Cleaning device and control method of cleaning device

Abstract

The invention discloses a cleaning device and a control method of the cleaning device. The cleaning device comprises a main machine, a first cleaning mechanism and a limiting component. The first cleaning mechanism is rotationally arranged on the main machine, the first cleaning mechanism comprises a first cleaning part capable of rotating in the first direction or the second direction opposite to the first direction, and the first cleaning part is provided with an inward-retracting position close to the main machine and an outward-expanding position exceeding the outer edge of the main machine; the limiting component has a first state for avoiding the first cleaning component so as to allow the first cleaning component to be switched between the inward-retracting position and the outward-expanding position, and the limiting component further has a second state for stopping the first cleaning component so as to prevent the first cleaning component from being switched from the inward-retracting position to the outward-expanding position when being pulled by external force. The cleaning device at least can solve the problem that the external expansion mop of the sweeper is easy to be pulled out accidentally.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 2024229809193, titled "Cleaning Device", filed with the Chinese Patent Office on December 03, 2024. The entire content thereof is incorporated herein by reference. Technical Field

[0002] This application relates to the technical field of cleaning devices, and more particularly, to a cleaning device and a control method thereof. Background Art

[0003] Nowadays, cleaning devices such as floor sweeping robots have greatly reduced people's cleaning burden as they can help users clean. To enable floor sweeping robots to meet the cleaning requirements of various complex environments, the main body of the floor sweeping robot is usually provided with expandable side brushes or mopping cloths and other cleaning structures to clean difficult-to-clean positions such as corners and walls. However, in existing floor sweeping robots, when the main body passes over low obstacles such as carpets and thresholds, the mopping cloth of the main body is easily pulled out to the expanded position, resulting in the inability to complete the normal cleaning work of the main body. Summary of the Invention

[0004] The main object of this application is to provide a cleaning device and a control method thereof, at least to solve the problem that the expandable mopping cloth of the floor sweeping machine is easily pulled out accidentally.

[0005] According to one aspect of this application, a cleaning device is provided, including:

[0006] A main body;

[0007] A first cleaning mechanism, the first cleaning mechanism is rotatably arranged on the main body, and the first cleaning mechanism includes a first cleaning component. The first cleaning component is rotatably arranged on the first cleaning mechanism, and the first cleaning component can rotate along a first direction or a second direction opposite to the first direction. The first cleaning component has a retracted position close to the main body and an extended position 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 beyond the outer edge of the main body when the first cleaning component is in the extended position is greater than the area of the first cleaning component beyond the outer edge of the main body when the first cleaning component is in the retracted position;

[0008] A limiting component, the limiting component has a first state of avoiding the first cleaning component to allow the first cleaning component to switch between the retracted position and the extended position, and the limiting component also has a second state of blocking the first cleaning component to prevent the first cleaning component from being pulled by an external force to switch from the retracted position to the extended position.

[0009] Further, the mainframe is provided with an avoidance gap, the avoidance gap extends from the inner side of the mainframe to the edge of the mainframe, and an opening is provided at one end of the avoidance gap close to the edge of the mainframe, the first cleaning mechanism moves along the avoidance gap to move between the outward-expanding position and the inward-retracting position, and 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 mainframe when the first cleaning member is in the outward-expanding position;

[0010] The limiting component is arranged at the edge of the avoidance gap, and the limiting component switches between the first state and the second state by at least one of rotation, movement and swinging. When the first cleaning component is in the retracted position and rotates along the first direction, the first cleaning component shifts the limiting component to make the limiting component switch to the first state. When the first cleaning component is in the retracted position and rotates along the second direction, the limiting component automatically switches to the second state. When the first cleaning component is in the outward-expanding position and switches to the retracted position, the first cleaning component shifts the limiting component to make the limiting component switch to the first state.

[0011] Further, the limiting component is rotatably arranged on the main machine, and a fixed spindle is arranged on the main machine, and the fixed spindle is located at the outer peripheral side of the avoidance gap; the limiting component includes:

[0012] a limiting member, wherein the limiting member is sleeved on the fixed spindle and can rotate around the limiting member to switch between the first state and the second state;

[0013] An elastic reset member, two ends of which are respectively pressed against the host and the limiting member, and the elastic reset member is configured to automatically restore the limiting member to the second state.

[0014] Furthermore, the elastic reset member includes a torsion spring, which is sleeved on the fixed spindle, one end of the torsion spring abuts against the limiting member, and the other end of the torsion spring abuts against the host.

[0015] Furthermore, the main unit includes a bottom shell, the avoidance gap and the fixed spindle are both arranged on the bottom shell, and a first limiting portion is provided on the side of the fixed spindle close to the opening of the avoidance gap, and the first limiting portion is at least used to limit the extreme position of the limiting member when it rotates toward the opening side of the avoidance gap.

[0016] Furthermore, a limiting opening is provided at the edge of the avoidance gap, and a second limiting portion is provided on the bottom shell;

[0017] The first limiting portion is located at one end of the limiting opening close to the opening of the avoidance gap, the second limiting portion is located at one end of the limiting opening away from the opening of the avoidance gap, the second limiting portion is at least used to limit the extreme position of the limiting member when it rotates toward the opening side away from the avoidance gap, the fixed spindle is located on the side of the limiting opening away from the first cleaning mechanism, the limiting member is inserted into the limiting opening and can swing in the limiting opening, and the swinging angle of the limiting member in the limiting opening is less than or equal to 60°.

[0018] Furthermore, the first cleaning mechanism further comprises a first power component, and the first power component comprises a first driving member and a first transmission assembly;

[0019] The first transmission assembly is rotatably disposed on the main machine, the housing of the first driving member is fixedly connected to the housing of the first transmission assembly, the first transmission assembly is connected between the first driving member and the first cleaning member, the first driving member drives the first transmission assembly to drive the first cleaning member to rotate along the first direction or the second direction, and an engagement opening is provided on the first transmission assembly, the engagement opening is at least used to engage with the limiting member when the first cleaning member rotates along the first direction, and to move the limiting member to switch from the second state to the first state.

[0020] Further, the width of the limiting component is d1, the width of the meshing opening is d2, and d1 and d2 satisfy the relationship: d1<d2;

[0021] When the limiting component is engaged with the meshing opening, there is a gap between the limiting component and the meshing opening, the width of the gap is D, the depth of the meshing opening is G, and D and G satisfy the relationship:

[0022] Further, the first transmission assembly includes a first transmission member and a second transmission member, the first driving member is drivingly connected to the first transmission member to drive the first transmission member to rotate along the first direction or the second direction, the first transmission member abuts against the second transmission member, the second transmission member rotates along the first direction or the second direction and rises or falls along the height direction of the host under the drive of the first transmission member, and the meshing opening is provided on the outer surface of the second transmission member;

[0023] When the first cleaning component is located at the retracted position, the limiting component and the second transmission component are staggered within the projection in the height direction of the main machine;

[0024] When the first cleaning component switches between the retracted position and the expanded position, the second transmission member contacts the limiting component and drives the limiting component to move through the engagement opening so that the limiting component switches from the second state to the first state.

[0025] Further, the second transmission member includes an annular protrusion, the annular protrusion extends along the outer circumferential surface of the second transmission member, and the meshing opening is arranged on the annular protrusion and is recessed along the radial direction of the annular protrusion.

[0026] Furthermore, the second transmission member also includes a retaining rib, which is arranged on the outer surface of the second transmission member and extends along the height direction of the second transmission member, the engaging mouth is arranged at the first position of the annular protrusion, the position where the retaining rib and the annular protrusion intersect is the second position, and the first position and the second position are staggered.

[0027] Furthermore, the second transmission member, under the support of the first transmission member, has a first limit position that rises to the highest position along the height direction of the mainframe, or descends to the second limit position that falls to the lowest position along the height direction of the mainframe;

[0028] Along the height direction of the main machine, the height of the limiting component is greater than the thickness of the annular protrusion, and the height of the limiting component is greater than or equal to the maximum stroke of the second transmission member in the height direction; when the first cleaning component is in the first extreme position, the top of the limiting component is higher than the top of the annular protrusion, or is at the same height as the top of the annular protrusion; when the first cleaning component is in the second extreme position, the bottom of the limiting component is lower than the bottom of the annular protrusion, or is at the same height as the bottom of the annular protrusion.

[0029] Furthermore, the first cleaning mechanism further includes a first stopper, which is disposed on the first cleaning mechanism and has an escape opening, which is used at least to escape the limiting member to prevent the first stopper from interfering with the first stopper;

[0030] When the first cleaning component protrudes from the edge of the mainframe for cleaning and contacts an obstacle, the first stopping component is driven by the force exerted by the obstacle to swing the first cleaning mechanism, so as to drive the first cleaning component to move toward the retracted position.

[0031] On the other hand, the present application also mentions a control method for a cleaning device, the control method is performed by the above-mentioned cleaning device, and the control method includes:

[0032] When the first cleaning component is in the retracted position, the limiting component is in the second state, and the first cleaning component is controlled to rotate in the second direction while the first cleaning component maintains the retracted position;

[0033] When the first cleaning component is in the retracted position, the limiting component is in the second state, and the first cleaning component is controlled to stop rotating while the limiting component maintains the second state to prevent the first cleaning component from converting from the retracted position to the expanded position; when the first cleaning component is in the retracted position or the expanded position, the limiting component is in the second state, and the first cleaning component is controlled to rotate in the first direction and toggle the limiting component from the second state to the first state to allow the first cleaning component to convert between the retracted position and the expanded position.

[0034] On the other hand, the present application also mentions a control method for a cleaning device, which is executed by the above-mentioned cleaning device, and the control method includes:

[0035] When the first cleaning component is in the expanded position for cleaning and contacts an obstacle, the first cleaning component is controlled to rotate in the first direction so that the first cleaning component toggles the limiting component from the second state to the first state to allow the first cleaning component to convert between the retracted position and the expanded position;

[0036] When the first cleaning component is driven by the obstacle and converts to the retracted position, the first cleaning component is controlled to continue rotating in the first direction so that the first cleaning component toggles the limiting component from the second state to the first state to allow the first cleaning component to convert between the retracted position and the expanded position.

[0037] During the actual operation of the cleaning device in this application, when the cleaning device does not perform edge cleaning, the first cleaning component rotates along the second direction. During this process, due to the friction force between the surface to be cleaned (which can be the ground, desktop, etc.) and the first cleaning component, and the direction of the friction force received by the first cleaning component is the tangential direction of the first direction. Thus, the first cleaning component can swing along the first direction to maintain the in-ward position for cleaning the surface to be cleaned. At the same time, during the process of the first cleaning component swinging along the first direction, the limiting component can maintain in the second state to further prevent the first cleaning component from protruding beyond the outer edge of the main body. When the cleaning device performs edge cleaning, the first cleaning component rotates along the first direction. During this process, due to the friction force between the surface to be cleaned and the first cleaning component, and the direction of the friction force received by the first cleaning component is the tangential direction of the second direction. Thus, the first cleaning component can swing along the second direction to enable the first cleaning component to convert from the in-ward position to the out-ward position, so as to clean the edges of obstacles such as walls and furniture. At the same time, during the process of the first cleaning mechanism swinging along the second direction (i.e., the first cleaning component moves from the in-ward position to the out-ward position), the limiting component can be converted from the second state to the first state, so as to avoid the first cleaning component and enable the first cleaning component to protrude beyond the outer edge of the main body. Moreover, when the first cleaning component rotates or stops rotating along the second direction, if an external force pulls the first cleaning component from the in-ward position to the out-ward position, the limiting component can maintain the second state to stop the first cleaning component, thereby preventing the first cleaning component from being accidentally pulled out to the outside of the main body.

[0038] That is to say, in this application, by setting a limiting component with two states (i.e., the first state and the second state) on the main body, which respectively have the functions of avoiding and stopping the first cleaning component, and then by controlling the first cleaning component to rotate along different directions (i.e., the first direction or the second direction) according to different cleaning requirements, it is possible to prevent the first cleaning component from being accidentally pulled out to the outside of the main body, and improve the use reliability and stability of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of this application and form a part of this application. The schematic application and description of this application are used to explain this application and do not constitute an improper limitation to this application. In the drawings:

[0040] Figure 1 is a three-dimensional structure diagram of a cleaning device disclosed in an embodiment of this application;

[0041] Figure 2 is Figure 1 a top view of the first cleaning component of the cleaning device in

[0042] Figure 3 The top view when the first cleaning component of the cleaning device in Figure 1 is in the outward-expanded position;

[0043] Figure 4 is Figure 1 the three-dimensional structure diagram of the cleaning device in

[0044] Figure 5 is Figure 4 the exploded view of

[0045] Figure 6 the three-dimensional structure diagram of another cleaning device disclosed in the embodiment of the present application;

[0046] Figure 7 is Figure 6 the top view when both the first cleaning component and the second cleaning component of the cleaning device in

[0047] Figure 8 are in the inward-retracted position; Figure 6 the top view when the first cleaning component of the cleaning device in

[0048] Figure 9 is Figure 6 in the three-dimensional structure diagram from another perspective;

[0049] Figure 10 is Figure 6 the first exploded view of the cleaning device in

[0050] Figure 11 the schematic diagram when the first cleaning component of the cleaning device disclosed in the embodiment of the present application expands from one position to the limit position;

[0051] Figure 12 the structure diagram of a part of the first cleaning mechanism or the second cleaning mechanism of the cleaning device disclosed in the embodiment of the present application;

[0052] Figure 13 the cross-sectional view of the first cleaning mechanism or the second cleaning mechanism of the cleaning device disclosed in the embodiment of the present application;

[0053] Figure 14 the three-dimensional structure diagram of the second transmission part of the cleaning device disclosed in the embodiment of the non-application;

[0054] Figure 15 the force analysis diagram when the cleaning device disclosed in the embodiment of the present application does not have the first stop component and collides with an obstacle;

[0055] Figure 16The cleaning device disclosed in the embodiment of the present application is provided with a first stop member and a force analysis diagram when hitting an obstacle;

[0056] Figure 17 A structural diagram of the bottom case, the limiting member, and the second transmission member in the first perspective disclosed in the embodiment of the present application;

[0057] Figure 18 For Figure 17 An enlarged view of part A in

[0058] Figure 19 For Figure 17 A structural diagram of the bottom case, the limiting member, and the second transmission member in another perspective in

[0059] Figure 20 For Figure 19 An enlarged view of part B in

[0060] Figure 21 A schematic diagram of the first cleaning member of the cleaning device disclosed in the embodiment of the present application when it is expanded to the limit position relative to the bottom case;

[0061] Figure 22 A schematic diagram of the limiting member and the second transmission member when they are engaged in the embodiment of the present application;

[0062] Figure 23 For Figure 22 A schematic diagram of the limiting member and the second transmission member in another perspective in

[0063] Figure 24 A schematic diagram of the first transmission member pressing the second transmission member downward to the limit position in the height direction of the main machine in the embodiment of the present application;

[0064] Figure 25 A partial schematic diagram of the bottom case and the limiting member disclosed in the embodiment of the present application.

[0065] Among them, the above-mentioned drawings include the following reference numerals:

[0066] 100. Cleaning device; 10. Main body; 11. Rotating part; 12. Elastic part; 13. Arc-shaped groove; 14. Bottom shell; 141. Avoidance notch; 1411. Opening; 142. Fixed mandrel; 143. First limiting part; 144. Limiting opening; 145. Second limiting part; 20. First cleaning mechanism; 21. First power component; 211. First driving part; 212. First transmission component; 22. First cleaning part; 221. Mop bracket; 222. Flexible mop; 23. First stop component; 231. Stop plate; 23101. Arc part; 232. Connecting part; 2321. Avoidance opening; 30. Second cleaning mechanism; 31. Second power component; 311. Second driving part; 312. Second transmission component; 32. Second cleaning part; 2311. Reducing box; 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. Connecting area; 23132. Limiting structure; 23133. Meshing opening; 23134. Annular protrusion; 23135. Baffle rib; 2314. Elastic element; 40. Middle sweeping mechanism; 50. Moving wheel set; 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 circular bracket; 60. Limiting component; 61. Limiting part; 62. Elastic reset part; 621. Torsion spring. Detailed implementation manners

[0067] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may 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.

[0068] 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 "comprise" and / or "include" are used in this specification, they specify the presence of the features, steps, operations, devices, components, and / or their combinations.

[0069] Unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions, and numerical values 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 sake of 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 interpreted 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.

[0070] As described in the background art, cleaning devices such as floor-sweeping robots can greatly help people reduce the cleaning burden. Although the outwardly extended side-sweeping or mopping cloth and other cleaning structures enable the floor-sweeping robot to meet the cleaning requirements of many complex environments, when the main body passes over low obstacles such as carpets and thresholds, the mopping cloth of the main body is easily accidentally pulled out to the outwardly extended position, resulting in the inability to normally complete the cleaning work of the main body. Therefore, there is an urgent need for a cleaning device that can prevent the mopping cloth from being accidentally pulled out, so that the cleaning device can meet the cleaning requirements of more complex environments.

[0071] See Figures 1 to 25 As shown, an embodiment of the present application provides a cleaning device 100, which includes but is not limited to a floor-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 having the above-mentioned floor-sweeping robot, mopping machine, sweeping and mopping integrated machine, floor washing machine, etc. The cleaning device 100 includes a main body 10, a first cleaning mechanism 20, and a limiting member 60.

[0072] Among them, the first cleaning mechanism 20 is rotatably provided on the main body 10, and the first cleaning mechanism 20 includes a first cleaning member 22. The first cleaning member 22 is rotatably provided on the first cleaning mechanism 20, and the first cleaning member 22 can rotate along a first direction or a second direction opposite to the first direction. The first cleaning member 22 has a retracted position close to the main body 10 (such as Figure 1 , Figure 2 , Figure 6 and Figure 7 shown) and an outwardly extended position beyond the outer edge of the main body 10 (such as Figure 3 , Figure 8As shown), and in the projection in the height direction of the host 10, the area of ​​the first cleaning component 22 exceeding the outer edge of the host 10 when the first cleaning component 22 is in the outward expansion position is greater than the area of ​​the first cleaning component 22 exceeding the outer edge of the host 10 when the first cleaning component 22 is in the inward contraction position. It can be understood that when the first cleaning component 22 is in the inward contraction position, the first cleaning component 22 may partially exceed the outer edge of the host 10, or may be completely located inside the host 10 and not protrude from the outer edge of the host 10 at all; when the first cleaning component 22 is in the outward expansion position, the area of ​​the first cleaning component 22 protruding from the outer edge of the host 10 is greater than the area of ​​the first cleaning component 22 protruding from the outer edge of the host 10 when the first cleaning component 22 is in the inward contraction position. In some embodiments of the present application, when the first cleaning component 22 is in the outward expansion position, it is preferred that the first cleaning component 22 protrudes from the outermost edge of the host 10 in a predetermined direction (a direction perpendicular to the moving direction of the host 10), so that when the host 10 moves, it is more suitable to drive the first cleaning component 22 to clean the edges of obstacles such as walls and furniture. The limiting component 60 has a first state for avoiding the first cleaning component 22 to allow the first cleaning component 22 to switch between the retracted position and the outwardly extended position. The limiting component 60 also has a second state for stopping the first cleaning component 22 to prevent the first cleaning component 22 from being pulled by external force and switching from the retracted position to the outwardly extended position.

[0073] During the actual operation of the cleaning device 100 of the present application, when the cleaning device 100 does not perform edge cleaning, the first cleaning component 22 rotates along the second direction. During this process, due to the frictional force between the surface to be cleaned (which can be the ground, tabletop, etc.) and the first cleaning component 22, and the direction of the frictional force received by the first cleaning component 22 is the tangential direction of the first direction, thus, the first cleaning component 22 can swing along the first direction to maintain the adducted position for cleaning the surface to be cleaned. At the same time, during the process of the first cleaning component 22 swinging along the first direction, the limiting component 60 can be maintained in the second state to further prevent the first cleaning component 22 from protruding beyond the outer edge of the main body 10. When the cleaning device 100 performs edge cleaning, the first cleaning component 22 rotates along the first direction. During this process, due to the frictional force between the surface to be cleaned and the first cleaning component 22, and the direction of the frictional force received by the first cleaning component 22 is the tangential direction of the second direction, thus, the first cleaning component 22 can swing along the second direction to convert the first cleaning component 22 from the adducted position to the outward-expanded position, so as to clean the edges of obstacles such as walls and furniture. At the same time, during the process of the first cleaning mechanism 20 swinging along the second direction (i.e., the first cleaning component 22 moves from the adducted position to the outward-expanded position), the limiting component 60 can be converted from the second state to the first state, so as to avoid the first cleaning component 22 so that the first cleaning component 22 can protrude beyond the outer edge of the main body 10. Moreover, when the first cleaning component 22 rotates or stops rotating along the second direction, if an external force pulls the first cleaning component 22 from the adducted position to the outward-expanded position, the limiting component 60 can maintain the second state to block the first cleaning component 22, so as to prevent the first cleaning component 22 from being accidentally pulled out to the outside of the main body 10.

[0074] Exemplarily, the adducted position includes a plurality of adducted position points. When the first cleaning component 22 is adducted to the innermost position of the main body 10, the first cleaning component 22 is at the extreme position of the adducted position. The outward-expanded position includes a plurality of outward-expanded position points. When the first cleaning component 22 is expanded to the outermost position of the main body 10, the positions within the range of the first predetermined distance of movement from the extreme position of the adducted position to the extreme position of the outward-expanded position of the first cleaning component 22 all belong to the adducted position. The positions within the range of the second predetermined distance of movement from the extreme position of the outward-expanded position to the extreme position of the adducted position of the first cleaning component 22 all belong to the outward-expanded position. The specific sizes of the first predetermined distance and the second predetermined distance can be adjusted accordingly 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 11As shown, R1 is the first tangent line R1 that is tangent to the edge of the host 10 along a predetermined direction of the host 10. When the first cleaning member 22 moves in the direction from N1 to N2, if the first cleaning member 22 is in a position that does not exceed the first tangent line R1 (that is, the first cleaning member 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 member 22 is in the retracted position; if the first cleaning member 22 is in a position that exceeds the first tangent line R1 (that is, the first cleaning member 22 is in a position that exceeds Figure 11 the position of the mop bracket 221 shown by the solid line in

[0075] ), for example, the position of the mop bracket 221 shown by the dashed line in

[0076] ), then the first cleaning member 22 is in the extended position. That is to say, in this application, by providing a limiting member 60 with two states (i.e., the first state and the second state) on the host 10, which respectively have the functions of avoiding and stopping the first cleaning member 22, and then controlling the first cleaning member 22 to rotate in different directions (i.e., the first direction or the second direction) according to different cleaning requirements, it is possible to prevent the first cleaning member 22 from being accidentally pulled out to the outside of the host 10, and the use reliability and stability of the cleaning device 100 can be improved.

[0077] The cleaning device is also configured such that when the first cleaning member 22 is subjected to a moment in the first direction while rotating in the second direction, the first cleaning mechanism 20 swings relative to the main body 10 in the first direction to drive the first cleaning member 22 to be in the retracted position. Specifically, when the first power member 21 drives the first cleaning member 22 to rotate in the second direction, when the first cleaning member 22 contacts a cleaning surface such as the ground or a tabletop, a moment will be generated, and this moment can cause the entire first cleaning mechanism 20 to swing relative to the main body 10 in the first direction opposite to the second direction, driving the first cleaning member 22 to retract to the inner side close to the main body 10 and be in the retracted position. At this time, it is convenient to store and deploy the cleaning device 100.

[0078] It can be understood that the first direction in this 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. As Figure 7 and Figure 18 shown, in this embodiment, the first direction is the clockwise direction (i.e., Figure 18 the direction indicated by e in Figure 18 ), and the second direction is the counterclockwise direction (i.e., Figure 7 the direction indicated by f in

[0079] ). Further, referring to Figures 17 to 21 、 Figure 25As shown, the host 10 is provided with an avoidance gap 141, which extends from the inner side of the host 10 to the edge of the host 10, and an opening 1411 is provided at one end of the avoidance gap 141 close to the edge of the host 10. The first cleaning mechanism 20 moves along the avoidance gap 141 to move between the outward expansion position and the inward contraction position, and 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 host 10 when the first cleaning member 22 is in the outward expansion position. The limiting member 60 is rotatably arranged at the edge of the avoidance gap 141, and the limiting member 60 is converted between the first state and the second state by at least one of rotation, movement and swinging. When the first cleaning member 22 is in the inward contraction position and rotates in the first direction, the first cleaning member 22 drives the limiting member 60 to rotate so that the limiting member 60 is converted to the first state. When the first cleaning member 22 is in the inward contraction position and rotates in the second direction, the limiting member 60 automatically converts to the second state. When the first cleaning member 22 is in the outwardly extended position and is converted to the inwardly retracted position, the first cleaning member 22 moves the limiting member 60 to convert the limiting member 60 to the first state.

[0080] Specifically, the avoidance notch 141 on the main unit 10 enables the first cleaning mechanism 20 to swing flexibly inside the main unit 10 without interfering with other components inside the main unit 10, and the setting of the avoidance notch 141 also enables the first cleaning component 22 to pass through the avoidance notch 141 and connect with the first power component 21, thereby driving the first cleaning component 22 to rotate in the first direction or the second direction, and to switch between the outward-expanding position and the inward-retracting position. When actually setting the avoidance notch 141, it is necessary not only to consider the internal space of the main unit 10, but also to consider the swinging trajectory of the first cleaning mechanism 20, so that the first cleaning component 22 can move along the avoidance notch 141, and the avoidance notch 141 does not cause too much impact on the structural strength of the main unit 10. The design that the first cleaning component 22 can switch between the outward-expanding position and the inward-retracting position can not only expand the cleaning range of the cleaning device 100, but also improve the cleaning efficiency. The opening 1411 is set so that when the first cleaning component 22 is in the outward expansion position, the rotation center of the first cleaning component 22 can protrude from the outer edge of the main unit 10, so that the first cleaning component 22 can expand farther relative to the main unit 10, thereby expanding the cleaning range of the cleaning device 100. When the first cleaning component 22 rotates along the first direction, the limiting component 60 can be toggled to switch to the first state, thereby avoiding the swing path of the first cleaning component 22, ensuring that the first cleaning component 22 can switch between the outward expansion position and the retracted position. When the first cleaning component 22 rotates along the second direction, the limiting component 60 can automatically switch to the second state, thereby stopping the first cleaning component 22 on the swing path of the first cleaning component 22, thereby preventing the first cleaning component 22 from being accidentally pulled out to the outward expansion position at the retracted position, which can not only prevent the first cleaning component 22 from being accidentally damaged, but also ensure that the cleaning work of the cleaning device 100 can be carried out normally. In the present application, the limiting component 60 switches between the first state and the second state by at least one of the following motion modes: rotation, movement and swinging. When the limiting component 60 is actually set, the motion mode of the limiting component 60 can be reasonably selected according to the actual situation and the different structures of the cleaning device 100. This embodiment shows the situation that the limiting component 60 switches between the first state and the second state by the swinging motion mode. This application is also mainly introduced by the situation that the limiting component 60 switches between the first state and the second state by the swinging motion mode. That is to say, the cleaning device 100 of the present application can limit the first cleaning mechanism 20 by the conversion of the limiting component 60 in different states (the first state and the second state), prevent the first cleaning mechanism 20 from being pulled out in an accident (the first cleaning component 22 is forced to be pulled toward the outer edge of the main machine 10 under the action of external force), and then prevent the first cleaning component 22 from being forced to be pulled out to the outside of the main machine 10, thereby ensuring the reliability and safety of the cleaning device 100 during operation.

[0081] Further, referring to Figure 17 , Figure 18 , Figures 22 to 25 As shown, the limiting member 60 is rotatably arranged on the main body 10, and a fixed mandrel 142 is arranged on the main body 10. The fixed mandrel 142 is located on the outer peripheral side of the avoidance notch 141. The limiting member 60 includes a limiting piece 61 and an elastic resetting member 62. Among them, the limiting piece 61 is sleeved on the fixed mandrel 142 and can rotate around the limiting piece 61 to switch between a first state and a second state; both ends of the elastic resetting member 62 respectively abut against the main body 10 and the limiting piece 61, and the elastic resetting member 62 is configured to automatically restore the limiting piece 61 to the second state.

[0082] Specifically, the fixed mandrel 142 is fixedly connected to the main body 10, and the fixed mandrel 142 does not swing with the limiting member 60 during the actual operation of the limiting member 60. The setting of the fixed mandrel 142 provides a clear rotation center for the limiting member 60, ensuring that the limiting piece 61 can maintain accurate positioning during rotation, thereby ensuring the accurate switching and stability of the first cleaning mechanism 20 between different states (the first state and the second state). The elastic resetting member 62 not only provides elastic support for the rotation of the limiting piece 61, but also ensures that the limiting piece 61 can automatically return to the second state when no external force is applied. This automatic reset design improves the reliability and automation level of the cleaning device 100, and can reduce the necessity of manual operation to a certain extent. In addition, the elastic resetting member 62 provides a certain buffering effect during the rotation of the limiting piece 61, which can reduce the wear caused to the limiting piece 61 or the main body 10 by mechanical impact, and helps to extend the service life of the cleaning device 100. By the combined use of the limiting piece 61 and the elastic resetting member 62, the first cleaning mechanism 20 can be effectively prevented from being accidentally pulled out to the outer edge of the main body 10 under the action of external force, avoiding failures or damages caused by improper operation or environmental impacts. Moreover, the design of the fixed mandrel 142 and the limiting member 60 makes the whole structure relatively simple and modular, facilitating disassembly and maintenance, reducing the maintenance cost and time of the cleaning device 100. And, due to the presence of the elastic resetting member 62, users do not need to manually intervene in the reset process of the limiting member 60, making the operation more convenient and improving the user experience.

[0083] Further, referring to Figures 22 to 25 As shown, the elastic resetting member 62 includes a torsion spring 621. The torsion spring 621 is sleeved on the fixed mandrel 142. One end of the torsion spring 621 abuts against the limiting piece 61, and the other end of the torsion spring 621 abuts against the main body 10.

[0084] Specifically, the torsion spring 621 can provide a stable torque to ensure that the position-limiting member 61 can obtain precise elastic support during the rotation process, thereby ensuring the accuracy and stability of the position-limiting member 61 in the conversion between different states (the first state and the second state). The torsion spring 621 is sleeved on the fixed spindle 142, and the position-limiting member 61 is sleeved on the outer periphery of the torsion spring 621. This design can make full use of the limited space inside the host 10, and also makes the overall structure of the position-limiting member 60 more compact, which helps to reduce the overall size of the cleaning device 100. The elastic force of the torsion spring 621 enables the position-limiting member 61 to quickly and reliably return to the second state without the influence of human power, ensuring the continuity of operation and the degree of automation of the cleaning device 100.

[0085] Further, see Figures 17 to 20 , Figure 25 As shown, the main unit 10 includes a bottom shell 14, and the avoidance notch 141 and the fixed spindle 142 are both arranged on the bottom shell 14. A first limiting portion 143 is arranged on the side of the fixed spindle 142 close to the opening 1411 of the avoidance notch 141. The first limiting portion 143 is at least used to limit the extreme position of the limiting member 61 when it rotates toward the opening 1411 side of the avoidance notch 141.

[0086] Specifically, the setting of the first limiting portion 143 can effectively prevent the limiting member 61 from rotating toward the side close to the outer edge of the main unit 10 when in the second state, thereby preventing the limiting member 61 from exceeding the predetermined limit position (i.e., the position of the limiting member 61 when in the second state) during rotation, avoiding mechanical damage or functional failure that may be caused by excessive rotation, and improving the safety and reliability of the cleaning device 100. In this embodiment, when the limiting member 61 is in the second state, the limiting member 61 is always in contact with the first limiting portion 143 under the action of the elastic reset member 62, thereby ensuring that when the first cleaning mechanism 20 rotates in the first direction, the limiting member 61 can stop the first cleaning mechanism 20, preventing the first cleaning mechanism 20 from being accidentally pulled out to the outer edge of the main unit 10. In other embodiments of the present application, a limit member 61 may also be provided on the side of the fixed spindle 142 away from the opening of the avoidance notch 141, so as to ensure that the limit member 61 does not excessively rotate when switching from the second state to the first state, thereby avoiding the embarrassing situation that the limit member 61 cannot automatically return to the second state due to excessive rotation.

[0087] Further, see Figure 25As shown, a limiting opening 144 is provided at the edge of the avoidance notch 141, and a second limiting portion 145 is provided on the bottom shell 14. The first limiting portion 143 is located at one end of the limiting opening 144 close to the opening 1411 of the avoidance notch 141, and the second limiting portion 145 is located at one end of the limiting opening 144 away from the opening 1411 of the avoidance notch 141, and the second limiting portion 145 is at least used to limit the limit position of the limiting member 61 when it rotates toward the opening 1411 side away from the avoidance notch 141, the fixed spindle 142 is located at the side of the limiting opening 144 away from the first cleaning mechanism 20, the limiting member 61 is inserted into the limiting opening 144 and can swing in the limiting opening 144, and the swing angle of the limiting member 61 in the limiting opening 144 is less than or equal to 60°.

[0088] Specifically, the first limiting portion 143 is located at one end of the limiting opening 144 close to the opening 1411 of the avoidance notch 141, restricting the movement of the limiting member 61 in the direction of the opening of the avoidance notch, and preventing the limiting member 61 from swinging excessively or disengaging. In this embodiment, the first limiting portion 143 is manifested as restricting the limiting member 61 at the position where the first limiting portion 143 is located, preventing the limiting member 61 from continuing to rotate in the first direction (which is the clockwise direction in this embodiment). The second limiting portion 145 is located at the end of the limiting opening 144 far from the opening 1411, restricting the rotation limit position of the limiting member 61 in the direction away from the opening. In this embodiment, the second limiting portion 145 is manifested as restricting the limiting member 61 at the position where the second limiting portion 145 is located, preventing the limiting member 61 from continuing to rotate in the second direction (which is the counterclockwise direction in this embodiment). This design ensures that the limiting member 61 will not exceed the predetermined range during the swinging process, enabling the limiting member 61 to only swing between the first limiting portion 143 and the second limiting portion 145 (i.e., within the limiting opening 144), and avoiding interference or damage between the limiting member 61 and other components. The fixed mandrel 142 serves as a support point, enabling the limiting member 61 to rotate around the fixed mandrel 142. At the same time, in cooperation with the structure of the limiting opening 144, it ensures the accurate movement trajectory of the limiting member 61. In this embodiment, the specific positions of the fixed mandrel 142, the first limiting portion 143, the limiting opening 144, and the second limiting portion 145 should satisfy the condition that the swinging angle of the limiting member 61 within the limiting opening 144 is less than or equal to 60°, so that the limiting member 61 can better avoid or stop the first cleaning component 22, and at the same time, the movement range of the limiting member 61 is precisely controllable. Through the synergistic effect of the first limiting portion 143, the second limiting portion 145, and the fixed mandrel 142, the movement of the limiting member 61 is strictly restricted within the predetermined range, reducing the risk of failures caused by excessive or unstable movement, and improving the stability of the overall structure. In addition, the design of the limiting opening 144 and the limiting portions (i.e., the first limiting portion 143 and the second limiting portion 145) makes the installation and disassembly of the limiting member 61 more convenient, facilitating maintenance and replacement. At the same time, the clear limiting structure also helps to ensure the correct positions of the components during the assembly process, improving the assembly efficiency.

[0089] Furthermore, the first stop component 23 is arranged on the first power component 21, and the first stop component 23 is configured to contact an obstacle when the first cleaning component 22 is in the outward expansion position, so as to prevent the first cleaning component 22 from coming into hard contact with the obstacle. It can be understood that the prevention of the hard contact between the first cleaning component 22 and the obstacle here means that there is no hard object or other structure with a hard support inside the first cleaning component 22 directly contacting the obstacle.

[0090] 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 the present application include but are not limited to indoor walls, tea tables, chairs, beds, refrigerators and other furniture, as well as other objects placed in the space, etc.

[0091] In the present application, by providing the first stop member 23, when the first cleaning member 22 expands outward to protrude beyond the outermost edge of the main body 10 in a predetermined direction to clean the edge of an obstacle such as a wall or 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. 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.

[0092] It can be seen that the cleaning device 100 in the present application is not only convenient for cleaning the edge of the obstacle, but also not easy to scratch the obstacle.

[0093] See Figure 15 and Figure 16 As shown, the first cleaning member 22 rotates clockwise. 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 .

[0094] 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 stop 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 an obstacle, the first cleaning mechanism 20 cannot be retracted. Figure 16 In f +M F1 +M F2 < 0, that is to say, when the first stop 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 stop 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, enabling the entire first cleaning mechanism 20 to achieve flexible outward expansion.

[0095] As Figures 2 to 5 , Figure 8 and Figure 13 shown, within the projection of the main body 10 in the height direction, at least a part of the first stop 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 contacting the obstacle rigidly. That is to say, in this application, by connecting the first stop member 23 to the first power member 21 and making at least a part of the first stop member 23 protrude beyond the outer edge of the first cleaning member 22 within the projection of the main body 10 in the height direction, it can be ensured that when the first cleaning member 22 expands outward to the outward expansion position, it can contact the obstacle, thereby avoiding rigid contact between the first cleaning member 22 and the obstacle, preventing the first cleaning member 22 from scratching the obstacle when rotating, with a simple structure and easy implementation.

[0096] In some embodiments of this application, the first cleaning member 22 includes, but is not limited to, a mopping assembly, a roller assembly, a side sweeping assembly, etc. In this application, the first cleaning member 22 is introduced as a mopping assembly. Specifically, the first cleaning member 22 includes a mop bracket 221 and a flexible mop 222. Among them, the mop bracket 221 is connected to the first power member 21 and rotates along the first direction or the second direction under the drive of the first power member 21; the flexible mop 222 is disposed on the bottom surface of the mop bracket 221. The first stop member 23 includes a stop plate 231. Within the projection of the main body 10 in the height direction, at least a part of the stop plate 231 protrudes beyond the outer edge of the mop bracket 221. In this way, when the first cleaning member 22 expands outward to the outward expansion position, the stop plate 231 can contact the obstacle prior to the rigid mop bracket 221 on the first cleaning member 22, avoiding scratching the obstacle during the process of the rigid mop bracket 221 rotating to perform the cleaning operation.

[0097] Optionally, within the projection in the height direction of the host 10, the flexible mopping cloth 222 protrudes beyond the outer edge of the mopping cloth bracket 221, and the stop plate 231 is located inside the flexible mopping cloth 222. With such a setting, when the stop plate 231 contacts an obstacle, the flexible mopping cloth 222 can also contact the obstacle. At this time, if the mopping cloth bracket 221 drives the flexible mopping cloth 222 to rotate, the flexible mopping cloth 222 can effectively clean the edge of the obstacle. It can be seen that during the cleaning operation of the cleaning device 100 in this application, not only can the edge of the obstacle be cleaned, but the obstacle will not be scratched.

[0098] For the convenience of processing and assembly, the stop plate 231 in this application can be arranged on the first transmission assembly 212 of the first power component 21 by means of snap connection, screw connection, welding, magnetic attraction, integral molding, etc., and is specifically arranged on the outer shell or surface of the first transmission assembly 212. No specific limitation is made in this application. In addition, in other embodiments of this 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 this application, they are all within the protection scope of this application.

[0099] Furthermore, as Figure 13 shown, within the projection in the height direction of the host 10: the maximum width D of the stop plate 231 protruding beyond the outer edge of the mopping cloth 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 of the stop plate 231 protruding beyond the outer edge of the mopping cloth bracket 221 is less than or equal to 0, the stop plate 231 cannot contact the obstacle prior to the mopping cloth bracket 221; when the maximum width D of the stop plate 231 protruding beyond the outer edge of the mopping cloth bracket 221 is greater than 5 mm, the mopping cloth bracket 221 cannot support the flexible mopping cloth 222 well, which is not conducive to effectively cleaning the edge of the obstacle. It can be seen that by making the maximum width D of the stop plate 231 protruding beyond the outer edge of the mopping cloth bracket 221 satisfy the relationship 0 < D ≤ 5 mm in this application, not only can the hard mopping cloth bracket 221 be prevented from scratching the obstacle, but it is also convenient to support the flexible mopping cloth 222 for effectively cleaning the edge of the obstacle.

[0100] Optionally, the maximum width L of the flexible mop 222 in the present application protruding beyond the outer edge of the stop plate 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 large width L of the flexible mop 222 protruding beyond the outer edge of the stop plate 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 plate 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. When the cleaning device 100 is working, jamming is likely to occur. 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 plate 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.

[0101] It should be noted that the maximum width L of the flexible mop 222 protruding beyond the outer edge of the stop plate 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.

[0102] 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 such a 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.

[0103] Combined with Figures 1 to 10 As shown, the stop plate 231 in the present application includes a circular plate or a sector plate. The situation where the stop plate 231 is a sector plate is shown in the drawings of the present application. By setting the stop plate 231 as a sector plate in the present application, the occupied space of the stop plate 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 also reducing the material cost of the cleaning device 100.

[0104] Referring to Figures 10 to 12As shown in the figure, the mop bracket 221 in the present application includes a circular bracket. Within the projection of the main body 10 in the height direction, the stop plate 231 has an arc portion 23101 that protrudes from the circular bracket. The arc portion 23101 extends along the outer circumference of the circular bracket. In actual design, the minimum central angle of the 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 circular bracket and the first tangent point B1. The first tangent point B1 is the tangent point formed when the circular bracket 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 circular bracket and the second tangent point B2. The second tangent point B2 is the tangent point of the circular bracket and the second tangent line R2 when the circular bracket expands to the limit position. The second tangent line R2 passes through the point on the circular bracket 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 circular bracket expands to the position that is farthest from the outermost edge in a predetermined direction of the main body 10.

[0105] In the present application, by making the minimum central angle of the 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, and the situation where the obstacle hits the mop bracket 221 will not occur. In addition, when designing the stop plate 231, it only needs to ensure that there is an arc portion 23101 protruding from the mop bracket 221 on the stop plate 231 and the central angle corresponding to the arc portion 23101 is greater than or equal to A, which can optimize the size of the stop plate 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.

[0106] Combined with Figures 1 to 5As shown, a rotating part 11 and an elastic member 12 are provided on the main unit 10, and the first cleaning mechanism 20 is rotatably connected to the main unit 10 through the rotating part 11 to drive the first cleaning member 22 to switch between the outward expansion position and the inward retracted position, and the elastic member 12 is retracted along the rotation direction of the rotating part 11, and the two ends of the elastic member 12 are respectively connected to the first cleaning mechanism 20 and the main unit 10. Exemplarily, the elastic member 12 in the present application can be a spring, an elastic rubber strip, etc. Through the action of the elastic member 12, in the process of the obstacle applying a force to the first cleaning mechanism 20, the elastic member 12 can maintain the current position of the first cleaning mechanism 20, and is more suitable for making the flexible mop 222 on the first cleaning member 22 continue to contact the edge of the obstacle to perform the cleaning operation. In other words, the setting of the elastic member 12 can make the flexible mop 222 of the first cleaning member 22 close to the obstacle for edge cleaning, and facilitate the first cleaning member 22 to achieve flexible recovery.

[0107] like Figure 5 As shown, in order to limit and guide the elastic member 12, the host 10 in the present application is provided with an arc-shaped groove 13, the center of which coincides with the rotation center of the rotating part 11, and the elastic member 12 is installed in the arc-shaped groove 13 and can be extended and retracted along the extension direction of the arc-shaped groove 13. Optionally, the two ends of the elastic member 12 in the present application can be fixed to the host 10 and the first cleaning mechanism 20 respectively by hooks, buckles, welding, etc., and other deformation methods under the conception of the present application are within the protection scope of the present application.

[0108] Further, see Figure 4 , Figure 5 , Figure 8 , Figures 17 to 21 As shown, the first cleaning mechanism 20 also includes a first power component 21, and the first power component 21 includes a first driving member 211 and a first transmission assembly 212. Wherein, the first transmission assembly 212 is rotatably arranged on the main machine 10, and the housing of the first driving member 211 is fixedly connected to the housing of the first transmission assembly 212. The first driving member 211 has a rotating shaft, and the rotating shaft and the rotating part 11 can be coaxially arranged or divided. The first transmission assembly 212 is connected between the first driving member 211 and the first cleaning member 22, and the first driving member 211 drives the first transmission assembly 212 through the rotating shaft to drive the first cleaning member 22 to rotate in the first direction or the second direction, and the first transmission assembly 212 is provided with an engagement mouth 23133, and the engagement mouth 23133 is at least used for engaging with the limiting member 60 when the first cleaning member 22 rotates in the first direction and shifting the limiting member 60 from the second state to the first state.

[0109] Specifically, the first power component 21 is mainly used to drive the first cleaning component 22 to move between the retracted position and the outwardly expanded position, and to drive the first cleaning component 22 to rotate in the first direction or the second direction. The cleaning device 100 of the present application can use a first power component 21 to drive the first cleaning mechanism 20 to move (i.e., move between the retracted position and the outwardly expanded position) and drive the first cleaning component 22 to rotate (i.e., rotate in the first direction or the second direction), or multiple first power components 21 can be used to cooperatively drive the first cleaning mechanism 20 to move and drive the first cleaning component 22 to rotate. This embodiment shows the cleaning device 100 using a first power component 21 to drive the first cleaning mechanism 20 to move and drive the first cleaning component 22 to rotate. The first driving member 211 in the present application includes a motor, and the rotating shaft of the motor can be coaxially arranged with the rotating part 11, such as Figure 4 and Figure 5 As shown, in this way, the space occupied by the first power component 21 when it swings relative to the main body 10 can be optimized, which is more suitable for rationally arranging the components on the cleaning device 100. In addition, the rotating shaft of the motor and the rotating part 11 can also be separately arranged, as shown in FIG. Figures 17 to 21 As shown in , the motor and the first transmission assembly 212 are connected, and then they are jointly encapsulated in the housing of the first transmission assembly 212, and then the housing of the first transmission assembly 212 is rotatably connected to the rotating part 11, so that the motor and the first transmission assembly 212 can rotate around the rotating part 11, thereby driving the first cleaning component 22 to switch between the outward expansion position and the inward retracted position. In this process, when the first cleaning component 22 rotates in the first direction, the motor and the first transmission assembly 212 can swing around the rotating part 11 in the second direction, and when the first transmission assembly 212 rotates to the position limiting component 60, the meshing opening 23133 provided on the first transmission assembly 212 can mesh with the position limiting component 60, thereby driving the position limiting component 60 to rotate in the second direction, so that the position limiting component 60 is switched from the second state to the first state, so that the position limiting component 60 can avoid the first transmission assembly 212, and then the first cleaning component 22 can be switched from the inward retracted position to the outward expansion position.

[0110] Exemplarily, the rotating part 11 in the present application includes structures such as a rotating shaft. During actual installation, a bearing is installed on the first driving member 211, that is, the outer casing of the motor, and the bearing is fixed on the rotating shaft. As long as it is other deformation methods based on the conception of the present application, they are within the protection scope of the present application.

[0111] Further, see Figure 22As shown, the width of the limiting component 60 is d1, and the width of the meshing opening 23133 is d2. d1 and d2 satisfy the relation: d1 < d2. When the limiting component 60 meshes with the meshing opening 23133, there is a gap between the limiting component 60 and the meshing opening 23133. The width of the gap is D, and the depth of the meshing opening 23133 is G. D and G satisfy the relation:

[0112] Specifically, the depth of the meshing opening 23133 is the depth that the meshing opening 23133 extends along the radial direction of the second transmission member 2313, and the width of the gap is the width that the gap extends along the radial direction of the second transmission member 2313. In this application, the reason for setting the width D of the gap to be greater than or equal to and less than 1 / 3 of the depth G of the meshing opening 23133 (i.e., ) is that only by setting it like this can the second transmission member 2313 and the limiting component 60 mesh better. The reason why the width D of the gap can be taken as 0 is that there is a gap between the fixed mandrel 142 and the limiting member 61 and between the torsion spring 621, and there is also a gap between the flexible mop 222 and the shaft that supports the rotation of the flexible mop 222, which causes the width D of the gap to increase. Therefore, during actual installation, the width D of the gap can be taken as 0 to prevent the second transmission member 2313 from disengaging from the limiting component 60. If the width D of the gap is greater than 1 / 3 of the depth G of the meshing opening 23133, during the meshing process of the second transmission member 2313 and the limiting component 60, tooth disengaging is likely to occur between the second transmission member 2313 and the limiting component 60, resulting in the second transmission member 2313 being unable to effectively drive the limiting component 60 to rotate. Therefore, in this application, the width D of the gap is set to be greater than 1 / 4 of the depth G of the meshing opening 23133 and less than 1 / 3 of the depth G of the meshing opening 23133.

[0113] In some embodiments of this application, the cleaning device 100 can be provided with only one cleaning mechanism, i.e., the first cleaning mechanism 20 (as shown in FIGS. 1 to Figure 5 shown). In some other embodiments of this application, the cleaning device 100 can 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 identified 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 such that when the first cleaning member 22 of the first cleaning mechanism 20 rotates in the first direction and is subjected to a torque in the second direction, the first cleaning member 22 of the first cleaning mechanism 20 swings relative to the main body 10 in the second direction to the expanded position and the second cleaning member 32 of the second cleaning mechanism 30 rotates in the second direction; when the first cleaning member 22 of the first cleaning mechanism 20 rotates in the second direction and is subjected to a torque in the first direction, the first cleaning member 22 of the first cleaning mechanism 20 swings relative to the main body 10 in the first direction to the retracted position and the second cleaning member 32 of the second cleaning mechanism 30 rotates in the first direction. That is, when the first cleaning member 22 rotates in the first direction, the second cleaning member 32 rotates in the second direction; when the first cleaning member 22 rotates in the second direction, the second cleaning member 32 rotates in the first direction.

[0114] Combined with Figures 6 to 10 、 Figures 12 to 14 As shown, in the cleaning device 100, when the first cleaning mechanism 20 is subjected to frictional torques in different directions (for example, when the first cleaning mechanism 20 rotates and contacts the ground, the first cleaning mechanism 20 will be subjected 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.

[0115] When the cleaning device 100 simultaneously has 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 main body 10. In the accompanying Figure 10 of the present application, a situation is shown where 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 both the first cleaning mechanism 20 and the second cleaning mechanism 30 can swing relative to the main body 10, the structures of the first cleaning mechanism 20 and the second cleaning mechanism 30 are the same, but the rotation directions of the first cleaning member 22 and the second cleaning member 32 are opposite.

[0116] Furthermore, referring to Figure 12 、 Figure 13 and Figures 17 to 25As shown, the first transmission assembly 212 includes a first transmission member 2312 and a second transmission member 2313. The first driving member 211 is drivingly connected to the first transmission member 2312 to drive the first transmission member 2312 to rotate along the first direction or the second direction. The first transmission member 2312 is abutted against the second transmission member 2313. The second transmission member 2313 is driven by the first transmission member 2312 to rotate along the first direction or the second direction and rise or fall along the height direction of the main machine 10. The meshing mouth 23133 is arranged on the outer surface of the second transmission member 2313; when the first cleaning member 22 is located at the retracted position, the limiting member 60 and the second transmission member 2313 are staggered in the projection in the height direction of the main machine 10; when the first cleaning member 22 is converted between the retracted position and the expanded position, the second transmission member 2313 contacts the limiting member 60 and moves the limiting member 60 through the meshing mouth 23133 to convert the limiting member 60 from the second state to the first state.

[0117] Specifically, through the cooperation of the first transmission member 2312 and the second transmission member 2313, efficient transmission of power from the first driving member 211 to the second transmission member 2313 is achieved, ensuring the stability and reliability of the rotation. The second transmission member 2313 can not only rotate in a specific direction (first direction or second direction) under the drive of the first transmission member 2312, but also rise or fall in the height direction of the host 10, thereby achieving the position adjustment of the cleaning component (the first cleaning component 22 or the second cleaning component 32, mainly referring to the first cleaning component 22 in this embodiment) in the vertical direction, and enhancing the adaptability of the cleaning device 100. In the present application, when the first cleaning component 22 is located at the retracted position, within the projection in the height direction of the main machine 10, the limiting component 60 and the second transmission member 2313 are arranged in a staggered manner, that is, at this time, the limiting component 60 and the second transmission member 2313 are not in contact, and the reason for such arrangement is that when the first cleaning component 22 performs cleaning work at the retracted position, it is necessary to prevent the limiting component 60 from interfering with the movement of the second transmission member 2313, so that the first cleaning component 22 can perform cleaning work better. If when the first cleaning component 22 is located at the retracted position, within the projection in the height direction of the main machine 10, the limiting component 60 and the projection of the second transmission member 2313 partially overlap, that is, at this time, the limiting component 60 and the second transmission member 2313 may come into contact, which will not only interfere with the movement of the second transmission member 2313, but also accelerate the wear of the limiting component 60 and the second transmission member 2313, resulting in a reduction in the service life of the limiting component 60 and the second transmission member 2313, and in severe cases, may even affect the life of the entire cleaning device.

[0118] In the present application, the case where the second cleaning mechanism 30 cannot swing relative to the main body 10 will be introduced in detail. In this embodiment, the second power component 31 of the second cleaning mechanism 30 is fixedly installed on the main body 10. The second power component 31 includes a second driving member 311 and a second transmission assembly 312. Among them, the second driving member 311 is a driving motor. 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 component 22 or the second cleaning component 32. A track surface 23131 is provided on the second transmission member 2313. The first transmission member 2312 is movably abutted against the track surface 23131. The elastic element 2314 abuts against the second transmission member 2313 to apply a restoring force to the second transmission member 2313.

[0119] 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 component 22 moves up and down in the height direction of the main body 10 and rotates along the first direction or the second direction.

[0120] In the initial state, the first cleaning member 22 and the second cleaning member 32 are at a relatively high position of the main body 10, that is, the first cleaning member 22 and the second cleaning member 32 are separated from the ground or the tabletop and are in a position off the ground. When the reduction gearbox 2311 drives the first transmission member 2312 to rotate in the first direction, the first transmission member 2312 abuts against the track surface 23131 and rotates along the track surface 23131. The track surface 23131 in this 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 pushing force to the second transmission member 2313, which can cause the second transmission member 2313 to move in a direction away from the first transmission member 2312, that is, move in the height direction of the main body 10 towards the ground, and further drive the first cleaning member 22 or the second cleaning member 32 connected to the second transmission member 2313 to move towards the ground. A limiting structure 23132 is provided on the second transmission member 2313 in this application. When the first cleaning member 22 and the second cleaning member 32 contact the ground, the reduction gearbox 2311 continuously drives the first transmission member 2312 to move in the height direction of the main body 10. At this time, the side surface of the first transmission member 2312 contacts the limiting structure 23132, and the second transmission member 2313 can rotate in the first direction under the drive of the first transmission member 2312 to clean the ground. During this process, the first cleaning mechanism 20 is subjected to the frictional torque applied by the ground, and can swing relative to the main body 10 in the second direction to drive the first cleaning member 22 to switch to the outward expansion position to perform edge cleaning on the obstacle. Since the second driving member 311 of the second cleaning mechanism 30 is fixed, the second cleaning member 32 remains stationary relative to the main body 10 and performs the cleaning operation in place. It should be noted that the rotation direction of the reduction gearbox 2311 in the second cleaning mechanism 30 is always opposite to the rotation direction of the reduction gearbox 2311 in the first cleaning mechanism 20, ensuring that the cleaning device 100 can operate smoothly.

[0121] When the reduction gearbox 2311 drives the first transmission member 2312 to rotate in the 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 and moves 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 restoring force to the second transmission member 2313, that is, applies a supporting force away from the ground in the height direction of the main body 10. At this time, the second transmission member 2313 rises in the direction away from the ground, and further drives the first cleaning member 22 and the second cleaning member 32 to rise and disengage from the ground.

[0122] It can be seen that the first cleaning member 22 and the second cleaning member 32 in this application can be raised and lowered, which is beneficial to protecting the ground and reducing the obstacle-crossing difficulty of the cleaning device 100.

[0123] 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 structures such as a spring or an elastic sleeve. 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. The 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 member 22 or the second cleaning member 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.

[0124] 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 in this application shows 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. There are two convex block structures, which are respectively arranged on the opposite sides of the second transmission member 2313. During actual operation, the 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 the 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.

[0125] In some embodiments, please refer Figures 12 to 14As shown, the track surface 23131 includes a first region 23131a, a second region 23131b, a third region 23131c, and a connecting region 23131d. In the circumferential direction of the second transmission member 2313, the first region 23131a, the second region 23131b, and the third region 23131c are connected in sequence, and the second region 23131b is lower than the first region 23131a and the third region 23131c. Adjacent two regions can be connected through the connecting region 23131d. The first transmission member 2312 can move from one region to another through the connecting region 23131d. When the first transmission member 2312 abuts against the first region 23131a or the third region 23131c, the first cleaning member 22 or the second cleaning member 32 is used to abut against the cleaning position on the ground. When the first transmission member 2312 abuts against the second region 23131b, the first cleaning member 22 or the second cleaning member 32 is located at the off-ground position for separating from the ground. Thus, through the three regions of the track surface 23131, the first cleaning member 22 or the second cleaning member 32 is switched between the off-ground position and the cleaning position.

[0126] Furthermore, referring to Figures 22 to 24 As shown, the second transmission member 2313 includes an annular protrusion 23134. The annular protrusion 23134 extends along the outer peripheral surface of the second transmission member 2313, and the engagement opening 23133 is provided on the annular protrusion 23134 and is recessed along the radial direction of the annular protrusion 23134.

[0127] Specifically, the design of the annular protrusion 23134 not only provides a suitable processing position for the engagement opening 23133, but also can save materials to a certain extent. If the annular protrusion 23134 is not provided, it is necessary to integrally expand the size of the second transmission member 2313 in the radial direction of the second transmission member 2313, resulting in unnecessary material waste. At the same time, it will also increase the weight of the second transmission member 2313, which has a certain impact on the start and stop of the second transmission member 2313. In addition, the increase in the size of the second transmission member 2313 will also cause the second transmission member 2313 to occupy more space in the main machine 10, which is not conducive to saving the installation space inside the main machine 10. Moreover, the setting of the annular protrusion 23134 also enables the second transmission member 2313 to have effective contact with the limiting member 60 during the rotation process, so that the second transmission member 2313 can toggle the limiting member 60 to switch between the first state and the second state through the engagement opening 23133.

[0128] Furthermore, referring to Figures 22 to 24As shown, the second transmission member 2313 further includes a retaining rib 23135. The retaining rib 23135 is disposed on the outer surface of the second transmission member 2313 and extends along the height direction of the second transmission member 2313. The meshing opening 23133 is disposed at a first position of the annular protrusion 23134, and the position where the retaining rib 23135 and the annular protrusion 23134 intersect is the second position. The first position and the second position are arranged in a staggered manner.

[0129] Specifically, the retaining rib 23135 may extend along the height direction of the second transmission member 2313 to the annular protrusion 23134, or may extend along the height direction of the second transmission member 2313 and be spaced apart from the annular protrusion 23134. This embodiment shows the case where the retaining rib 23135 extends along the height direction of the second transmission member 2313 to the annular protrusion 23134. The setting of the retaining rib 23135 can not only improve the structural strength of the second transmission member 2313 to a certain extent, but also make the connection between the first transmission member 2312 and the second transmission member 2313 more effective, and prevent the radial misalignment between the first transmission member 2312 and the second transmission member 2313 during the process of the first transmission member 2312 driving the second transmission member 2313, so that the movement from the first transmission member 2312 to the second transmission member 2313 cannot be normally transmitted. In addition, the meshing opening 23133 is disposed at the first position of the annular protrusion 23134, and the position where the retaining rib 23135 and the annular protrusion 23134 intersect is the second position. The first position and the second position are arranged in a staggered manner. That is to say, along the height direction of the main machine, the retaining rib 23135 and the meshing opening 23133 are not on the same axis. Such a setting can not only prevent the influence on the structural strength of the second transmission member 2313 due to stress concentration, but also prevent the retaining rib 23135 from interfering with the movement of the limiting member 60, so that the second transmission member 2313 and the limiting member 60 can complete their respective tasks.

[0130] Further, referring to Figure 10 、 Figures 22 to 24 As shown, under the abutment of the first transmission member 2312, the second transmission member 2313 has a first limit position that rises to the highest along the height direction of the main machine 10, or a second limit position that descends to the lowest along the height direction of the main machine 10; along the height direction of the main machine 10, the height of the limiting member 60 (i.e., Figure 23 and Figure 24 in H) is greater than the thickness of the annular protrusion 23134 (i.e., Figure 23 and Figure 24In item h) thereof, the height of the limiting member 60 is greater than or equal to the maximum stroke of the second transmission member 2313 in the lifting direction along the height direction. When the first cleaning member 22 is in the first extreme position, the top of the limiting member 60 is higher than the top of the annular protrusion 23134 or is at the same height as the top of the annular protrusion 23134. When the first cleaning member 22 is in the second extreme position, the bottom of the limiting member 60 is lower than the bottom of the annular protrusion 23134 or is at the same height as the bottom of the annular protrusion 23134.

[0131] Specifically, when the second transmission member 2313 rises to the first extreme position in the height direction of the host 10 under the abutment of the first transmission member 2312, the cooperation relationship among the first transmission member 2312, the second transmission member 2313 and the limiting member 60 is as Figure 22 shown. At this time, the first cleaning member 22 rises to the highest position in the height direction of the host 10 along with the second transmission member 2313. The first cleaning member 22 does not contact the surface to be cleaned (which can be the ground or the tabletop), and the first cleaning member 22 is in a non-working state (not cleaning the surface to be cleaned). When the second transmission member 2313 descends to the lowest second extreme position in the height direction of the host 10 under the abutment of the first transmission member 2312, the cooperation relationship among the first transmission member 2312, the second transmission member 2313 and the limiting member 60 is as Figure 23 shown. At this time, the first cleaning member 22 descends to the lowest position in the height direction of the host 10 along with the second transmission member 2313. The first cleaning member 22 contacts the surface to be cleaned, and the first cleaning member 22 is in a working state (cleaning the surface to be cleaned). In the present application, the reason for setting the height of the limiting member to be greater than the thickness of the annular protrusion (i.e., H>h) is that such a setting can ensure that during the process of the second transmission member 2313 rising or descending in the height direction of the host 10, both the second transmission member 2313 and the limiting member 61 can make effective contact. Moreover, such a design can also simplify the assembly process between the second transmission member 2313 and the limiting member 61. In addition, when the first cleaning member 22 is in the first extreme position, the top of the limiting member 61 is higher than the top of the annular protrusion 23134 (i.e., Figure 23 shown) or is at the same height as the top of the annular protrusion 23134. When the first cleaning member 22 is in the second extreme position, the bottom of the limiting member 61 is lower than the bottom of the annular protrusion 23134 (i.e., Figure 24), or the same height as the bottom of the annular protrusion 23134. Such a design can not only ensure that the second transmission member 2313 and the limiting member 61 can be effectively contacted in the height direction of the main machine, but also prevent the first cleaning member 22 from being separated from the limiting member 61 from the top or bottom of the limiting member 61 when the first cleaning member 22 is in the first limit position or the second limit position. In addition, in order to further ensure that the second transmission member 2313 will never be separated from the limiting member 61 during the process of rising or falling in the height direction of the main machine 10, the height of the limiting member 61 is always greater than or equal to the maximum stroke of the second transmission member 2313 in the height direction.

[0132] Further, see Figure 21 As shown, the first cleaning mechanism 20 further includes a first stopper 23, which is disposed on the first cleaning mechanism 20, and a clearance opening 2321 is disposed on the first stopper 23, and the clearance opening 2321 is at least used to avoid the limiting member 60, so as to prevent the first stopper 23 from interfering with the first stopper 23. When the first cleaning member 22 protrudes from the edge of the host 10 for cleaning and contacts an obstacle, the first stopper 23 is driven by the force exerted by the obstacle to swing the first cleaning mechanism 20, so as to drive the first cleaning member 22 to move toward the direction close to the retracted position.

[0133] Specifically, the setting of the avoidance opening 2321 allows the first stopper 23 to avoid the limiting member 60, which can ensure that the first stopper 23 will not interfere with the limiting member 60 during the swinging of the first cleaning mechanism 20 along the first direction or the second direction, and can also ensure that during the conversion of the first cleaning member 22 between the outward expansion position and the inward retracted position, the limiting member 61 can penetrate into the inner side of the first stopper 23 through the avoidance opening 2321 and contact the second transmission member 2313, so that the limiting member 60 can be converted from the second state to the first state under the action of the second transmission member 2313. In addition, when the first cleaning member 22 protrudes from the edge of the host 10 for cleaning and contacts an obstacle, the first stopper 23 can be driven by the force exerted by the obstacle to drive the first cleaning mechanism 20 to swing, thereby driving the first cleaning member 22 to move in the direction close to the inward retracted position, so that the passive inward retraction of the first cleaning member 22 can be achieved, and the first cleaning member 22 can be prevented from being bounced off due to the force exerted by the obstacle. After the force exerted by the obstacle disappears, the first cleaning member 22 can move back toward the direction close to the outward expansion position to continue cleaning along the edge.

[0134] Further, see Figure 12 , Figure 13 as well as Figure 21As shown, the first transmission assembly 212 further includes a speed reducer 2311, and the first stop member 23 includes a connecting portion 232 and a stop plate 231; the connecting portion 232 is integrally formed with or fixedly connected to the outer shell of the speed reducer 2311, and the connecting portion 232 surrounds the outer peripheries of the first transmission member 2312 and the second transmission member 2313, and the avoidance opening 2321 is located on the connecting portion 232. The stop plate 231 is integrally formed with or fixedly connected to the connecting portion 232, and the stop plate 231 covers a part of the outer periphery of the first cleaning member 22; 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 to drive the first transmission member 2312 to rotate in the first direction or the second direction.

[0135] Specifically, the speed reducer 2311 is generally 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, so that the first cleaning member 22 can be further controlled to perform the cleaning work. The connecting portion 232 is integrally formed with or fixedly connected to the outer shell of the speed reducer 2311 and surrounds the outer peripheries 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, it 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 with or fixedly connected to the connecting portion 232, and the stop plate 231 covers a part of the outer periphery of the first cleaning member 22. In this way, when the first cleaning member 22 is in the outward expansion position for cleaning work, the stop plate 231 can come into contact with the wall or obstacle first, 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 periphery 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 60. 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.

[0136] Further, refer to Figures 2 to 5 、 Figure 8 and Figure 13As shown, the first cleaning component 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 baffle 231 is located inside the flexible mop 222, and at least part of the stop baffle 231 protrudes beyond the outer edge of the mop bracket 221. In this way, when the first cleaning component 22 is in the outward-expanded position and encounters an edge cleaning situation, the edge of the flexible mop 222 can continue to clean the edge of the obstacle. If the first cleaning component 22 collides with the obstacle, the stop baffle 231 can contact the obstacle, thus providing good protection for the mop bracket 221 and at the same time avoiding scratching of the mop bracket 221 and the obstacle (when the obstacle is a table leg or a wall surface, scratching needs to be prevented).

[0137] On the other hand, as shown in Figures 1 to 25 This application also mentions a control method for a cleaning device. The control method includes: when the first cleaning component 22 is in the retracted position, the limiting component 60 is in the second state, controlling the first cleaning component 22 to rotate in the second direction, and the first cleaning component 22 maintains the retracted position; when the first cleaning component 22 is in the retracted position, the limiting component 60 is in the second state, controlling the first cleaning component 22 to stop rotating, and the limiting component 60 maintains the second state to prevent the first cleaning component 22 from converting from the retracted position to the outward-expanded position; when the first cleaning component 22 is in the retracted position or the outward-expanded position, the limiting component 60 is in the second state, controlling the first cleaning component 22 to rotate in the first direction and toggle the limiting component 60 to convert from the second state to the first state to allow the first cleaning component 22 to convert between the retracted position and the outward-expanded position.

[0138] Specifically, in the initial state, the limiting component 60 is in the second state. When the first cleaning component 22 is in the retracted position, the first cleaning component 22 is controlled to rotate in the second direction. At this time, the first cleaning component 22 cannot toggle the limiting component 60 to switch to the first state, and because the first cleaning component 22 is subjected to the combined force along the second direction, the first cleaning component 22 can maintain the retracted position, which helps the cleaning device 100 to perform precise cleaning in a specific area and avoids the first cleaning component 22 from colliding or interfering with other objects. When the first cleaning component 22 is in the retracted position, since the initial state of the limiting component 60 is the second state, at this time, the first cleaning component 22 is controlled to stop rotating (i.e., when the first cleaning component 22 does not need to be cleaned), if there is an external force to pull the first cleaning component 22 to the outside of the host 10 (i.e., the first cleaning component 22 is pulled by a low object such as a carpet or a threshold), since the first cleaning component 22 cannot toggle the limiting component 60 to switch to the first state at this time, therefore, when the first cleaning component 22 stops rotating, the first cleaning component 22 will not be pulled out to the outside of the host 10 by an external force. When the first cleaning component 22 is in the retracted position or the outwardly extended position, since the initial state of the limiting component 60 is the second state and the first cleaning component 22 keeps rotating in the first direction at this time, the first cleaning component 22 can move the limiting component 60 from the second state to the first state, thereby allowing the first cleaning component 22 to switch between the retracted position and the outwardly extended position.

[0139] On the other hand, see Figures 1 to 25 As shown, the present application also mentions a control method for a cleaning device, which includes: when the first cleaning component 22 is in an extended position for cleaning and contacts an obstacle, controlling the first cleaning component 22 to rotate in a first direction so that the first cleaning component 22 drives the limiting component 60 to be converted from the second state to the first state, so as to allow the first cleaning component 22 to be converted between the retracted position and the extended position; when the first cleaning component 22 is driven by an obstacle and converted to the retracted position, controlling the first cleaning component 22 to keep rotating in the first direction so that the first cleaning component 22 drives the limiting component 60 to be converted from the second state to the first state, so as to allow the first cleaning component 22 to be converted between the retracted position and the extended position.

[0140] Specifically, in the initial state, the limiting component 60 is in the second state. When the first cleaning component 22 is in the outward expansion position for cleaning and contacts an obstacle, the contact force between the first cleaning component 22 and the obstacle can drive the first cleaning component 22 to move towards the inward retraction position. Since the first cleaning component 22 rotates in the first direction, the first cleaning component 22 can toggle the limiting component 60 from the second state to the first state, thereby allowing the first cleaning component 22 to switch between the inward retraction position and the outward expansion position. During this process, the first cleaning component 22 can first return to the inward retraction position. After the contact force between the first cleaning component 22 and the obstacle disappears, the first cleaning component 22 can move back along the outward expansion position to the outside of the main body 10. Moreover, the first cleaning component 22 can also first return to a position between the inward retraction position and the outward expansion position (excluding the positions where the first cleaning component 22 is located at the inward retraction position and the outward expansion position). After the contact force between the first cleaning component 22 and the obstacle disappears, the first cleaning component 22 can move back along the outward expansion position to the outside of the main body 10. When the first cleaning component 22 is driven by an obstacle and switches to the inward retraction position, since the first cleaning component 22 continues to rotate in the first direction, the first cleaning component 22 can toggle the limiting component 60 from the second state to the first state, and the first cleaning component 22 can automatically move from the inward retraction position to the outward expansion position, so that the first cleaning component 22 can continue to perform edge cleaning.

[0141] Combined with Figures 1 to 25As shown, the cleaning device 100 in the present application further includes a middle sweeping mechanism 40 and a moving wheel set 50. Among them, the middle sweeping mechanism 40 is disposed at the central bottom of the main body 10, and the moving wheel set 50 is disposed at the bottom of the main body 10. The moving wheel set 50 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 actions 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 tabletop, etc. At the same time, the frictional torque generated during the rotation of the first cleaning component 22 driven by the first power component 21 can drive the first cleaning component 22 to expand outward to clean the edge of the obstacle. In addition, when the first cleaning mechanism 20 rotates relative to the 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, avoiding 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, so that the first cleaning mechanism 20 realizes flexible retraction, and the first cleaning mechanism 20 can be retracted without adding an additional detection mechanism and control logic, with a simple structure, which can effectively improve the use comfort and design cost of the cleaning device 100.

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

[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 distinguishing the corresponding components. Without further statement, the above terms have no special meaning, so they cannot be understood as a limitation to 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, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, 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, include: Host (10); a first cleaning mechanism (20), the first cleaning mechanism (20) being rotatably disposed on the main machine (10), and the first cleaning mechanism (20) comprising a first cleaning component (22), the first cleaning component (22) being rotatably disposed on the first cleaning mechanism (20), and the first cleaning component (22) being rotatable in a first direction or in a second direction opposite to the first direction, the first cleaning component (22) having an inward position disposed close to the main machine (10) and an outward position extending beyond an outer edge of the main machine (10), and within a projection in a height direction of the main machine (10), an area of ​​the first cleaning component (22) extending beyond the outer edge of the main machine (10) when the first cleaning component (22) is located at the outward position is larger than an area of ​​the first cleaning component (22) extending beyond the outer edge of the main machine (10) when the first cleaning component (22) is located at the inward position; A limiting component (60), the limiting component (60) having a first state for avoiding the first cleaning component (22) to allow the first cleaning component (22) to switch between the retracted position and the outwardly extended position, and the limiting component (60) also having a second state for stopping the first cleaning component (22) to prevent the first cleaning component (22) from being pulled by an external force and switching from the retracted position to the outwardly extended position.

2. The cleaning device according to claim 1, wherein The main machine (10) is provided with an avoidance notch (141), the avoidance notch (141) extending from the inner side of the main machine (10) to the edge of the main machine (10), and an opening (1411) is provided at one end of the avoidance notch (141) close to the edge of the main machine (10), the first cleaning mechanism (20) moves along the avoidance notch (141) to move between the outward-expanding position and the inward-expanding position, and the opening is at least used to avoid the first cleaning mechanism (20) so as to allow the rotation center of the first cleaning member (22) to be located outside the main machine (10) when the first cleaning member (22) is in the outward-expanding position; The limiting component (60) is arranged at the edge of the avoidance gap (141), and the limiting component (60) switches between the first state and the second state by at least one of rotation, movement and swinging. When the first cleaning component (22) is in the retracted position and rotates along the first direction, the first cleaning component (22) shifts the limiting component (60) so that the limiting component (60) switches to the first state. When the first cleaning component (22) is in the retracted position and rotates along the second direction, the limiting component (60) automatically switches to the second state. When the first cleaning component (22) is in the outward-expanding position and switches to the inward-expanding position, the first cleaning component (22) shifts the limiting component (60) so that the limiting component (60) switches to the first state.

3. The cleaning device according to claim 2, characterized in that, The limiting component (60) is rotatably arranged on the main machine (10); a fixed spindle (142) is arranged on the main machine (10); the fixed spindle (142) is located on the outer peripheral side of the avoidance gap (141); the limiting component (60) comprises: a limiting member (61), wherein the limiting member (61) is sleeved on the fixed spindle (142) and can rotate around the limiting member (61) to switch between the first state and the second state; An elastic reset member (62), two ends of which respectively abut against the host (10) and the limiting member (61), and the elastic reset member (62) is configured to automatically restore the limiting member (61) to the second state.

4. The cleaning device according to claim 3, characterized in that, The elastic reset member (62) comprises a torsion spring (621), which is sleeved on the fixed spindle (142), one end of the torsion spring (621) abuts against the limiting member (61), and the other end of the torsion spring (621) abuts against the main machine (10).

5. The cleaning device according to claim 3, characterized in that, The main machine (10) comprises a bottom shell (14); the avoidance notch (141) and the fixed spindle (142) are both arranged on the bottom shell (14); a first limiting portion (143) is arranged on a side of the fixed spindle (142) close to an opening (1411) of the avoidance notch (141); the first limiting portion (143) is at least used to limit an extreme position of the limiting member (61) when rotating toward the opening (1411) of the avoidance notch (141).

6. The cleaning device according to claim 5, wherein A limiting opening (144) is provided at the edge of the avoidance gap (141), and a second limiting portion (145) is provided on the bottom shell (14); The first limiting portion (143) is located at one end of the limiting opening (144) close to the opening (1411) of the avoidance notch (141), and the second limiting portion (145) is located at one end of the limiting opening (144) away from the opening (1411) of the avoidance notch (141). The second limiting portion (145) is at least used to limit the limit position of the limiting member (61) when it rotates toward the opening (1411) away from the avoidance notch (141). The fixed spindle (142) is located on the side of the limiting opening (144) away from the first cleaning mechanism (20). The limiting member (61) is inserted into the limiting opening (144) and can swing in the limiting opening (144), and the swinging angle of the limiting member (61) in the limiting opening (144) is less than or equal to 60°.

7. The cleaning device according to any one of claims 1 to 6, characterized in that The first cleaning mechanism (20) further comprises a first power component (21), wherein the first power component (21) comprises a first driving member (211) and a first transmission assembly (212); The first transmission component (212) is rotatably arranged on the main machine (10); the housing of the first driving member (211) is fixedly connected to the housing of the first transmission component (212); the first transmission component (212) is connected between the first driving member (211) and the first cleaning member (22); the first driving member (211) drives the first transmission component (212) to drive the first cleaning member (22) to rotate along the first direction or the second direction; and the first transmission component (212) is provided with an engagement opening (23133); the engagement opening (23133) is at least used to engage with the limiting member (60) when the first cleaning member (22) rotates along the first direction, and to drive the limiting member (60) to switch from the second state to the first state.

8. The cleaning device according to claim 7, characterized in that, The width of the limiting component (60) is d1, the width of the meshing opening (23133) is d2, and d1 and d2 satisfy the relationship: d1<d2; When the limiting member (60) is engaged with the engaging opening (23133), there is a gap between the limiting member (60) and the engaging opening (23133), the width of the gap is D, the depth of the engaging opening (23133) is G, and D and G satisfy the relationship:

9. The cleaning device according to claim 7, characterized in that, The first transmission assembly (212) comprises a first transmission member (2312) and a second transmission member (2313); the first driving member (211) is drivingly connected to the first transmission member (2312) to drive the first transmission member (2312) to rotate along the first direction or the second direction; the first transmission member (2312) and the second transmission member (2313) are in contact with each other; the second transmission member (2313) is driven by the first transmission member (2312) to rotate along the first direction or the second direction and to rise or fall along the height direction of the main machine (10); the meshing opening (23133) is arranged on the outer surface of the second transmission member (2313); When the first cleaning component (22) is located at the retracted position, within the projection of the main machine (10) in the height direction, the limiting component (60) and the second transmission component (2313) are arranged in a staggered manner; When the first cleaning component (22) switches between the retracted position and the extended position, the second transmission member (2313) contacts the limiting component (60) and moves the limiting component (60) through the engagement opening (23133) to switch the limiting component (60) from the second state to the first state.

10. The cleaning device according to claim 9, wherein The second transmission member (2313) includes an annular protrusion (23134), which extends along the outer peripheral surface of the second transmission member (2313), and the engagement opening (23133) is arranged on the annular protrusion (23134) and is recessed along the radial direction of the annular protrusion (23134).

11. The cleaning device according to claim 10, wherein, The second transmission member (2313) further includes a retaining rib (23135). The retaining rib (23135) is disposed on the outer surface of the second transmission member (2313) and extends along the height direction of the second transmission member (2313). The meshing port (23133) is disposed at a first position of the annular protrusion (23134). The position where the retaining rib (23135) and the annular protrusion (23134) intersect is a second position. The first position and the second position are offset.

12. The cleaning device according to claim 10, characterized in that, Under the abutment of the first transmission member (2312), the second transmission member (2313) has a first limit position where it rises to the highest along the height direction of the main machine (10), or a second limit position where it descends to the lowest along the height direction of the main machine (10); Along the height direction of the main machine (10), the height of the limiting member (60) is greater than the thickness of the annular protrusion (23134), and the height of the limiting member (60) is greater than or equal to the maximum stroke of the second transmission member (2313) in the height direction. When the first cleaning member (22) is at the first limit position, the top of the limiting member (60) is higher than the top of the annular protrusion (23134), or is at the same height as the top of the annular protrusion (23134). When the first cleaning member (22) is at the second limit position, the bottom of the limiting member (60) is lower than the bottom of the annular protrusion (23134), or is at the same height as the bottom of the annular protrusion (23134).

13. The cleaning device according to claim 2, wherein, The first cleaning mechanism (20) further includes a first stop member (23). The first stop member (23) is disposed on the first cleaning mechanism (20), and an avoidance port (2321) is disposed on the first stop member (23). The avoidance port (2321) is at least used to avoid the limiting member (60) to prevent interference between the first stop member (23) and the first stop member (23); When the first cleaning member (22) protrudes from the edge of the main machine (10) for cleaning and contacts an obstacle, the first stop member (23) is driven by the force exerted by the obstacle to swing the first cleaning mechanism (20), so as to drive the first cleaning member (22) to move in a direction close to the retracted position.

14. A control method for a cleaning device, characterized in that, The control method is executed by the cleaning device according to any one of claims 1 to 13, and the control method includes: When the first cleaning member (22) of the cleaning device is in the retracted position, the limiting member (60) of the cleaning device is in a second state, and the first cleaning member (22) is controlled to rotate in a second direction, and the first cleaning member (22) maintains the retracted position; When the first cleaning member (22) is in the retracted position, the limiting member (60) is in the second state, the rotation of the first cleaning member (22) is controlled to stop, and the limiting member (60) maintains the second state to prevent the first cleaning member (22) from being converted from the retracted position to the extended position; when the first cleaning member (22) is in the retracted position or the extended position, the limiting member (60) is in the second state, the first cleaning member (22) is controlled to rotate in a first direction and the limiting member (60) is toggled from the second state to the first state to allow the first cleaning member (22) to be converted between the retracted position and the extended position.

15. A control method for a cleaning device, characterized in that The control method is executed by the cleaning device according to any one of claims 1 to 13, and the control method includes: When the first cleaning member (22) of the cleaning device is in the extended position for cleaning and contacts an obstacle, the first cleaning member (22) is controlled to rotate in a first direction, so that the first cleaning member (22) toggles the limiting member (60) of the cleaning device from the second state to the first state to allow the first cleaning member (22) to be converted between the retracted position and the extended position; When the first cleaning member (22) is driven by the obstacle and converted to the retracted position, the first cleaning member (22) is controlled to continue to rotate in the first direction, so that the first cleaning member (22) toggles the limiting member (60) from the second state to the first state to allow the first cleaning member (22) to be converted between the retracted position and the extended position.

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