Cleaning device

Abstract

A cleaning device comprises a main body module, a main cleaning module and an auxiliary cleaning module. The main cleaning module and the auxiliary cleaning module are connected to the main body module, and the cleaning surface of the main cleaning module and the cleaning surface of the auxiliary cleaning module are located on one side of the main body module along a first direction. The main cleaning module comprises a walking piece configured to walk on a surface to be cleaned along a second direction and drive the main body module to walk along the second direction. The auxiliary cleaning module is arranged at a corner of the main body module in a direction perpendicular to the first direction and is configured to rotate around an axis of a rotation shaft parallel to or at an acute angle with the first direction by friction with the surface to be cleaned under the driving of the main body module. The auxiliary cleaning module can assist in cleaning the blind area of the main cleaning module. At the same time, the auxiliary cleaning module can rotate by the friction between the auxiliary cleaning module and the surface to be cleaned, and the cleaning device is more portable and has a simpler structure.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to a cleaning device. Background Technology

[0002] With continuous technological advancements and people's increasing pursuit of quality of life, smart appliances for cleaning, such as cleaning devices, have emerged. These devices offer convenient and intelligent solutions for cleaning, but their cleaning efficiency still needs improvement. Summary of the Invention

[0003] At least one embodiment of this disclosure provides a cleaning device, comprising: a main module; a main cleaning module and an auxiliary cleaning module, both connected to the main module, and the cleaning surfaces of the main cleaning module and the auxiliary cleaning module being located on one side of the main module along a first direction; wherein, the main cleaning module includes a traveling member configured to travel along a second direction on the surface to be cleaned and drive the main module to travel in the second direction, and the auxiliary cleaning module is disposed at a corner of the main module in a direction perpendicular to the first direction, and configured to rotate around an axis parallel to or at an acute angle to the first direction under the drive of the main module by friction with the surface to be cleaned.

[0004] For example, according to at least one embodiment of this disclosure, the auxiliary cleaning module includes a first portion and a second portion connected to each other, the first portion and the second portion being on opposite sides of a first straight line passing through the center of the auxiliary cleaning module and extending along a second direction; in response to contact between the auxiliary cleaning module and the surface to be cleaned, the auxiliary cleaning module is configured to satisfy the following condition so that the auxiliary cleaning module rotates about the axis of the rotating shaft as the walking member moves: the first portion is configured to generate a first torque due to friction between itself and the surface to be cleaned, the second portion is configured to generate a second torque due to friction between itself and the surface to be cleaned, the first torque being greater than the sum of the second torque and the torque generated by frictional resistance during the rotation of the rotating shaft.

[0005] For example, according to at least one embodiment of this disclosure, the angle between the axis of the rotating shaft and the first direction is greater than 0 degrees and not greater than 45 degrees.

[0006] For example, according to at least one embodiment of the present disclosure, the angle between the orthographic projection of the axis of the rotating shaft and the second direction on a plane perpendicular to the first direction is 20 degrees to 160 degrees.

[0007] For example, according to at least one embodiment of the present disclosure, the cleaning device further includes a connecting module connected between the main module and the auxiliary cleaning module, the connecting module including a guide portion; the rotating shaft is sleeved outside the guide portion and configured to rotate about the axis of the rotating shaft, the axis of the rotating shaft being parallel to or coincident with the axis of the guide portion.

[0008] For example, according to at least one embodiment of this disclosure, the rotating shaft is hinged to the main body module and configured to rotate about a second straight line extending along the first direction; the cleaning device further includes a biasing member disposed between the main body module and the auxiliary cleaning module and configured to apply a greater pressure to the first portion than to the second portion.

[0009] For example, according to at least one embodiment of this disclosure, the biasing member is disposed between the main body module and the first part.

[0010] For example, according to at least one embodiment of the present disclosure, the biasing member includes a first biasing portion and a second biasing portion; on a reference plane perpendicular to the first direction, the orthographic projection of the first biasing portion overlaps with the orthographic projection of the first portion, and the orthographic projection of the second biasing portion overlaps with the orthographic projection of the second portion; the product of the elastic coefficient of the first biasing portion and the deformation of the first biasing portion is greater than the product of the elastic coefficient of the second biasing portion and the deformation of the second biasing portion.

[0011] For example, according to at least one embodiment of this disclosure, in a third direction, at least a portion of the auxiliary cleaning module extends beyond the main cleaning module; the third direction intersects with the first direction and the second direction, respectively.

[0012] For example, according to at least one embodiment of the present disclosure, the auxiliary cleaning module includes an auxiliary cleaning component; the auxiliary cleaning component includes a main body and a bristle portion, the side of the main body away from the main module includes a central area and a peripheral area, the peripheral area surrounds the central area, and the bristle portion is located at least within the peripheral area.

[0013] For example, according to at least one embodiment of this disclosure, the auxiliary cleaning component includes an elastic member that is pre-pressed between the main body and the bristle portion.

[0014] For example, according to at least one embodiment of the present disclosure, the auxiliary cleaning module further includes a sensor exposed from the central area; the sensor is configured to contact the surface to be cleaned to detect the edge of the surface to be cleaned.

[0015] For example, according to at least one embodiment of this disclosure, the cleaning device further includes an adsorption element configured to generate an adsorption force with the surface to be cleaned; the main cleaning module includes a main cleaning element configured to contact the surface to be cleaned; the cleaning device is configured to satisfy the following conditions: F0 = F1 + F2 + F3 + F4, F1 × a1 > (F2 × a2 + F3 × a3 + F4 × a4) × K + G, K = 1.5-20; where F0 represents the adsorption force, and F1 represents the pressure between the walking element and the surface to be cleaned. a1 represents the coefficient of friction between the walking component and the surface to be cleaned; F2 represents the pressure between the main cleaning component and the surface to be cleaned; a2 represents the coefficient of friction between the main cleaning component and the surface to be cleaned; F3 represents the pressure between the auxiliary cleaning component and the surface to be cleaned; a3 represents the coefficient of friction between the auxiliary cleaning component and the surface to be cleaned; F4 represents the pressure between the sensor and the surface to be cleaned; a4 represents the coefficient of friction between the sensor and the surface to be cleaned; K represents the safety factor; and G represents the weight of the cleaning device.

[0016] For example, according to at least one embodiment of the present disclosure, the outer contour shape of the cleaning surface of the auxiliary cleaning module is circular.

[0017] For example, according to at least one embodiment of this disclosure, the axis of the rotating shaft passes through the geometric center of the shape of the auxiliary cleaning module as an orthographic projection onto the surface to be cleaned.

[0018] For example, according to at least one embodiment of the present disclosure, the walking component includes at least one of tracks and wheels.

[0019] For example, according to at least one embodiment of the present disclosure, the cleaning device further includes a sensor whose orthographic projection on the surface to be cleaned does not overlap with the orthographic projection of the auxiliary cleaning module on the surface to be cleaned; the sensor is configured to contact the surface to be cleaned to detect the edge of the surface to be cleaned. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0021] Figures 1 to 3 This is a schematic diagram of a cleaning apparatus provided in at least one embodiment of the present disclosure from different perspectives.

[0022] Figure 4 This is a partial structural schematic diagram of a cleaning device provided in at least one embodiment of the present disclosure.

[0023] Figure 5 For along Figure 4 A schematic diagram of the cross-section obtained by cutting line AA' as shown.

[0024] Figure 6 and Figure 7 This is a schematic diagram of the connection structure and auxiliary cleaning module of the cleaning device provided in at least one embodiment of the present disclosure. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the described embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0026] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that an element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects.

[0027] The terms "parallel," "perpendicular," and "identical" as used in this disclosure include the strictly defined meanings of "parallel," "perpendicular," and "identical," as well as cases where "approximately parallel," "approximately perpendicular," and "approximately identical" include some degree of error. Taking into account measurement and errors associated with the measurement of a specific quantity (i.e., limitations of the measurement system), they represent the acceptable deviation range for a specific value as determined by a person skilled in the art. In embodiments of this disclosure, "center" can include a strictly defined location at the geometric center as well as a location approximately at the center within a small area surrounding the geometric center. For example, "approximately" can mean within one or more standard deviations, or within 10% or 5% of the value.

[0028] At least one embodiment of this disclosure provides a cleaning device, including: a main module; a main cleaning module and an auxiliary cleaning module, both connected to the main module, and the cleaning surfaces of the main cleaning module and the auxiliary cleaning module are located on one side of the main module along a first direction; wherein, the main cleaning module includes a traveling member configured to travel along a second direction on the surface to be cleaned and drive the main module to travel in the second direction, and the auxiliary cleaning module is disposed at a corner of the main module in a direction perpendicular to the first direction, and is configured to rotate around an axis of a rotating shaft parallel to or forming an acute angle with the first direction under the drive of the main module through friction with the surface to be cleaned.

[0029] In at least one embodiment of the cleaning device disclosed herein, a traveling member can move along the surface to be cleaned, thereby driving the cleaning device to move. During the movement of the cleaning device, the cleaning surfaces of the main cleaning module and the auxiliary cleaning module jointly clean the surface. Furthermore, the auxiliary cleaning module is located at a corner of the main module, thus providing auxiliary cleaning for blind spots of the main cleaning module. Simultaneously, the auxiliary cleaning module can passively rotate due to the friction between itself and the surface to be cleaned, eliminating the need for an additional active drive component to rotate the auxiliary cleaning module. For example, the cleaning device does not require additional structures such as gearboxes or drive motors. Therefore, the cleaning device is lighter and simpler in structure, and its power consumption is reduced, which also helps to lower the cost of the cleaning device.

[0030] The cleaning device will now be described with reference to the accompanying drawings and through some embodiments.

[0031] Figures 1 to 3 These are schematic diagrams of a cleaning apparatus provided in at least one embodiment of this disclosure from different perspectives. For example, Figure 1 A schematic top view of the cleaning device is shown. Figure 2 A schematic side view of the cleaning device is shown. Figure 3 The diagram illustrates a bottom view of the cleaning device.

[0032] refer to Figures 1 to 3The cleaning device includes a main module 10, a main cleaning module 100, and an auxiliary cleaning module 200. Both the main cleaning module 100 and the auxiliary cleaning module 200 are connected to the main module 10, and the cleaning surfaces of both modules are located on one side of the main module 10 along a first direction. The main cleaning module 100 includes a traveling member 110, configured to travel along a second direction on the surface S0 to be cleaned, and to drive the main module 10 to travel in the second direction. The auxiliary cleaning module 200 is located at a corner 11 of the main module 10 in a direction perpendicular to the first direction, and is configured to rotate around the axis R of a rotating shaft 201 that is parallel to or forms an acute angle with the first direction, driven by the main module 10, through friction with the surface S0 to be cleaned.

[0033] refer to Figures 1 to 3 The cleaning device provided in this embodiment allows the walking component 110 to move on the surface S0 to be cleaned, thereby driving the cleaning device to move. During the movement of the cleaning device, the cleaning surfaces of the main cleaning module 100 and the auxiliary cleaning module 200 jointly clean the surface S0. Furthermore, the auxiliary cleaning module 200 is located at the corner 11 of the main module 10, thus providing auxiliary cleaning for the blind spots of the main cleaning module 100. Simultaneously, the auxiliary cleaning module 200 can passively rotate due to the friction between itself and the surface S0, eliminating the need for an additional active drive component to rotate the auxiliary cleaning module 200. For example, the cleaning device does not require additional structures such as gearboxes or drive motors. Therefore, the cleaning device is lighter and simpler in structure, and its power consumption is reduced, which also helps to reduce the cost of the cleaning device.

[0034] refer to Figure 1 and Figure 2 For example, the first direction can be the thickness direction of the cleaning device. The first direction can be... Figure 2 The direction indicated by the arrow in the Z direction, or the direction opposite to the direction indicated by the arrow. For example, the cleaning surface of the main cleaning module 100 is located on the side of the main cleaning module 100 away from the main body module 10, and the cleaning surface of the auxiliary cleaning module 200 is located on the side of the auxiliary cleaning module 200 away from the main body module 10.

[0035] refer to Figure 1 and Figure 3 For example, the second direction can be Figure 1 and Figure 3 The direction indicated by the arrow pointing in the Y direction, or the direction opposite to the direction indicated by the arrow.

[0036] refer to Figure 1 and Figure 3For example, the first direction can intersect with the second direction. Alternatively, the first direction can be perpendicular to the second direction.

[0037] refer to Figure 1 For example, the surface S0 to be cleaned can be a window, floor, wall, or other surface to be cleaned. For example, the shape of the surface S0 to be cleaned can include regular shapes such as circles and rectangles, or irregular shapes such as irregular shapes. For example, the surface S0 to be cleaned can be a portion of a plane, a portion of a curved surface, or both a portion of a plane and a portion of a curved surface; this disclosure does not impose any limitations in this regard. For example, the surface S0 to be cleaned can have a predetermined angle of inclination with the ground, such as being perpendicular to the ground.

[0038] refer to Figure 1 and Figure 2 For example, the corner 11 of the main body module 10 can be the region where the vertex formed by the intersection of two adjacent edges of the main body module 10 is located. For example, if one edge 10b of the main body module 10 in the X direction intersects with one edge 10a of the main body module 10 in the Y direction, the corner 11 of the main body module 10 is located in the region near the intersection point of the edges 10a and 10b.

[0039] refer to Figures 1 to 3 During the cleaning process of the main cleaning module 100 on the surface S0 to be cleaned, due to various factors affecting the cleaning process, there may be cleaning blind spots in the main cleaning module 100 at the position corresponding to the corner 11 of the main module 10. For example, the movement trajectory of the cleaning device or the shape of the cleaning surface of the main cleaning module 100 may have limitations. For example, during the cleaning process, it is difficult to maintain completely uniform pressure on different areas of the main cleaning module 100. Therefore, by setting up an auxiliary cleaning module 200 located at the corner 11 of the main module 10, auxiliary cleaning can be performed on areas that are difficult to clean by the main cleaning module 100, thereby improving the cleaning effect and efficiency of the surface S0 to be cleaned.

[0040] refer to Figures 1 to 3 It is understandable that the dimensions of the corner 11 of the main module 10 can be adaptively adjusted according to the dimensions of the main module 10 and the cleaning surface of the main cleaning module 100. For example, the main module 10 can have dimensions in the X direction and dimensions in the Y direction. If the dimension of the main module 10 in the Y direction is not greater than its dimension in the X direction, the maximum dimension of the auxiliary cleaning module 200 in the direction perpendicular to the first direction can not exceed half the dimension of the main module 10 in the Y direction. This helps to balance the cleaning efficiency of the main cleaning module 100 and the blind spot cleaning effect of the auxiliary cleaning module 200.

[0041] refer to Figures 1 to 3For example, the cleaning device can be cut from a reference section by a plane perpendicular to the XY plane, and the dimensions in the X direction or the Y direction can be measured from the reference section. For example, the dimension in the X direction can be the maximum dimension in the X direction, and the dimension in the Y direction can be the maximum dimension in the Y direction.

[0042] refer to Figures 1 to 3 For example, the axis R of the rotating shaft 201 of the auxiliary cleaning module 200 can be parallel to the first direction. For example, the axis R of the rotating shaft 201 of the auxiliary cleaning module 200 can have an acute angle with the first direction. This disclosure does not limit this as long as the auxiliary cleaning module 200 can rotate by friction with the movement of the main module 10.

[0043] refer to Figures 1 to 3 As described in the examples below, when there is an acute angle between the axis R of the rotating shaft 201 and the first direction, the pressure applied to the surface S0 to be cleaned by different areas of the cleaning surface of the auxiliary cleaning module 200 is uneven, resulting in uneven friction between different areas of the cleaning surface of the auxiliary cleaning module 200, thus enabling the rotation of the auxiliary cleaning module 200. When the axis R of the rotating shaft 201 is parallel to the first direction, other methods can also be used to generate different torques in different areas of the auxiliary cleaning module 200 during rotation, thereby causing the auxiliary cleaning module 200 to rotate. Details will be discussed later.

[0044] refer to Figures 1 to 3 The main cleaning module 100 may include a first submodule 101 and a second submodule 102, which may be arranged in a third direction. For example, the third direction may intersect with the first direction and the second direction, respectively. For example, the first direction, the second direction, and the third direction may be perpendicular to each other. For example, the third direction may be... Figures 1 to 3 The direction indicated by the arrow pointing in the X direction, or the direction opposite to the direction indicated by the arrow.

[0045] refer to Figure 3 The first submodule 101 is configured to rotate about a rotation axis, and the rotation of the cleaning device can be achieved by rotating the first submodule 101. For example, the second submodule 102 includes a walking member 110. During the movement of the cleaning device, the walking member 110 of the second submodule 102 can be used to drive the cleaning device to move in a second direction.

[0046] refer to Figures 1 to 3 For example, when the main cleaning module 100 includes a first sub-module 101 and a second sub-module 102, the cleaning surface of the main cleaning module 100 includes the cleaning surface of the first sub-module 101 and the cleaning surface of the second sub-module 102.

[0047] refer to Figures 1 to 3 For example, the outer contour shape of the cleaning surface of the first submodule 101 may include a circle. For example, to increase the area of ​​the cleaning surface of the cleaning device, the outer contour shape of the cleaning surface of the second submodule 102 may include an irregular shape, such as a portion of the cleaning surface being approximately rectangular, and another portion of the cleaning surface being approximately complementary to the shape of the cleaning surface of the first submodule 101. It is understood that... Figures 1 to 3 The shapes of the cleaning surfaces of the first submodule 101 and the second submodule 102 shown are merely illustrative and are not intended to be limiting.

[0048] refer to Figure 1 and Figure 3 For example, in the first direction, the corner 11 of the main module 10 does not overlap with the second sub-module 102. For example, a notch may be provided on the side of the second sub-module 102 away from the cleaning surface of the first sub-module 101, and the auxiliary cleaning module 200 may be located at the location of this notch. For example, on the side of the second sub-module 102 away from the first sub-module 101, the cleaning surface of the second sub-module 102 may have two opposing notches in the second direction, and the cleaning device may include two auxiliary cleaning modules 200, with each auxiliary cleaning module 200 corresponding to one of the two notches. This improves the auxiliary cleaning effect of the auxiliary cleaning modules 200 on the blind spots of the main cleaning module 100.

[0049] Understandable, Figures 1 to 3 This illustration merely shows that the main cleaning module 100 may include a first sub-module 101 and a second sub-module 102, and that the cleaning surfaces of the two sub-modules have different shapes, but this disclosure is not limited thereto. For example, the main cleaning module 100 may include two sub-modules with identical structures. For example, the main cleaning module 100 may be a single module, such as the outer contour of the cleaning surface of the main cleaning module 100 being approximately rectangular, and the overall outer contour of the cleaning device being approximately square.

[0050] Understandable, Figures 1 to 3 The illustration shows that the cleaning device can have two auxiliary cleaning modules 200, but this disclosure is not limited to this. For example, when the cleaning device is generally square, auxiliary cleaning modules 200 can be provided at all four corners 11 of the main module 10. Of course, the shape, number, size, and placement of the auxiliary cleaning modules 200 can be adaptively adjusted according to actual needs and the structure and shape of the cleaning device, and this disclosure does not impose any limitations in this regard.

[0051] Figure 4 This is a partial structural schematic diagram of a cleaning device provided in at least one embodiment of the present disclosure. Figure 5 For along Figure 4A schematic diagram of the cross-section obtained by cutting line AA' is shown. For example, Figure 4 and Figure 5 The auxiliary cleaning module 200 and the connection module 300 are schematically shown.

[0052] refer to Figures 3 to 5 In some examples, the auxiliary cleaning module 200 includes a first portion 210 and a second portion 220 connected to each other, the first portion 210 and the second portion 220 being on opposite sides of a first straight line L1 passing through the center of the auxiliary cleaning module 200 and extending in a second direction. In response to contact between the auxiliary cleaning module 200 and the surface S0 to be cleaned, the auxiliary cleaning module 200 is configured to rotate about the axis R of the shaft 201 as the traveling member 110 moves: the first portion 210 is configured to generate a first torque due to friction between itself and the surface S0 to be cleaned, and the second portion 220 is configured to generate a second torque due to friction between itself and the surface S0 to be cleaned, the first torque being greater than the sum of the second torque and the torque generated by frictional resistance during the rotation of the shaft 201. Therefore, by making the auxiliary cleaning module 200 satisfy the above-mentioned relationship between the first torque, the second torque and the torque generated by frictional resistance, the frictional force acting on the cleaning surface of the auxiliary cleaning module 200 that is in contact with the surface to be cleaned S0 can be made uneven, thereby realizing the rotation of the auxiliary cleaning module 200.

[0053] For example, Figure 3 The diagram schematically illustrates that, in the X direction, at least a portion of the second portion 220 is located between the first portion 210 and the main cleaning module 100. For example, the region near the center of the cleaning surface of the main cleaning module 100 can be referred to as the inner side, and the region away from the center of the cleaning surface of the main cleaning module 100 can be referred to as the outer side. Figure 3 The first part 210 is located outside the second part 220.

[0054] refer to Figures 3 to 5 For example, the first torque can be the product of the frictional force generated between the first part 210 and the surface S0 to be cleaned and the lever arm of that frictional force. For example, the auxiliary cleaning module 200 and the surface S0 to be cleaned have a first coefficient of friction, and the frictional force generated between the first part 210 and the surface S0 to be cleaned can be the product of the pressure on the first part 210 and the first coefficient of friction.

[0055] refer to Figures 3 to 5 For example, the second torque can be the product of the frictional force generated between the second part 220 and the surface S0 to be cleaned and the lever arm of that frictional force. For example, the auxiliary cleaning module 200 and the surface S0 to be cleaned have a first coefficient of friction, and the frictional force generated between the second part 220 and the surface S0 to be cleaned can be the product of the pressure on the second part 220 and the first coefficient of friction.

[0056] refer to Figures 3 to 5 For example, the rotating shaft 201 of the auxiliary cleaning module 200 and the surface in contact with it have a second coefficient of friction. For example, the frictional resistance generated by the rotating shaft 201 of the auxiliary cleaning module 200 during rotation can be the product of the pressure on the rotating shaft 201 and the second coefficient of friction. For example, the torque generated by the frictional resistance can be the product of the frictional resistance and the lever arm of the frictional resistance.

[0057] refer to Figures 3 to 5 For example, in conjunction with the examples described below (see reference). Figure 5 The rotating shaft 201 of the auxiliary cleaning module 200 can be rotatably connected to the connecting module 300. The second friction coefficient can be the friction coefficient between the two surfaces of the auxiliary cleaning module 200 and the connecting module 300 that come into contact with each other.

[0058] refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 For example, when the first part 210 is located on the outer side and the first torque generated by the first part 210 is greater, as the auxiliary cleaning module 200 rotates, the auxiliary cleaning module 200 can apply a force toward the main cleaning module 100 to the target object (such as dirt on the surface S0 to be cleaned). For example, the target object can move toward the cleaning surface of the main cleaning module 100 as the auxiliary cleaning module 200 rotates. For example, the auxiliary cleaning module 200 can move the target object from the outer side to the inner side. Thus, the main cleaning module 100 can be used to clean the target object, thereby improving the cleaning effect and cleaning efficiency by utilizing the combined action of the main cleaning module 100 and the auxiliary cleaning module 200.

[0059] However, this disclosure is not limited to this. For example, when the first part is located on the inner side and the first torque generated by the first part is greater, as the auxiliary cleaning module rotates, the auxiliary cleaning module can apply a force away from the main cleaning module to the target object (such as dirt on the surface to be cleaned). For example, the target object can move away from the cleaning surface of the main cleaning module as the auxiliary cleaning module rotates. For example, the auxiliary cleaning module can move the target object to a more outer position. Thus, the auxiliary cleaning module can be used to separate the target object attached to the surface to be cleaned from the surface, and then the main cleaning module can be used to clean the target object, thereby improving the cleaning effect by utilizing the combined action of the main cleaning module and the auxiliary cleaning module.

[0060] refer to Figure 2 and Figure 5In some examples, the angle between the axis R of the rotating shaft 201 and the first direction can be greater than 0 degrees and not greater than 45 degrees. By setting the range of the angle between the axis R of the rotating shaft 201 and the first direction, it is easy to achieve contact between the auxiliary cleaning module 200 and the surface S0 to be cleaned, such as making the entire area of ​​the cleaning surface of the auxiliary cleaning module 200 in contact with the surface S0 to be cleaned as much as possible. Moreover, when the cleaning device is equipped with an auxiliary cleaning module 200 with an inclined rotating shaft 201, the space occupied by the auxiliary cleaning module 200 in the first direction is relatively small, and the overall thickness of the cleaning device will not increase significantly, which is beneficial to the weight reduction of the cleaning device and facilitates the arrangement of other parts.

[0061] refer to Figure 2 and Figure 5 For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 1 degree to 45 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 2 degrees to 40 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 3 degrees to 35 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 4 degrees to 30 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 5 degrees to 25 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 6 degrees to 20 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 7 degrees to 18 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 8 degrees to 15 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 9 degrees to 14 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be from 10 degrees to 13 degrees. For example, the angle between the axis R of the rotating shaft 201 and the first direction can be 11 to 12 degrees. Of course, the angle between the axis R of the rotating shaft 201 and the first direction can also be other values, which will not be elaborated here.

[0062] refer to Figure 2 , Figure 3 and Figure 5 For example, when the first part 210 is located on the outside and the first torque generated by the first part 210 is greater, the axis R of the rotation shaft 201 of the auxiliary cleaning module 200 and the straight line extending along the first direction can intersect on the side of the cleaning surface of the auxiliary cleaning module 200 away from the main module 10, such as intersecting at... Figure 2 Below. Therefore, the auxiliary cleaning module 200 can be used to move the target object to the inside.

[0063] However, this disclosure is not limited thereto. For example, when the first part 210 is located on the inner side and the first torque generated by the first part 210 is greater, the axis R of the rotating shaft 201 of the auxiliary cleaning module 200 and the straight line extending along the first direction may intersect on the side of the main module 10 away from the auxiliary cleaning module 200, such as intersecting at... Figure 2 Above. Thus, the auxiliary cleaning module 200 can be used to move the target object to the outside.

[0064] refer to Figure 2 and Figure 5 In some examples, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction on a plane perpendicular to the first direction can be from 20 degrees to 160 degrees. By setting the range of the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction, the auxiliary cleaning module 200 can improve the cleaning effect on the surface S0 to be cleaned while basically not interfering with the walking direction of the cleaning device.

[0065] refer to Figure 2 and Figure 5 It is understandable that when the rotating shaft 201 is set to be tilted, the tilt angle of the rotating shaft 201 will affect the unevenness of the friction force generated between the cleaning surface and the surface S0 to be cleaned in the auxiliary cleaning module 200 to a certain extent. For example, the tilt angle of the rotating shaft 201 can be regarded as the direction of uneven friction force.

[0066] refer to Figure 2 and Figure 5For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be from 21 degrees to 159 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be from 25 degrees to 155 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be from 30 degrees to 150 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be from 35 degrees to 145 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be from 40 degrees to 140 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be from 45 degrees to 135 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be 46 degrees to 134 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be 50 degrees to 130 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be 55 degrees to 125 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be 60 degrees to 120 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be 65 degrees to 115 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotating shaft 201 and the second direction can be 70 degrees to 110 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotation shaft 201 and the second direction can be 75 degrees to 105 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotation shaft 201 and the second direction can be 80 degrees to 100 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotation shaft 201 and the second direction can be 85 degrees to 95 degrees. For example, on a plane perpendicular to the first direction, the angle between the orthographic projection of the axis R of the rotation shaft 201 and the second direction can be 90 degrees. Of course, the angle between the orthographic projection of the axis R of the rotation shaft 201 and the second direction on a plane perpendicular to the first direction can also be other values, which will not be elaborated here.

[0067] refer to Figure 4 and Figure 5In some examples, the cleaning device further includes a connecting module 300 connecting the main module 10 and the auxiliary cleaning module 200, the connecting module 300 including a guide portion 310. A rotating shaft 201 is sleeved outside the guide portion 310 and configured to rotate about its axis R, which is parallel to or coincides with the axis R of the guide portion 310. Thus, by providing an inclined guide portion 310, the tilt angle of the axis R of the rotating shaft 201 sleeved outside the guide portion 310 of the connecting module 300 can be limited. For example, the tilt angle of the rotating shaft 201 sleeved outside the guide portion 310 is fixed relative to a first direction. Therefore, the auxiliary cleaning module 200 has better stability during rotation and lower installation and maintenance costs.

[0068] For example, a bearing can be installed between the shaft and the guide to reduce the friction between them.

[0069] refer to Figure 2 , Figure 4 and Figure 5 For example, the connection module 300 can be fixedly connected to the main module 10.

[0070] Figure 6 and Figure 7 This is a schematic diagram of the connection structure and auxiliary cleaning module of the cleaning device provided in at least one embodiment of the present disclosure.

[0071] refer to Figure 6 and Figure 7 In some examples, the pivot 201 is hinged to the main module 10 and configured to rotate about a second straight line L2 extending along a first direction. The cleaning device also includes a biasing member 400 disposed between the main module 10 and the auxiliary cleaning module 200, configured to apply a greater pressure to the first portion 210 than to the second portion 220. This allows the pivot 201 to rotate about the second straight line L2, improving the mobility of the auxiliary cleaning module 200 and enhancing its adaptability to different application scenarios. Furthermore, by setting the biasing member 400, the pressure on the first portion 210 is made greater than the pressure on the second portion 220, resulting in a difference in friction between the auxiliary cleaning module 200 and the surface S0 to be cleaned, thus enabling the rotation of the auxiliary cleaning module 200.

[0072] refer to Figure 6 and Figure 7 For example, the biasing element 400 can be a spring, foam, or an elastic pad made of materials such as silicone or rubber. It is understood that this disclosure does not limit the specific form of the biasing element 400, as long as different pressures are applied to different parts of the auxiliary cleaning module 200 using the biasing element 400.

[0073] refer to Figure 6 and Figure 7 For example, when the biasing element 400 is provided, the axis R of the rotating shaft 201 of the auxiliary cleaning module 200 can be parallel to the first direction, and the axis R of the rotating shaft 201 of the auxiliary cleaning module 200 can also have an acute angle with the first direction. For example, the pressure applied to the auxiliary cleaning module 200 by the biasing element 400 and the angular relationship between the axis R of the rotating shaft 201 and the first direction can be taken into account to generate uneven friction between the auxiliary cleaning module 200 and the surface S0 to be cleaned. This disclosure does not limit this.

[0074] refer to Figure 6 In some examples, the biasing element 400 is disposed between the main body module 10 and the first portion 210. Thus, the biasing element 400 located between the main body module 10 and the first portion 210 can be used to subject the first portion 210 to greater pressure. For example, Figure 6 The illustration schematically shows the first portion 210 located outside the cleaning device and subjected to greater pressure. However, this disclosure is not limited thereto; the first portion 210 may also be located inside the cleaning device, which will not be elaborated here.

[0075] refer to Figure 7 In some examples, the biasing member 400 includes a first biasing portion and a second biasing portion. On a reference plane perpendicular to the first direction, the orthographic projection of the first biasing portion overlaps with the orthographic projection of the first portion 210, and the orthographic projection of the second biasing portion overlaps with the orthographic projection of the second portion 220. The product of the elastic coefficient and the deformation of the first biasing portion is greater than the product of the elastic coefficient and the deformation of the second biasing portion. For example, based on the respective elastic coefficients and deformations of the first and second biasing portions, by making the product of the elastic coefficient and the deformation of the first biasing portion larger, the first portion 210 of the auxiliary cleaning module 200 can be subjected to greater pressure. For example, Figure 7 The illustration schematically shows the first portion 210 located outside the cleaning device and subjected to greater pressure. However, this disclosure is not limited thereto; the first portion 210 may also be located inside the cleaning device, which will not be elaborated here.

[0076] refer to Figure 7 For example, the first biasing portion and the second biasing portion can be connected to each other. For example, the first biasing portion and the second biasing portion can be different parts of the same biasing member 400. However, this disclosure is not limited to this. For example, the first biasing portion and the second biasing portion can also be independent structures, such as the first biasing portion and the second biasing portion being spaced apart. For example, the first biasing portion and the second biasing portion can be elastic members 203 such as springs that are spaced apart.

[0077] For example, the materials of the first biasing part and the second biasing part can be the same. In this case, the elastic coefficients of the first biasing part and the second biasing part are the same. By making the deformation of the first biasing part greater than that of the second biasing part, the biasing member can apply a greater force to the first part.

[0078] For example, the deformation of the first biasing part and the deformation of the second biasing part can be the same. In this case, the elastic modulus of the first biasing part can be greater than that of the second biasing part, so that the biasing member applies a greater force to the first part. For example, the material of the first biasing part can be different from the material of the second biasing part.

[0079] However, this disclosure is not limited to this. For example, the materials of the first biasing part and the second biasing part may be different, and the deformation of the first biasing part and the deformation of the second biasing part may be different. It is understood that this disclosure does not limit the specific arrangement of the biasing member as long as it can achieve a greater force applied to the first part.

[0080] refer to Figure 1 and Figure 3 In some examples, at least a portion of the auxiliary cleaning module 200 extends beyond the main cleaning module 100 in the third direction, and the third direction intersects with the first and second directions respectively. For example, at least a portion of the edge of the cleaning surface of the auxiliary cleaning module 200 extends beyond the edge of the cleaning surface of the main cleaning module 100 in the third direction. Therefore, the area cleaned by the cleaning surface of the auxiliary cleaning module 200 can extend beyond the area cleaned by the cleaning surface of the main cleaning module 100 in the third direction, thereby improving the cleaning effect of the cleaning device on the cleaning surface S0.

[0081] refer to Figure 1 and Figure 3 For example, the third direction is perpendicular to the first direction and the second direction respectively, such as the third direction being the X direction.

[0082] refer to Figure 1 and Figure 3 For example, the auxiliary cleaning module 200 may extend beyond the main cleaning module 100 in part, while another part may not extend beyond the main cleaning module 100. Alternatively, the auxiliary cleaning module 200 may completely extend beyond the main cleaning module 100. For example, on a reference plane perpendicular to the second direction, the orthographic projection of the auxiliary cleaning module 200 and the orthographic projection of the main cleaning module 100 may partially overlap, while another part may not overlap. For example, on a reference plane perpendicular to the second direction, the orthographic projection of the auxiliary cleaning module 200 and the orthographic projection of the main cleaning module 100 may not overlap at all.

[0083] Figure 1 and Figure 3The illustration schematically shows that the auxiliary cleaning module 200 extends at least partially beyond the main cleaning module 100 in the second direction. However, this disclosure is not limited to this. For example, in the second direction, the auxiliary cleaning module 200 may completely extend beyond the main cleaning module 100, or only partially extend beyond the main cleaning module 100, or not extend beyond the main cleaning module 100. It is understood that the second direction is the traveling direction of the traveling member 110, and the main cleaning module 100 can perform cleaning in the second direction when the traveling member 110 drives the cleaning device forward. Therefore, the relative positional relationship between the auxiliary cleaning module 200 and the main cleaning module 100 in the second direction can be flexibly set.

[0084] refer to Figure 3 and Figure 5 In some examples, the auxiliary cleaning module 200 includes an auxiliary cleaning component 202. The auxiliary cleaning component 202 includes a main body 2021 and a bristle portion 2022. The side of the main body 2021 away from the main module 10 includes a central region Z1 and a peripheral region Z2, with the peripheral region Z2 surrounding the central region Z1. The bristle portion 2022 is located at least within the peripheral region Z2. Thus, the auxiliary cleaning module 200 can clean the surface S0 to be cleaned using the bristles in the bristle portion 2022. Furthermore, the bristle portion 2022 being located at least in the peripheral region Z2 increases the cleaning range of the auxiliary cleaning module 200. It is understood that the bristle portion 2022 may be located only in the peripheral region Z2, or it may be located in both the peripheral region Z2 and the central region Z1.

[0085] refer to Figure 3 and Figure 5 For example, the cleaning surface of the auxiliary cleaning module 200 can be a surface formed by multiple bristles in the bristle section 2022 at the end away from the main module 10.

[0086] refer to Figure 3 and Figure 5 For example, the material of the main cleaning component 120 of the main cleaning module 100 may be different from the material of the auxiliary cleaning component 202 of the auxiliary cleaning module 200. For example, the main cleaning component 120 of the main cleaning module 100 may be a rag or the like. For example, the cleaning surface of the main cleaning module 100 may be the surface of a rag. For example, when the main cleaning module 100 includes a first submodule 101 and a second submodule 102, the main cleaning component 120 may include the cleaning component of the first submodule 101 and the cleaning component of the second submodule 102.

[0087] refer to Figure 3 and Figure 5It is understood that this disclosure does not limit the size of the peripheral area Z2 and the size of the central area Z1. For example, a single ring of bristles may be provided only around the outermost periphery of the auxiliary cleaning module 200 to form the bristle section 2022. For example, multiple rings of bristles may be provided on the auxiliary cleaning module 200 to form a bristle section 2022 that is generally annular or circular in shape.

[0088] refer to Figure 3 and Figure 5 For example, a bristle structure can be fixed to the main body 2021 to form an auxiliary cleaning part 202 with bristle portion 2022. For example, the bristle portion 2022 can be formed on the main body 2021 by a bristle implantation process. This disclosure does not limit the scope of the application.

[0089] refer to Figure 5 In some examples, the auxiliary cleaning component 202 includes an elastic element 203, which is pre-compressed between the main body 2021 and the bristle portion 2022. By providing the elastic element 203 pre-compressed between the main body 2021 and the bristle portion 2022, it is beneficial to extend the lifespan of the auxiliary cleaning module 200. For example, after the bristle portion 2022 wears down, the force applied by the elastic element 203 can be used to ensure that the bristle portion 2022 remains in contact with the surface S0 to be cleaned during use of the cleaning device.

[0090] refer to Figure 5 For example, the elastic element 203 can be a spring, foam, or an elastic pad made of materials such as silicone or rubber. It is understood that as long as the elastic element 203 is used to apply force to the bristle portion 2022, this disclosure does not limit the specific form of the elastic element 203.

[0091] refer to Figure 1 , Figure 2 , Figure 3 and Figure 5 In some examples, the auxiliary cleaning module 200 also includes a sensor 30 exposed from the central region Z1. The sensor 30 is configured to contact the surface S0 to be cleaned to detect the edge of the surface S0. Thus, the auxiliary cleaning module 200 can use the sensor 30 to detect the edge of the surface S0 to be cleaned, thereby effectively preventing the cleaning device from leaking air or even falling due to exceeding the edge during the cleaning process.

[0092] In some examples, the cleaning device also includes a sensor. On a reference plane perpendicular to the first direction, the orthographic projection of the sensor does not overlap with the orthographic projection of the auxiliary cleaning module. The sensor is configured to contact the surface to be cleaned to detect its edges. For example, the sensor may not be located within the auxiliary cleaning module; it may be located outside the module. This allows the bristles in the auxiliary cleaning module to be located within the central and peripheral areas, thereby increasing the area of ​​the bristles and improving the cleaning efficiency of the auxiliary cleaning module.

[0093] It is understood that, as long as edge detection of the surface to be cleaned can be achieved using sensors, this disclosure does not impose any restrictions on the placement of the sensors. Furthermore, the cleaning device provided in the embodiments of this disclosure can also improve the problem of the cleaning device easily getting stuck on the edge of a gently sloping edge.

[0094] refer to Figure 1 and Figure 2 In some examples, the cleaning device also includes an adsorption element 20 configured to generate an adsorption force with the surface S0 to be cleaned. The main cleaning module 100 includes a main cleaning element 120 configured to contact the surface S0 to be cleaned. The cleaning device is configured to satisfy the following conditions:

[0095] F0=F1+F2+F3+F4, F1×a1>(F2×a2+F3×a3+F4×a4)×K+G, K=1.5-20.

[0096] Wherein, F0 represents the adsorption force, F1 represents the pressure between the traveling component 110 and the surface S0 to be cleaned, a1 represents the coefficient of friction between the traveling component 110 and the surface S0 to be cleaned, F2 represents the pressure between the main cleaning component 120 and the surface S0 to be cleaned, a2 represents the coefficient of friction between the main cleaning component 120 and the surface S0 to be cleaned, F3 represents the pressure between the auxiliary cleaning component 202 and the surface S0 to be cleaned, a3 represents the coefficient of friction between the auxiliary cleaning component 202 and the surface S0 to be cleaned, F4 represents the pressure between the sensor and the surface S0 to be cleaned, a4 represents the coefficient of friction between the sensor and the surface S0 to be cleaned, K represents the safety factor, and G represents the weight of the cleaning device.

[0097] refer to Figure 1 and Figure 2 For example, the pressure between the auxiliary cleaning component 202 and the surface S0 to be cleaned can be the sum of the pressure on the first part 210 and the pressure on the second part 220 of the auxiliary cleaning component 202.

[0098] refer to Figure 1 and Figure 2It is understandable that during the cleaning process of the cleaning device on the surface S0 to be cleaned, such as windows or walls, since the surface S0 has an angle with the ground (e.g., the surface S0 is perpendicular to the ground), an adsorption element 20 can be provided to achieve stable adsorption by the cleaning device. Simultaneously, to improve the movement stability of the cleaning device, such as preventing the walking component 110 from slipping during movement, the adsorption force generated by the adsorption element 20 can be rationally distributed during the design of the cleaning device. Therefore, through the above formula, the parameters of the main cleaning module 100, the auxiliary cleaning module 200, and sensors can be optimized by comprehensively considering the adsorption force, the coefficient of friction between different parts and the surface S0 to be cleaned, etc.

[0099] refer to Figure 1 and Figure 2 It should be noted that the safety factor is a coefficient used to reflect the degree of structural safety. By introducing the safety factor, it can be ensured that the cleaning device can move stably on the surface S0 to be cleaned.

[0100] For example, the safety factor can range from 1.6 to 19. For example, the safety factor can range from 2 to 18. For example, the safety factor can range from 3 to 15. For example, the safety factor can range from 4 to 10. For example, the safety factor can range from 5 to 8. For example, the safety factor can range from 6 to 7. Of course, the safety factor can also be other values, which will not be elaborated here.

[0101] refer to Figure 1 and Figure 2 For example, the adsorption element 20 can be disposed inside the housing of the main module 10. For example, the adsorption element 20 can be a negative pressure fan.

[0102] refer to Figure 1 and Figure 3 In some examples, the outer contour of the cleaning surface of the auxiliary cleaning module 200 is circular. This simplifies the structural design of the auxiliary cleaning module 200 and reduces its cost. For example, in the auxiliary cleaning component 202, the bristle portion 2022 can be formed in a circle. Furthermore, by designing the outer contour of the cleaning surface of the auxiliary cleaning module 200 as circular, the lever arm of the frictional force generated in different areas of the cleaning surface during rotation is essentially the same, thereby reducing the design complexity of the cleaning device.

[0103] It is understood that the outer contour shape of the cleaning surface of the auxiliary cleaning module can also be other shapes. For example, the outer contour shape of the cleaning surface of the auxiliary cleaning module can be rectangular, elliptical, polygonal, irregular, etc., and this disclosure does not impose any restrictions on it.

[0104] refer to Figure 2In some examples, the axis R of the rotating shaft 201 passes through the geometric center of the shape of the orthographic projection of the auxiliary cleaning module 200 onto the surface S0 to be cleaned. This reduces the risk of rotational obstruction due to changes in the lever arm during the rotation of the auxiliary cleaning module 200.

[0105] refer to Figure 3 In some examples, the walking component 110 includes at least one of a track and wheels. For example, wheels may include pulleys, Mecanum wheels, etc. It is understood that this disclosure is not limited in that any means are possible to enable the cleaning device to move using the walking component 110.

[0106] For example, cleaning devices could be window-cleaning robots.

[0107] For example, cleaning devices can be robotic vacuum cleaners, robotic floor scrubbers, etc.

[0108] The following points need to be explained:

[0109] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure, and other structures can be referred to the general design.

[0110] (2) Where there is no conflict, features of the same embodiment and different embodiments of this disclosure may be combined with each other.

[0111] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure, which is determined by the appended claims.

Claims

1. A cleaning device, comprising: Main module; The main cleaning module and the auxiliary cleaning module are both connected to the main body module, and the cleaning surfaces of the main cleaning module and the auxiliary cleaning module are both located on one side of the main body module along the first direction. The main cleaning module includes a walking component configured to move along a second direction on the surface to be cleaned, thereby driving the main module to move in the second direction. The auxiliary cleaning module is located at the corner of the main module in a direction perpendicular to the first direction, and is configured to rotate around an axis that is parallel to or forms an acute angle with the first direction through friction with the surface to be cleaned, driven by the main module. The auxiliary cleaning module includes a first part and a second part connected to each other, the first part and the second part being on opposite sides of a first straight line passing through the center of the auxiliary cleaning module and extending along the second direction; In response to the auxiliary cleaning module coming into contact with the surface to be cleaned, the auxiliary cleaning module is configured to satisfy the following condition, such that the auxiliary cleaning module rotates about the axis of the rotating shaft as the traveling member moves: The first portion is configured to generate a first torque through friction between itself and the surface to be cleaned, and the second portion is configured to generate a second torque through friction between itself and the surface to be cleaned. The first torque is greater than the sum of the second torque and the torque generated by the frictional resistance during the rotation of the shaft.

2. The cleaning device according to claim 1, wherein, The angle between the axis of the rotating shaft and the first direction is greater than 0 degrees and not greater than 45 degrees.

3. The cleaning device according to claim 2, wherein, On a plane perpendicular to the first direction, the angle between the orthographic projection of the axis of rotation and the second direction is 20 degrees to 160 degrees.

4. The cleaning device according to any one of claims 1-3 further includes a connecting module connected between the main module and the auxiliary cleaning module, the connecting module including a guide portion; The rotating shaft is sleeved outside the guide portion and configured to rotate about the axis of the rotating shaft, the axis of the rotating shaft being parallel to or coincident with the axis of the guide portion.

5. The cleaning apparatus according to any one of claims 1-3, wherein, The pivot is hinged to the main body module and configured to rotate about a second straight line extending along the first direction; The cleaning device further includes a biasing element disposed between the main module and the auxiliary cleaning module, and configured to apply a greater pressure to the first part than to the second part.

6. The cleaning apparatus according to claim 5, wherein, The biasing element is disposed between the main body module and the first part.

7. The cleaning apparatus according to claim 5, wherein, The biasing component includes a first biasing part and a second biasing part; On a reference plane perpendicular to the first direction, the orthographic projection of the first biasing part overlaps with the orthographic projection of the first portion, and the orthographic projection of the second biasing part overlaps with the orthographic projection of the second portion. The product of the elastic coefficient of the first biasing part and the deformation of the first biasing part is greater than the product of the elastic coefficient of the second biasing part and the deformation of the second biasing part.

8. The cleaning apparatus according to any one of claims 1-3, wherein, In a third-party direction, at least a portion of the auxiliary cleaning module extends beyond the main cleaning module; The third direction intersects with the first direction and the second direction, respectively.

9. The cleaning apparatus according to any one of claims 1-3, wherein, The auxiliary cleaning module includes auxiliary cleaning components; The auxiliary cleaning component includes a main body and a bristle part. The side of the main body away from the main module includes a central area and a peripheral area. The peripheral area surrounds the central area, and the bristle part is located at least within the peripheral area.

10. The cleaning apparatus according to claim 9, wherein, The auxiliary cleaning component includes an elastic element, which is pre-pressed between the main body and the bristle portion.

11. The cleaning apparatus according to claim 9, wherein, The auxiliary cleaning module also includes sensors exposed from the central area; The sensor is configured to contact the surface to be cleaned in order to detect the edge of the surface.

12. The cleaning device according to claim 11, further comprising an adsorption element configured to generate an adsorption force with the surface to be cleaned; the main cleaning module includes a main cleaning element configured to contact the surface to be cleaned; The cleaning device is configured to meet the following conditions: F0=F1+F2+F3+F4, F1×a1>(F2×a2+F3×a3+F4×a4)×K+G, K=1.5-20; in, F0 represents the adsorption force, F1 represents the pressure between the walking component and the surface to be cleaned, a1 represents the coefficient of friction between the walking component and the surface to be cleaned, F2 represents the pressure between the main cleaning component and the surface to be cleaned, a2 represents the coefficient of friction between the main cleaning component and the surface to be cleaned, F3 represents the pressure between the auxiliary cleaning component and the surface to be cleaned, a3 represents the coefficient of friction between the auxiliary cleaning component and the surface to be cleaned, F4 represents the pressure between the sensor and the surface to be cleaned, a4 represents the coefficient of friction between the sensor and the surface to be cleaned, K represents the safety factor, and G represents the weight of the cleaning device.

13. The cleaning apparatus according to any one of claims 1-3, wherein, The outer contour of the cleaning surface of the auxiliary cleaning module is circular.

14. The cleaning apparatus according to any one of claims 1-3, wherein, The axis of the rotating shaft passes through the geometric center of the shape of the auxiliary cleaning module's orthographic projection onto the surface to be cleaned.

15. The cleaning apparatus according to any one of claims 1-3, wherein, The running gear includes at least one of tracks and wheels.

16. The cleaning device according to any one of claims 1-3 further includes a sensor, wherein the orthographic projection of the sensor on the surface to be cleaned does not overlap with the orthographic projection of the auxiliary cleaning module on the surface to be cleaned; The sensor is configured to contact the surface to be cleaned in order to detect the edge of the surface.

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