can closely fit the edge of the host 10 during movement, thereby effectively covering the edge area, reducing cleaning dead corners, and improving cleaning efficiency. The common tangent line L4 is parallel to the predetermined direction of the host, which means that the cleaning members can evenly cover the surface to be cleaned along the predetermined direction during cleaning, thus ensuring the comprehensiveness and consistency of cleaning. Since the cleaning members can closely fit the edge and effectively cover it, the user does not need to operate the cleaning device to clean the same area multiple times, reducing repetitive labor and improving cleaning efficiency. The design of the edge being flush or retracted (i.e., the common tangent line L4 is flush with the tangent line L5 of the edge or the common tangent line L4 is closer to the inner side of the host 10 than the tangent line L5 of the edge) helps to maintain the stability of the host 10 during movement, reduce shaking or deviation caused by the protrusion or swing of the cleaning members, and ensure the safe operation of the cleaning device. At the same time, such a design can also make the overall host 10 more compact, facilitating operation in a narrow space (such as the host 10 rotating in place), and improving space utilization efficiency.

[0124] In this application, the case where the second cleaning mechanism 30 cannot swing relative to the host 10 is introduced in detail. In this embodiment, the second power member 31 of the second cleaning mechanism 30 is fixedly installed on the host 10, and the second power member 31 has a second driving member 311 and a second transmission assembly 312. Among them, the second driving member 311 is a driving motor, and both the second transmission assembly 312 and the first transmission assembly 212 include a reduction gearbox 2311, a first transmission member 2312, a second transmission member 2313, and an elastic element 2314. The first transmission member 2312 connects the reduction gearbox 2311 and the second transmission member 2313, the second transmission member 2313 connects the first cleaning member 22 or the second cleaning member 32, a track surface 23131 is provided on the second transmission member 2313, and the first transmission member 2312 is movably abutted against the track surface 23131, and the elastic element 2314 abuts against the second transmission member 2313 to apply a restoring force to the second transmission member 2313.

[0125] Among them, the reduction gearbox 2311 is configured to drive the first transmission member 2312 to rotate along the first direction and the second direction under the drive of the first driving member 211 or the second driving member 311, so that the first transmission member 2312 moves on the track surface 23131, and the first cleaning member 22 moves up and down along the height direction of the host 10 and rotates along the first direction and the second direction.

[0126] In the initial state, the first cleaning component 22 and the second cleaning component 32 are at a relatively high position of the main machine 10, that is, the first cleaning component 22 and the second cleaning component 32 are off the ground or the table and are off the ground. When the reduction box 2311 drives the first transmission member 2312 to rotate along the first direction, the first transmission member 2312 is held against the track surface 23131 and rotates along the track surface 23131. The track surface 23131 in the present application is a convex arc surface. When the first transmission member 2312 moves from the low position to the high position along the track surface 23131, the first transmission member 2312 applies a resisting force to the second transmission member 2313, so that the second transmission member 2313 can move in a direction away from the first transmission member 2312, that is, move in a direction close to the ground along the height direction of the main machine 10, and then drive the first cleaning component 22 or the second cleaning component 32 connected to the second transmission member 2313 to move in a direction close to the ground. The second transmission member 2313 in the present application is provided with a limiting structure 23132. When the first cleaning member 22 and the second cleaning member 32 are in contact with the ground, the reduction box 2311 continuously drives the first transmission member 2312 to move along the height direction of the main machine 10. At this time, the side of the first transmission member 2312 is in contact with the limiting structure 23132. The second transmission member 2313 can be driven by the first transmission member 2312 to rotate along the first direction to clean the ground. In this process, the first cleaning mechanism 20 is subjected to the friction torque applied by the ground, and can swing relative to the main machine 10 in the second direction to drive the first cleaning member 22 to convert to the outward expansion position to clean the obstacles along the edge. Since the second driving member 311 of the second cleaning mechanism 30 is fixed, the second cleaning member 32 remains in the same position relative to the main machine 10 and performs the cleaning operation in situ. It should be noted that the rotation direction of the reduction box 2311 in the second cleaning mechanism 30 is always opposite to the rotation direction of the reduction box 2311 in the first cleaning mechanism 20, so as to ensure that the cleaning device 100 can run smoothly.

[0127] When the reduction box 2311 drives the first transmission member 2312 to rotate in a second direction opposite to the first direction, the first transmission member 2312 disengages from the limiting structure 23132, and the first transmission member 2312 rotates from the highest position of the track surface 23131 to the lowest position of the moving track surface 23131. During this process, the elastic element 2314 applies a reset force to the second transmission member 2313, that is, applies a supporting force away from the ground along the height direction of the main unit 10. At this time, the second transmission member 2313 rises in a direction away from the ground, thereby driving the first cleaning component 22 and the second cleaning component 32 to rise and leave the ground.

[0128] It can be seen that the first cleaning component 22 and the second cleaning component 32 in the present application can be raised and lowered, which is beneficial to protecting the ground and can reduce the difficulty of the cleaning device 100 to overcome obstacles.

[0129] Specifically, along the height direction of the host 10, the first transmission member 2312 can be connected below the speed reducer 2311. The first transmission member 2312 can be U-shaped, and the first transmission member 2312 is fixedly installed on the output shaft 23111 of the speed reducer 2311 or the motor. At this time, the output shaft 23111 of the motor or the speed reducer 2311 extends along the height direction of the host 10. The second transmission member 2313 is arranged in a cylindrical shape, and the second transmission member 2313 is sleeved on the output shaft 23111 and can move up and down relative to the output shaft 23111. The elastic element 2314 can be a structure such as a spring or an elastic sleeve, and the elastic element 2314 can undergo elastic deformation. The elastic element 2314 is sleeved on the output shaft 23111, and a support block 23112 is arranged at the bottom end of the output shaft 23111. Two ends of the elastic element 2314 respectively abut against the second transmission member 2313 and the support block 23112. After the elastic element 2314 is compressed by the second transmission member 2313, it can recover its elastic deformation so that the elastic element 2314 elongates to push the second transmission member 2313 to move along the output shaft 23111. The first cleaning component 22 or the second cleaning component 32 is fixedly connected below the second transmission member 2313. The limiting structure 23132 is arranged on the inner or outer wall surface of the second transmission member 2313.

[0130] In this application, the track surface 23131 can be arranged on the outer peripheral surface of the second transmission member 2313 or on the inner wall surface of the second transmission member 2313. The attached Figure 14 figures in this application show the case where the track surface 23131 is arranged on the outer peripheral surface of the second transmission member 2313. The limiting structure 23132 is arranged on the track surface 23131 and is located at the topmost position of the track surface 23131. The limiting structure 23132 in this application can be a convex block structure, and there are two convex block structures, which are respectively arranged on opposite sides of the second transmission member 2313. During actual operation, two ends of the U-shaped first transmission member 2312 respectively abut against the track surface 23131 between the two limiting structures 23132 and slide along the track surface 23131 to drive the second transmission member 2313 to move up and down in the first direction. When two ends of the U-shaped first transmission member 2312 are respectively stopped on the two limiting structures 23132, the second transmission member 2313 moves up and down in the first direction to the limit position.

[0131] In some embodiments, please refer Figures 12 to 14As shown, the track surface 23131 includes a first area 23131a, a second area 23131b, a third area 23131c and a connecting area 23131d. In the circumferential direction of the second transmission member 2313, the first area 23131a, the second area 23131b and the third area 23131c are connected in sequence, and the second area 23131b is lower than the first area 23131a and the third area 23131c. Two adjacent areas can be connected through the connecting area 23131d, and the first transmission member 2312 can be moved from one area to another area through the connecting area 23131d. When the first transmission member 2312 abuts against the first area 23131a or the third area 23131c, the first cleaning member 22 or the second cleaning member 32 is in a cleaning position for abutting against the ground, and when the first transmission member 2312 abuts against the second area 23131b, the first cleaning member 22 or the second cleaning member 32 is in a ground-lifting position for detaching from the ground. In this way, the first cleaning member 22 or the second cleaning member 32 is switched between the off-ground position and the cleaning position through the three regions of the track surface 23131 .

[0132] Further, see Figures 18 to 20 , Figure 22 As shown, the cleaning device further includes an auxiliary component 60, which is disposed on the main unit 10, and an avoidance surface is provided on the auxiliary component 60, which is at least used to reserve space for the first cleaning component 22 or the second cleaning component 32 to swing between the retracted position and the expanded position, and the auxiliary component 60 includes a radar 61, a water tank 62, a universal wheel assembly 63, a dust collection box 64, an air pump 65, a first conveying channel 66, a second conveying channel 67, and at least one of a moving wheel group 68. The auxiliary component 60 includes a moving wheel group 68, and the moving wheel group 68 includes at least two moving wheels, and at least two moving wheels are spaced apart along a predetermined direction of the main unit 10, and the first cleaning mechanism 20 and the second cleaning mechanism 30 are closer to the side of the main unit 10 that is away from the moving direction than the moving wheels, and the first cleaning mechanism 20 and the second cleaning mechanism 30 are both spaced apart from the moving wheels. Specifically, the first cleaning mechanism 20 and the second cleaning mechanism 30 are located on the side of the main machine away from the moving direction and closer to the side than the moving wheel. This layout allows the first cleaning mechanism 20 and the second cleaning mechanism 30 to further clean the places that are not thoroughly cleaned by the middle sweeping mechanism 40 and other structures during the movement of the main machine 10 in the moving direction, and can also clean the path that the moving wheel group 68 passes through, ensuring that no moving wheel track will appear. The spacing between the cleaning mechanism (i.e., the first cleaning mechanism 20 and the second cleaning mechanism 30) and the moving wheel avoids mutual interference between the components, allowing them to each perform at their best and work together to complete the cleaning task.

[0133] Optionally, the auxiliary component 60 further includes a radar 61. The radar 61 is disposed on one side of the main body 10 close to the moving direction and at the top of the main body 10. Both the first cleaning mechanism 20 and the second cleaning mechanism 30 are spaced apart from the radar 61. Specifically, the radar 61 is located at the top of the main body 10 and on one side close to the moving direction. This position enables the radar 61 to more effectively detect obstacles ahead during the cleaning process, plan the cleaning path in advance, reduce collisions and repeated cleaning, thereby improving the cleaning efficiency. The first cleaning mechanism 20 and the second cleaning mechanism 30 are spaced apart from the radar 61, avoiding interference with the detection of the radar 61 during the operation of the cleaning mechanisms (i.e., the first cleaning mechanism 20 and the second cleaning mechanism 30), ensuring that the radar 61 can accurately obtain environmental information and enhancing the navigation accuracy. Moreover, it avoids the interference of the radar 61 with the cleaning mechanisms (since the first cleaning mechanism 20 has an outward expansion function and requires a certain swinging space). The position of the radar at the top helps to detect and identify obstacles earlier, especially low or hidden obstacles, thereby reducing the risk of equipment collision and enhancing safety. By detecting and planning the path in advance, the radar 61 can guide the cleaning device to avoid obstacles that may cause jams or damage, protecting the cleaning device from damage. At the same time, the efficient navigation and obstacle detection capabilities reduce the need for manual intervention during the cleaning process, improve the convenience of use, and also enable the cleaning device to better adapt to different environments and terrains. Especially in an environment with furniture and many obstacles, it can shuttle and clean more flexibly.

[0134] Optionally, the auxiliary component 60 further includes a water tank 62. The water tank 62 is disposed at one end of the main body 10 close to the moving direction, and the water tank 62 is close to the bottom of the main body 10 and is spaced apart from the first cleaning mechanism 20 and the second cleaning mechanism 30. Specifically, the water tank 62 is close to the bottom of the main body 10, facilitating the supply of water to the first cleaning component 22 and the second cleaning component 32, supporting the wet mopping function, and improving the floor cleaning effect. The water tank 62 is located at one end of the main body 10 close to the moving direction and close to the bottom, which helps to lower the center of gravity of the cleaning device and enhance the stability of the cleaning device during operation. Since the water tank 62 is spaced apart from the cleaning mechanisms (i.e., the first cleaning mechanism 20 and the second cleaning mechanism 30), it can avoid structural collision or interference between the water tank 62 and the cleaning mechanisms during the cleaning process, ensuring the safe operation of the cleaning device.

[0135] Optionally, the auxiliary component 60 also includes a universal wheel assembly 63, which is arranged on one end of the main machine 10 close to the moving direction and located at the bottom of the main machine 10, and the first cleaning mechanism 20 and the second cleaning mechanism 30 are both spaced apart from the universal wheel assembly 63. Specifically, the universal wheel assembly 63 enables the cleaning equipment to move freely in any direction, easily realize turning and adjusting direction, and enhance maneuverability in complex environments. The universal wheel assembly 63 facilitates the equipment to shuttle between narrow passages or furniture, improves the cleaning coverage, and reduces dead angles. The universal wheel assembly 63 helps the cleaning equipment to move accurately during the cleaning process, ensures that the cleaning mechanism can effectively cover the target area, and avoids repeated cleaning or omissions. The universal wheel assembly 63 located at the bottom of the main machine 10 can provide stable support for the main machine 10, maintain the balance of the cleaning equipment during the cleaning process, and prevent tilting or tipping. The universal wheel assembly 63 is arranged at one end close to the moving direction and is spaced apart from the cleaning mechanism, which can not only effectively utilize the bottom space of the main unit 10 and facilitate the layout of other components, but also prevent the universal wheel assembly 63 from colliding or interfering with the cleaning mechanism during operation, thereby ensuring the normal operation of various components of the cleaning equipment.

[0136] Optionally, the auxiliary component 60 further includes a dust box 64, which is disposed at one end of the main machine 10 away from the moving direction and close to the top of the main machine 10, and the first cleaning mechanism 20 and the second cleaning mechanism 30 are both spaced apart from the dust box 64, and the first cleaning mechanism 20 and the second cleaning mechanism 30 are closer to the end of the main machine 10 away from the moving direction than the dust box 64. Specifically, the dust box 64 is disposed at one end of the main machine 10 away from the moving direction and close to the top of the main machine 10, which makes it easy for people to remove the dust box 64 from the main machine 10 for regular maintenance and cleaning, and because the first cleaning mechanism 20 and the second cleaning mechanism 30 are both spaced apart from the dust box 64, mutual interference between the structures can be effectively prevented, ensuring that the first cleaning mechanism 20, the second cleaning mechanism 30 and the dust box 64 can complete their respective tasks, and assist the cleaning device in completing the cleaning work. The first cleaning mechanism 20 and the second cleaning mechanism 30 are closer to the end of the main unit 10 that is away from the moving direction than the dust box 64, which not only facilitates the cleaning mechanism (i.e., the first cleaning mechanism 20 and the second cleaning mechanism 30) to perform cleaning work, but also facilitates the outward expansion of the first cleaning component 22 relative to the main unit (i.e., the first cleaning component 22 is converted from an inward position to an outward position).

[0137] Optionally, the auxiliary component 60 further includes an air pump 65. The air pump 65 is disposed on the main body 10 and on the side of the dust collection box 64 away from the moving direction. The air pump 65 is located between the first cleaning mechanism 20 and the second cleaning mechanism 30. The dust collection box 64 is communicated with the suction end of the air pump 65. The air pump 65 is closer to the end of the main body 10 away from the moving direction than the dust collection box 64. The first cleaning mechanism 20 and the second cleaning mechanism 30 are both arranged at intervals with the air pump 65. Specifically, the air pump 65 is disposed on the main body 10 and closer to the end of the main body 10 away from the moving direction than the dust collection box 64, and the air pump 65 is located between the first cleaning mechanism 20 and the second cleaning mechanism 30. Such an arrangement can make the structure of the cleaning device more compact and facilitate space saving. And the cleaning mechanism is arranged at intervals with the air pump 65. In this way, it can not only provide a better installation position for the air pump 65, but also avoid the air pump 65 interfering with the cleaning mechanism, ensuring that each structure can play its respective role.

[0138] Optionally, the auxiliary component 60 further includes a first conveying channel 66. The first conveying channel 66 is disposed on the main body 10 and on the side of the air pump 65 close to the first cleaning mechanism 20. The dust collection box 64 is communicated with the first conveying channel 66. The dust collection box 64 includes a dust conveying channel 641. A first bending section 661 is provided on the first conveying channel 66 to avoid the first cleaning mechanism 20, and the first conveying channel 66 is arranged at intervals with the first cleaning mechanism 20. Specifically, the first conveying channel 66 is arranged at intervals with the first cleaning mechanism 20 and has a first bending section 661 that can avoid the first cleaning mechanism 20. The setting of the first conveying channel 66 enables the base station (not shown in the figure) of the cleaning device to blow air into the dust collection box 64 through the first conveying channel 66 when collecting the garbage inside the dust collection box 64. The dust conveying channel 641 is communicated with the dust collection end of the base station, and the dust collection end of the base station has a suction function. Through the cooperation of the first conveying channel 66 and the dust conveying channel 641, a circulating air flow can be formed, so that the garbage in the dust collection box 64 can be better collected into the base station.

[0139] Optionally, the auxiliary component 60 further includes a second conveying channel 67 disposed on the main body 10 and on the side of the air pump 65 close to the second cleaning mechanism 30. The air pump 65 is communicated with the second conveying channel 67. A second bending section 671 is provided on the second conveying channel 67 to avoid the second cleaning mechanism 30, and the second conveying channel 67 is arranged at intervals with the second cleaning mechanism 30. Specifically, the second conveying channel 67 is arranged at intervals with the second cleaning mechanism 30 and has a second bending section 671 that can avoid the second cleaning mechanism 30. The setting of the second conveying channel 67 enables the air generated by the air pump 65 to continuously discharge from the second conveying channel 67, and the suction end of the air pump 65 is communicated with the dust collection box 64, so as to help the dust collection box 64 better collect the garbage cleaned by the cleaning device, which is convenient for later centralized treatment or unified collection into the base station.

[0140] Exemplarily, this embodiment shows a case where the auxiliary component 60 includes a radar 61, a water tank 62, a universal wheel assembly 63, a dust collection box 64, an air pump 65, a first conveying channel 66, a second conveying channel 67, and a moving wheel set 68. Specifically, the collaborative work of the dust collection box 64, the air pump 65, the first conveying channel 66, and the second conveying channel 67 ensures that the garbage and dust collected by the middle sweeping mechanism 40 can be efficiently sucked and stored in the dust collection box 64, improving the cleaning efficiency of the cleaning device. Such a setting can not only ensure that the structure of the cleaning device is more compact and convenient for saving installation space, but also avoid interference of the first conveying channel 66 and the second conveying channel 67 with the cleaning mechanism. Thus, while ensuring the full utilization of the internal space of the main body 10, it also avoids mutual interference between the various structures of the cleaning device, and further enables the cleaning device to operate safely and stably.

[0141] Combined with Figures 1 to 23 As shown, the cleaning device 100 in the present application further includes a middle sweeping mechanism 40, wherein the middle sweeping mechanism 40 is disposed at the central bottom of the main body 10, and the moving wheel set 68 is disposed at the bottom of the main body 10. The moving wheel set 68 is driven by a driving mechanism such as a motor. During actual operation, by controlling the driving mechanism such as the motor, the main body 10 can be driven to move in space. During this process, through the action of the first power component 21 and the second power component 31, the first cleaning component 22 and the second cleaning component 32 can be driven to lift and rotate to clean the ground or the tabletop, etc. At the same time, the frictional torque generated during the rotation of the first power component 21 driving the first cleaning component 22 can drive the first cleaning component 22 to expand outward to clean the edge of the obstacle. In addition, when the first cleaning mechanism 20 rotates relative to the main body 10, the first stop component 23 can move synchronously with the first cleaning mechanism 20. When the first cleaning component 22 approaches the obstacle, the first stop component 23 can contact the obstacle in the space, which can prevent the first cleaning component 22 from scratching the obstacle during the edge cleaning process, and is convenient for cleaning the edge of the obstacle to avoid situations such as missed cleaning. In addition, when the first cleaning component 22 contacts the obstacle, it can exert a reaction force on the first cleaning mechanism 20 to drive the first cleaning mechanism 20 to drive the first cleaning component 22 to retract inward and move in the direction of the retracted position, enabling the first cleaning mechanism 20 to achieve flexible retraction, and enabling the first cleaning mechanism 20 to achieve retraction without adding additional detection mechanisms and control logics, with a simple structure, which can effectively improve the use comfort and design cost of the cleaning device 100.

[0142] For ease of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, the device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations of the spatial relative descriptions used herein will be made accordingly.

[0143] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings and thus should not be construed as limiting the protection scope of the present invention.

[0144] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cleaning device, characterized in that, Including: A main body (10); A first cleaning mechanism (20), the first cleaning mechanism (20) includes a first power component (21), a first cleaning component (22) and a first stop component (23), the first power component (21) is connected to the first cleaning component (22) to drive the first cleaning component (22) to rotate in a first direction or a second direction opposite to the first direction, the first cleaning component (22) has a retracted position close to the main body (10) and an extended position beyond the outer edge of the main body (10), and within the projection of the main body (10) in the height direction, when the first cleaning component (22) is in the extended position, the area by which the first cleaning component (22) extends beyond the outer edge of the main body (10) is larger than the area by which the first cleaning component (22) extends beyond the outer edge of the main body (10) when the first cleaning component (22) is in the retracted position; The first stop component (23) is arranged on the first power component (21), when the first cleaning component (22) is in the extended position and contacts an obstacle, the first stop component (23) is driven by the force exerted by the obstacle to move the first cleaning mechanism (20), so as to drive the first cleaning component (22) to move in a direction closer to the retracted position.

2. The cleaning device according to claim 1, characterized in that, When the first cleaning component (22) is in the extended position, within the projection of the main body (10) in the height direction, the rotation center of the first cleaning component (22) is located outside the main body (10).

3. The cleaning device according to claim 1, wherein The first cleaning component (22) includes: A mop bracket (221), the mop bracket (221) is connected to the first power component (21) and rotates in the first direction or the second direction under the drive of the first power component (21); A flexible mop (222), the flexible mop (222) is arranged on the bottom surface of the mop bracket (221), within the projection of the main body (10) in the height direction, the flexible mop (222) protrudes beyond the outer edge of the mop bracket (221), and the first stop component (23) is located inside the flexible mop (222); Within the projection of the main body (10) in the height direction, at least part of the first stop component (23) protrudes beyond the outer edge of the mop bracket (221).

4. The cleaning device according to claim 3, wherein The first stop component (23) includes a stop plate (231), within the projection of the main body (10) in the height direction, at least part of the stop plate (231) protrudes beyond the outer edge of the mop bracket (221) for contacting an obstacle when the first cleaning component (22) is in the extended position.

5. The cleaning device according to claim 3, characterized in that, The first cleaning component (22) further includes a soft rubber layer (223). The soft rubber layer (223) covers at least a partial area on the outer periphery of the mop bracket (221). In the projection in the height direction of the main body (10), the soft rubber layer (223) protrudes beyond the outer edge of the mop bracket (221), and the soft rubber layer (223) is located inside the first stop component (23) to prevent the mop bracket (221) from contacting an obstacle.

6. The cleaning device according to claim 4, wherein In the projection in the height direction of the main body (10): The maximum width D by which the stop plate (231) protrudes beyond the outer edge of the mop bracket (221) satisfies the relation: 0 < D ≤ 5 mm; and / or, The maximum width L by which the flexible mop (222) protrudes beyond the outer edge of the stop plate (231) satisfies the relation: 0 ≤ L ≤ 5 mm.

7. The cleaning device according to claim 4, wherein, In the projection in the height direction of the main body (10), the stop plate (231) has a convex arc portion (23101) protruding beyond the outer edge of the mop bracket (221). The convex arc portion (23101) extends along the outer periphery of the mop bracket (221). The minimum central angle of the convex arc portion (23101) is A, and A is the included angle between a first radius line (X) and a second radius line (Y). Among them, The first radius line (X) is the connection line between the center (O) of the mop bracket and a first tangent point (B1). The first tangent point (B1) is the tangent point when the outer expansion of the mop bracket (221) reaches the first tangent line (R1) tangent to the outermost edge in a predetermined direction of the main body (10), and the first tangent line (R1) is parallel to the moving direction of the main body (10); The second radius line (Y) is the connection line between the center (O) of the mop bracket and a second tangent point (B2). The second tangent point (B2) is the tangent point between the mop bracket (221) and a second tangent line (R2) when the outer expansion of the mop bracket (221) reaches the limit position. The second tangent line (R2) is a tangent line passing through the point on the mop bracket (221) that is the farthest from the main body (10) in the predetermined direction and is parallel to the first tangent line (R1).

8. The cleaning device according to claim 7, characterized in that, Along the predetermined direction of the main body (10), a predetermined distance (S) is provided between the second tangent line (R2) and the first tangent line (R1). The predetermined distance (S) is the distance between the second tangent line (R2) and the first tangent line (R1) when the first cleaning component (22) expands to the position farthest from the main body (10).

9. The cleaning device according to claim 7, characterized in that, A rotating part (11) is provided on the main body (10), and the maximum outer expansion angle (α) of the first cleaning component (22) is less than 180°; In the projection in the height direction of the main body (10): When the first cleaning component (22) is in the retracted position, the connection line between the center (O) of the mop bracket and the rotating part (11) is J1. When the first cleaning component (22) expands to the limit position, the connection line between the center (O) of the mop bracket and the rotating part (11) is J2. The maximum outer expansion angle (α) is the included angle between J1 and J2.

10. The cleaning device according to claim 1, wherein, A rotating part (11) and an elastic part (12) are provided on the host (10). The first cleaning mechanism (20) is rotatably connected to the host (10) through the rotating part (11) to drive the first cleaning component (22) to move between the outward expansion position and the inward retraction position. The elastic part (12) expands and contracts along the rotation direction of the rotating part (11), and two ends of the elastic part (12) are respectively connected to the host (10) and the first cleaning mechanism (20); or, Two ends of the elastic part (12) are respectively connected to the host (10) and the first cleaning mechanism (20), and the first cleaning mechanism (20) rotates along the first direction or the second direction to drive the elastic part (12) to move and stretch.

11. The cleaning device according to claim 10, characterized in that, An arc-shaped groove (13) is provided on the host (10). The center of the arc-shaped groove (13) coincides with the rotation center of the rotating part (11). The elastic part (12) is arranged in the arc-shaped groove (13) and can expand and contract along the extending direction of the arc-shaped groove (13); or, A first connection part (15) is provided on the host (10), a second connection part (16) is provided on the first cleaning mechanism (20), one end of the elastic part (12) is connected to the first connection part (15), and the other end of the elastic part (12) is connected to the second connection part (16). When the first cleaning component (22) is in the inward retraction position, the elastic part (12) is in a stretched state, and during the process of the first cleaning component (22) converting from the inward retraction position to the outward expansion position, the stretching amount of the elastic part (12) gradually increases.

12. The cleaning device according to claim 1, wherein The first power component (21) includes a first driving part (211) and a first transmission assembly (212). A rotating part (11) is provided on the host (10), and the host includes a bottom shell (17); The first driving part (211) is rotatably installed on the bottom shell (17) through the rotating part (11). The first driving part (211) has a rotating shaft, and the rotating shaft is coaxially arranged with the rotating part (11), or the rotating shaft is arranged in a dislocation manner with the rotating part (11) and the first driving part (211) can move around the rotating part (11); The first transmission assembly (212) is connected between the first driving part (211) and the first cleaning component (22). The rotation of the rotating shaft drives the first transmission assembly (212) to drive the first cleaning component (22) to rotate along the first direction or the second direction. The first stop component (23) is arranged on the first transmission assembly (212).

13. The cleaning device according to claim 12, characterized in that, The first cleaning member (22) is located at the bottom of the main body (10). An avoidance notch (14) is provided on the main body (10). The avoidance notch (14) extends from the inner side of the main body (10) towards the edge of the main body (10), and an opening is provided at one end of the avoidance notch (14) close to the edge of the main body (10). The first cleaning mechanism (20) moves along the avoidance notch (14) to move between the outer expansion position and the inner retraction position. The opening is at least used to avoid the first cleaning mechanism (20) to allow the rotation center of the first cleaning member (22) to be located outside the main body (10) when the first cleaning member (22) is in the outer expansion position; Within the projection in the height direction of the main body (10): When the maximum width (M) of the outer contour of the first transmission assembly (212) is less than or equal to the maximum outer expansion radius (r) from the rotating portion (11) to the avoidance notch (14), the maximum width (M) of the outer contour of the first transmission assembly (212) is arranged along a direction parallel to the maximum outer expansion radius (r) or intersects with the maximum outer expansion radius (r); or, When the maximum width (M) of the outer contour of the first transmission assembly (212) is greater than the maximum outer expansion radius (r) from the rotating portion (11) to the avoidance notch (14), the maximum width (M) of the outer contour of the first transmission assembly (212) intersects with the maximum outer expansion radius (r).

14. The cleaning device according to claim 12, characterized in that, The first transmission assembly (212) further includes a reduction gearbox (2311), a first transmission member (2312), and a second transmission member (2313). The first stop member (23) includes a connecting portion (232) and a stop baffle (231); The connecting portion (232) is integrally formed or fixedly connected to the outer shell of the reduction gearbox (2311), and the connecting portion (232) surrounds the outer circumferences of the first transmission member (2312) and the second transmission member (2313). The stop baffle (231) is integrally formed or fixedly connected to the connecting portion (232), and the stop baffle (231) covers a part of the outer circumference of the first cleaning member (22); The power input end of the reduction gearbox (2311) is connected to the first driving member (211), and the power output end of the reduction gearbox (2311) is connected to the first transmission member (2312) to drive the first transmission member (2312) to rotate along the first direction or the second direction.

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