Cleaning device and cleaning robot

Abstract

The invention provides a cleaning device and a cleaning robot, and belongs to the technical field of cleaning equipment. The cleaning device comprises a frame body, a cleaning assembly and a driving mechanism; the cleaning assembly is movably connected with the frame body; the driving mechanism comprises a driving motor and a transmission assembly, the driving motor is fixedly arranged in the frame body, and the cleaning assembly is in transmission connection with an output shaft of the driving motor through the transmission assembly; the transmission assembly is configured to drive the cleaning assembly to rotate at the retraction position and / or drive the cleaning assembly to stretch out and rotate at the stretching position under the action of the driving force of the output shaft of the driving motor. According to the cleaning device, the cleaning assembly is controlled to rotate between the extending position and the retracting position through the driving motor, the structure of the cleaning device is simplified, the cost of the cleaning device is reduced, the space utilization rate of the cleaning device is increased, and the stability and convenience of control over the cleaning assembly are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a cleaning device and a cleaning robot. BACKGROUND

[0002] The existing cleaning robot with a roller structure can only retract into the mobile host to mop the ground. When the cleaning device cleans the edge of the to-be-cleaned surface, such as the wall edge, there is a certain cleaning blind area, so that the cleaning device cannot clean along the edge. SUMMARY

[0003] Therefore, the present application aims to overcome the deficiencies in the prior art and provide a cleaning device and a cleaning robot.

[0004] The first invention provides a cleaning device, which comprises: a frame body; a cleaning assembly movably connected to the frame body; a driving mechanism comprising a driving motor and a transmission assembly, the driving motor being fixedly arranged in the frame body, and the cleaning assembly being in transmission connection with the output shaft of the driving motor through the transmission assembly; The transmission assembly is configured to drive the cleaning assembly to rotate in the retracted position and / or drive the cleaning assembly to extend and rotate in the extended position under the driving force of the output shaft of the driving motor.

[0005] In some embodiments, the transmission assembly comprises a connecting piece and a transmission mechanism. The connecting piece is fixedly connected to the cleaning assembly, and the transmission mechanism is in transmission connection with the output shaft; when the output shaft rotates in a first direction, the transmission mechanism is in transmission connection with the connecting piece to drive the connecting piece to extend and rotate in the extended position, thereby driving the cleaning assembly to extend and rotate in the extended position in a third direction.

[0006] In some embodiments, the transmission assembly further comprises a linkage structure. When the output shaft is switched to rotate in a second direction opposite to the first direction, the cleaning assembly is retracted, and the transmission mechanism is indirectly in transmission connection with the connecting piece through the linkage structure to drive the connecting piece to rotate through the linkage structure, thereby driving the cleaning assembly to rotate in the third direction.

[0007] In some embodiments, the cleaning device further comprises a housing. The shell is fixed with the driving motor, the shell defines a cavity and an opening communicating with the cavity, one end of the connecting member facing the linkage structure is accommodated in the cavity, one end of the connecting member away from the linkage structure can be penetrated in the opening, there is a gap between the connecting member and the shell, a limiting member is arranged in the cavity, and the limiting member is used for limiting the movement stroke of the connecting member from the retracted position to the extended position.

[0008] In some embodiments, the transmission mechanism comprises a transmission member and a movable member; The transmission member is co-rotatable with the output shaft and coaxially connected with the output shaft; The transmission member is connected with the movable member in cooperation; When the output shaft rotates in the first direction, the movable member moves away from the linkage structure along the axis direction of the output shaft and is in transmission connection with the connecting member, so as to drive the connecting member to extend and rotate in the extended position; When the output shaft switches to rotate in the second direction, the movable member moves close to the linkage structure along the axis direction of the output shaft and is in transmission connection with the linkage structure, so as to drive the connecting member to rotate in the retracted position through the linkage structure.

[0009] In some embodiments, the connecting member is provided with a first combining part and a second combining part; one side of the movable member away from the linkage structure is provided with a third combining part, and one side of the movable member facing the linkage structure is provided with a fourth combining part; the linkage structure is provided with a fifth combining part and a sixth combining part; In the retracted position, the fourth combining part and the fifth combining part are combined to make the movable member in transmission connection with the linkage structure, and the second combining part and the sixth combining part are combined to make the connecting member in transmission connection with the linkage structure; In the extended position, the first combining part and the third combining part are combined to make the movable member in transmission connection with the connecting member.

[0010] In some embodiments, the fourth combining part and the fifth combining part are ratchets, and / or the second combining part and the sixth combining part are ratchets, and / or the first combining part and the third combining part are ratchets.

[0011] In some embodiments, one side of the connecting member facing the linkage structure is provided with a first mounting groove, the movable member is accommodated in the first mounting groove, one side of the connecting member away from the linkage structure is provided with a second mounting groove communicating with the first mounting groove, the transmission member is accommodated in the second mounting groove, and the first combining part is located at the connection position of the first mounting groove and the second mounting groove.

[0012] In some embodiments, the linkage structure comprises a first linkage structure, a second linkage structure and a third linkage structure; An end of the first linkage structure away from the movable element is in driving connection with the second linkage structure through the third linkage structure; In the retracted position, a side of the first linkage structure facing the movable element is in driving connection with the movable element, and a side of the second linkage structure facing the connecting element is in driving connection with the connecting element, so that when the output shaft of the driving motor rotates in the second direction, the movable element is driven to rotate in the second direction through the transmission element, the first linkage structure is driven to rotate in the second direction through the movable element, the third linkage structure is driven to rotate in the third direction through the first linkage structure, the second linkage structure is driven to rotate in the third direction through the third linkage structure, and the connecting element and the cleaning assembly are driven to rotate in the third direction through the second linkage structure, the third direction being the same as the first direction.

[0013] In some embodiments, the second linkage structure is sleeved on the first linkage structure, and a gap is formed between the second linkage structure and the first linkage structure, and the third linkage structure is arranged between the first linkage structure and the second linkage structure, and the third linkage structure comprises at least one first gear; The outer wall of the first linkage structure is provided with a first tooth portion, and the first tooth portion is in meshing connection with the first gear; The inner wall of the second linkage structure is provided with a second tooth portion, and the second tooth portion is in meshing connection with the first gear.

[0014] In some embodiments, the first linkage structure comprises a support table, a support ring and a second gear connected in sequence, and the first tooth portion is arranged on the second gear; A fifth connecting portion is arranged on a side of the support table away from the support ring, and a fourth connecting portion is arranged on a side of the movable element facing the support table, and in the retracted position, the fifth connecting portion and the fourth connecting portion are in driving connection, so that when the movable element rotates in the second direction, the first linkage structure can be driven to rotate synchronously.

[0015] In some embodiments, the cleaning device further comprises a housing; The driving motor is fixedly connected to the housing, and the housing defines a cavity, and the linkage structure is accommodated in the cavity and in driving connection with the housing; A support frame is arranged on a side of the housing close to the linkage structure, and the support frame is accommodated in the cavity; A first bearing is arranged between the inner periphery of the support frame and the first linkage structure; The support frame is provided with a plurality of spaced-apart notches, the third linkage structure is rotationally connected to the support frame, and the third linkage structure at least partially penetrates the notches and is in transmission connection with the second linkage structure. The second linkage structure is rotationally sleeved on the support frame, a second bearing is arranged between the second linkage structure and the inner wall of the shell, the outer ring of the second bearing abuts against the inner wall of the shell, and the inner ring of the second bearing abuts against the outer wall of the second linkage structure.

[0016] In some embodiments, along the axial direction of the output shaft, the length of the movable member is less than the distance between the first and fifth connecting portions, so that, in the retracted position, a clearance is formed between the first and third connecting portions when the cleaning assembly is rotated in the third direction.

[0017] In some embodiments, the transmission member is provided with a helical groove on the outer periphery, the movable member is provided with a helical protrusion on the inner wall, and the helical groove and the helical protrusion are engaged to enable the movable member to move relative to the transmission member along the axial direction of the output shaft.

[0018] In some embodiments, the device further comprises a movable frame and an elastic member. The frame body defines an accommodation space, and the driving motor is accommodated in the accommodation space. The cleaning assembly is at least partially accommodated in the accommodation space and is fixedly connected to the movable frame. One end of the elastic member is connected to the frame body, and the other end of the elastic member is connected to the movable frame. The elastic member is configured to, in the extended position, move the cleaning assembly from the extended position to the retracted position under the elastic force of the elastic member when the output shaft is rotated in the second direction, so that the connecting member is connected to the linkage structure.

[0019] In some embodiments, the elastic member is arranged on the outer wall surface of the accommodation space, and the elastic force direction of the elastic member is parallel to the extension direction of the cleaning assembly.

[0020] In some embodiments, one side of the frame body away from the cleaning assembly is provided with one of a limiting protrusion and a strip-shaped channel, the movable frame is provided with the other of the limiting protrusion and the strip-shaped channel, and the limiting protrusion and the strip-shaped channel are matched with each other to limit the activity stroke and / or activity direction of the cleaning assembly.

[0021] In some embodiments, the cleaning assembly comprises a roller and a wiping member arranged on the outer periphery of the roller. The transmission assembly is arranged in the roller, the driving motor is at least partially arranged in the roller, and the roller and the driving motor have a gap therebetween.

[0022] In a second aspect, the present application provides a cleaning robot, comprising: a main machine capable of automatically moving on the ground and the cleaning device, wherein the cleaning device is arranged at the bottom of the main machine.

[0023] The embodiments of the present application have the following advantages: by adjusting the rotation direction of the output shaft of the driving motor, the rotation of the cleaning assembly in the extended position and / or in the retracted position is controlled through the transmission assembly, so as to improve the cleaning efficiency of the cleaning surface and the cleaning effect on the edge area (such as the corner area of the wall and the area near the wall); the rotation of the cleaning assembly in the extended position and the retracted position is controlled by one driving motor, which not only simplifies the structure of the cleaning device and reduces the cost of the cleaning device, but also improves the space utilization of the cleaning device and the stability and convenience of the control of the cleaning assembly.

[0024] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 Fig. 1 shows a perspective view of the structure of the cleaning assembly in the extended position in a cleaning device according to some embodiments of the present application; Figure 2 Fig. 2 shows a sectional view of the A-A part in Fig. 1; Figure 1 Figure 3 Fig. 3 shows a perspective view of the structure of the cleaning assembly in the retracted position in a cleaning device according to some embodiments of the present application; Figure 4 Fig. 4 shows a sectional view of the B-B part in Fig. 3; Figure 3 Figure 5 Fig. 5 shows a perspective view of the structure of the connecting piece in a cleaning device according to some embodiments of the present application; Figure 6 Fig. 6 shows a perspective view of the structure of the linkage structure in a cleaning device according to some embodiments of the present application; ​​Figure 7 FIG. 7 shows a structural schematic diagram of another perspective view of a linkage structure in a cleaning device according to some embodiments of the present application; Figure 8 FIG. 8 shows a structural schematic diagram of a perspective view of a housing in a cleaning device according to some embodiments of the present application; Figure 9 FIG. 9 shows a structural schematic diagram of a perspective view of a movable member in a cleaning device according to some embodiments of the present application; Figure 10 FIG. 10 shows a structural schematic diagram of a perspective view of a transmission member in a cleaning device according to some embodiments of the present application. Main element symbol explanation: 100 - frame; 110 - containing space; 200 - cleaning assembly; 210 - roller; 220 - wiping member; 300 - driving mechanism; 310 - driving motor; 311 - output shaft; 320 - transmission assembly; 321 - connecting member; 3211 - first combining part; 3212 - second combining part; 3213 - first mounting groove; 3214 - second mounting groove; 322 - transmission mechanism; 323 - linkage structure; 3231 - fifth combining part; 3232 - sixth combining part; 3233 - first linkage structure; 32331 - first tooth part; 32332 - support table; 32333 - support ring; 32334 - second gear; 3234 - second linkage structure; 32341 - second tooth part; 3235 - third linkage structure; 3221 - transmission member; 32211 - helical groove; 3222 - movable member; 32221 - third combining part; 32222 - fourth combining part; 32223 - helical protrusion; 400 - housing; 410 - cavity; 420 - opening; 430 - support frame; 431 - gap; 500 - limiting member; 600 - first bearing; 700 - second bearing; 800 - movable frame; 900 - elastic member; 1000 - limiting protrusion; 1010 - flange; 1100 - strip-shaped channel. DETAILED DESCRIPTION

[0027] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, and are for the purpose of explanation of the present application, and are not to be understood as a limitation of the present application.

[0028] It is to be understood that where an element such as a layer, region or substrate is described as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, where an element is referred to as being "directly on" another element, there are no intervening elements present. It will be understood that, when an element such as a layer, region or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0029] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and the like, are to be construed as broadly as possible, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0030] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically defined.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the template herein is only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0032] As Figures 1 to 4 Some embodiments of the present application provide a cleaning device applied to the bottom of a cleaning robot host to improve the cleaning area and efficiency of the cleaning robot.

[0033] The cleaning device includes a frame body 100, a cleaning assembly 200, and a driving mechanism 300.

[0034] The frame body 100 is used to connect with the bottom of the cleaning robot host, so as to install the cleaning device on the bottom of the cleaning robot host, so as to clean the surface to be cleaned by the cleaning assembly 200.

[0035] The cleaning assembly 200 is movably connected to the frame 100. It should be noted that movably connected means that the cleaning assembly 200 can rotate relative to the frame 100, and the cleaning assembly 200 can extend or retract along the axial direction of the cleaning assembly 200 relative to the frame 100.

[0036] The driving mechanism 300 includes a driving motor 310 and a transmission assembly 320. The driving mechanism 300 is fixedly arranged in the frame 100. The output shaft 311 of the driving motor 310 is connected to the transmission assembly 320. The transmission assembly 320 is drivingly connected to the cleaning assembly 200, so that the cleaning assembly 200 is drivingly connected to the output shaft 311 of the driving motor 310 through the transmission assembly 320.

[0037] It can be understood that the output shaft 311 of the driving motor 310 can drive the transmission assembly 320 to rotate, and drive the cleaning assembly 200 to rotate through the transmission assembly 320, so as to clean the surface to be cleaned (for example, an open ground, a wall area, and a corner area) through the cleaning assembly 200.

[0038] In this embodiment, the transmission assembly 320 is configured to drive the cleaning assembly 200 to rotate at the retracted position and / or drive the cleaning assembly 200 to extend and rotate at the extended position under the driving force of the output shaft 311 of the driving motor 310.

[0039] For example, when the output shaft 311 of the driving motor 310 rotates in the first direction, the cleaning assembly 200 can be driven to extend a preset length (i.e., the extended position) from the frame 100 through the transmission assembly 320, and the cleaning assembly 200 is driven to rotate at the extended position at the same time, so that the cleaning assembly 200 can clean the surface to be cleaned (for example, a corner area and a wall area) at the extended position.

[0040] For example, when the output shaft 311 of the driving motor 310 rotates in the second direction, the cleaning assembly 200 can be controlled to rotate at the retracted position through the transmission assembly 320, so that the cleaning assembly 200 can clean the surface to be cleaned (for example, an open ground) at the retracted position.

[0041] It can be understood that the rotation direction of the output shaft 311 of the driving motor 310 is adjusted to control the cleaning assembly 200 to rotate at the extended position and / or at the retracted position through the transmission assembly 320, so as to improve the cleaning efficiency of the surface to be cleaned and improve the cleaning effect of the edge area (for example, a corner area and a wall area). The present application controls the cleaning assembly 200 to rotate at the extended position and the retracted position through one driving motor 310, which not only simplifies the structure of the cleaning device and reduces the cost of the cleaning device, but also improves the space utilization of the cleaning device and improves the stability and convenience of the control of the cleaning assembly 200.

[0042] It should be noted that the first direction and the second direction are opposite. Specifically, if the first direction is the forward direction, the second direction is the reverse direction; if the first direction is the reverse direction, the second direction is the forward direction.

[0043] As shown in Figure 2 and Figure 4 , in some embodiments of the present application, the transmission assembly 320 includes a connecting piece 321 and a transmission mechanism 322.

[0044] The connecting piece 321 is fixedly connected with the cleaning assembly 200, so that the connecting piece 321 can drive the cleaning assembly 200 to move or rotate in the process of moving or rotating. The transmission mechanism 322 is in transmission connection with the output shaft 311, so that the transmission mechanism 322 can be driven to run synchronously by the output shaft 311 in the process of rotating.

[0045] When the output shaft 311 rotates in the first direction, the transmission mechanism 322 is in transmission connection with the connecting piece 321 to drive the connecting piece 321 to extend and rotate at the extended position, thereby driving the cleaning assembly 200 to extend and rotate in the third direction at the extended position.

[0046] As shown in Figure 2 and Figure 4 , in some embodiments of the present application, the transmission assembly 320 further includes a linkage structure 323.

[0047] When the output shaft 311 rotates in the second direction opposite to the first direction, the cleaning assembly 200 is retracted, and the transmission mechanism 322 is indirectly in transmission connection with the connecting piece 321 through the linkage structure 323.

[0048] It can be understood that when the output shaft 311 rotates in the second direction, the cleaning assembly 200 returns to the retracted position and is stabilized at the retracted position, the transmission mechanism 322 is driven to run by the output shaft 311, the connecting piece 321 is driven to rotate synchronously by the transmission mechanism 322 in the process of running through the linkage structure 323, so as to drive the connecting piece 321 to rotate through the linkage structure 323, thereby driving the cleaning assembly 200 to rotate in the third direction.

[0049] It can be understood that the cleaning assembly 200 rotates in the third direction in the retracted position and the extended position under the driving action of the driving mechanism 300, thereby ensuring the cleaning effect of the cleaning assembly 200 on the surface to be cleaned (including the open ground, the wall edge area, and the corner area).

[0050] As shown in Figure 2 , Figure 4 and Figure 8 , in some embodiments of the present application, the cleaning device further includes a housing 400.

[0051] The shell 400 is fixed to the driving motor 310 to ensure the stability of the shell 400 and prevent the shell 400 from loosening. The shell 400 defines a cavity 410 and an opening 420 in communication with the cavity 410, and the linkage structure 323 is received in the cavity 410 and rotationally connected to the shell 400, that is, the linkage structure 323 can rotate relative to the shell 400.

[0052] In addition, one end of the connecting piece 321 facing the linkage structure 323 is received in the cavity 410, and the other end of the connecting piece 321 away from the linkage structure 323 can be arranged through the opening 420, and there is a gap between the connecting piece 321 and the shell 400 to prevent friction between the shell 400 and the connecting piece 321 during the extension or retraction of the connecting piece 321 along the axis direction of the output shaft 311, thereby ensuring the smoothness and stability of the connecting piece 321 during the extension or retraction, and ensuring the smoothness and stability of the cleaning assembly 200 during the extension or retraction. At the same time, it can ensure the smoothness and stability of the connecting piece 321 and the cleaning assembly 200 during rotation.

[0053] In the present embodiment, a limiting piece 500 is arranged in the cavity 410, and the limiting piece 500 is used to limit the movement stroke of the connecting piece 321 from the retracted position to the extended position, thereby ensuring the stability of the extension distance of the connecting piece 321 in the extended position. It is worth noting that the limiting piece 500 can be rotationally connected to the connecting piece 321, so that the connecting piece 321 can rotate relative to the limiting piece 500 during rotation in the third direction in the extended position, so as to reduce the frictional resistance between the limiting piece 500 and the connecting piece 321, ensure the smoothness and stability of the connecting piece 321 during rotation in the third direction in the extended position, and ensure the smoothness and stability of the cleaning assembly 200 during rotation in the third direction in the extended position.

[0054] As shown in Figure 2 and Figure 4 In some embodiments of the present application, the transmission mechanism 322 includes a transmission piece 3221 and a movable piece 3222.

[0055] The transmission piece 3221 is co-rotated and coaxially connected with the output shaft 311, so that the output shaft 311 can drive the transmission piece 3221 to rotate synchronously during rotation.

[0056] In addition, the transmission piece 3221 is connected with the movable piece 3222. The movable piece 3222 is slidingly connected with the transmission piece 3221 along the axis direction of the output shaft 311, that is, the transmission piece 3221 can drive the movable piece 3222 to move along the axis direction of the output shaft 311 during rotation, and the moving direction of the movable piece 3222 can be adjusted by adjusting the rotation direction of the transmission piece 3221.

[0057] When the output shaft 311 rotates in the first direction, the transmission member 3221 rotates in the first direction synchronously under the drive of the output shaft 311, and the transmission member 3221 can drive the movable member 3222 to move away from the linkage structure 323 along the axis direction of the output shaft 311 during the rotation in the first direction, and make the movable member 3222 in transmission connection with the connecting member 321, and synchronously move the connecting member 321 through the movable member 3222, so as to drive the connecting member 321 to extend and rotate at the extended position, and drive the cleaning assembly 200 to extend and rotate synchronously at the extended position through the connecting member 321.

[0058] When the output shaft 311 rotates in the second direction, the movable member 3222 moves towards the linkage structure 323 along the axis direction of the output shaft 311, and is in transmission connection with the linkage structure 323 through the movable member 3222. It can be understood that the output shaft 311 can drive the transmission member 3221 to rotate synchronously during the rotation in the second direction, and the transmission member 3221 can drive the movable member 3222 to rotate at the retracted position through the transmission member 3221, so as to drive the linkage structure 323 to operate through the movable member 3222, and drive the connecting member 321 to rotate in the third direction at the retracted position through the linkage structure 323, so as to drive the cleaning assembly 200 to rotate in the third direction at the retracted position through the connecting member 321.

[0059] The transmission member 3221 is coaxially connected with the output shaft 311, so that the output shaft 311 can drive the transmission member 3221 to rotate synchronously during the rotation, and ensure the consistency of the rotation directions of the transmission member 3221 and the output shaft 311.

[0060] In the embodiment, the transmission member 3221 is sleeved on the output shaft 311, and the transmission member 3221 is fixedly connected with the output shaft 311, so as to ensure the stability of the transmission member 3221 on the output shaft 311.

[0061] As shown in Figure 2 , Figure 4 , Figure 5 , Figure 7 and Figure 9 , in some embodiments of the present application, the connecting member 321 is provided with a first combination part 3211 and a second combination part 3212; the side of the movable member 3222 away from the linkage structure 323 is provided with a third combination part 32221, and the side of the movable member 3222 towards the linkage structure 323 is provided with a fourth combination part 32222; the linkage structure 323 is provided with a fifth combination part 3231 and a sixth combination part 3232.

[0062] In the retracted position, the fourth coupling portion 32222 is coupled with the fifth coupling portion 3231 to make the movable member 3222 and the linkage structure 323 in transmission connection, and the second coupling portion 3212 is coupled with the sixth coupling portion 3232 to make the connecting member 321 and the linkage structure 323 in transmission connection. It can be understood that, in the retracted position, when the output shaft 311 rotates in the second direction, the transmission member 3221 can be driven to rotate in the second direction synchronously, and the movable member 3222 can be driven to rotate in the second direction synchronously in the retracted position through the transmission member 3221; since the fourth coupling portion 32222 is coupled with the fifth coupling portion 3231, the linkage structure 323 can be driven to rotate through the movable member 3222, so that the connecting member 321 is driven to rotate in the third direction through the linkage structure 323.

[0063] In the extended position, the first coupling portion 3211 is coupled with the third coupling portion 32221 to make the movable member 3222 and the connecting member 321 in transmission connection. It can be understood that, in the extended position, the output shaft 311 drives the transmission member 3221 to rotate in the first direction, and the movable member 3222 is driven to rotate in the first direction synchronously through the transmission member 3221, since the first coupling portion 3211 is coupled with the third coupling portion 32221, the connecting member 321 is driven to rotate in the third direction through the movable member 3222.

[0064] As shown in Figure 5 , Figure 7 and Figure 9 , in some embodiments of the present application, the fourth coupling portion 32222 and the fifth coupling portion 3231 are ratchets, and / or the second coupling portion 3212 and the sixth coupling portion 3232 are ratchets, and / or the first coupling portion 3211 and the third coupling portion 32221 are ratchets.

[0065] It can be understood that, in some embodiments, the fourth coupling portion 32222 and the fifth coupling portion 3231 are ratchets, or the second coupling portion 3212 and the sixth coupling portion 3232 are ratchets, or the first coupling portion 3211 and the third coupling portion 32221 are ratchets. In some embodiments, the fourth coupling portion 32222 and the fifth coupling portion 3231 are ratchets, and the second coupling portion 3212 and the sixth coupling portion 3232 are ratchets, or the first coupling portion 3211 and the third coupling portion 32221 are ratchets. In some embodiments, the fourth coupling portion 32222 and the fifth coupling portion 3231 are ratchets, or the second coupling portion 3212 and the sixth coupling portion 3232 are ratchets, and the first coupling portion 3211 and the third coupling portion 32221 are ratchets.

[0066] In the embodiment, the fourth connecting part 32222 and the fifth connecting part 3231 are respectively provided as ratchets, so that the side of the fourth connecting part 32222 facing the fifth connecting part 3231 is an inclined surface, and the side of the fifth connecting part 3231 facing the fourth connecting part 32222 is an inclined surface. Thus, in the retracting position, the fourth connecting part 32222 can abut against the fifth connecting part 3231 in the process of rotating in the second direction, so that a limiting structure is formed, and the movable part 3222 can push the first linkage structure 3233 in the linkage structure 323 to rotate in the second direction at the same time. In addition, in the process of switching from the retracting position to the extending position, the inclined surface of the fourth connecting part 32222 and the inclined surface of the fifth connecting part 3231 are smoothly connected when the movable part 3222 rotates in the first direction, that is, there is no limiting relationship between the fourth connecting part 32222 and the fifth connecting part 3231 in the process of rotating in the first direction, that is, the first linkage structure 3233 in the linkage structure 323 does not rotate with the movable part 3222, so as to prevent the cleaning assembly 200 from rotating reversely, and to ensure the cleaning quality of the cleaning assembly 200 on the cleaning surface.

[0067] The second connecting part 3212 and the sixth connecting part 3232 are respectively provided as ratchets, so that the side of the second connecting part 3212 facing the sixth connecting part 3232 is an inclined surface, and the side of the sixth connecting part 3232 facing the second connecting part 3212 is an inclined surface; thus, in the retracting position, the sixth connecting part 3232 can cooperate with the second connecting part 3212 to form linkage in the process of rotating in the third direction, so that the second linkage structure 3234 in the linkage structure 323 can push the connecting part 321 to rotate in the third direction at the same time.

[0068] By setting the first connecting part 3211 and the third connecting part 32221 as ratchets, the side of the first connecting part 3211 facing the third connecting part 32221 is an inclined surface, and the side of the third connecting part 32221 facing the first connecting part 3211 is an inclined surface, so that the first connecting part 3211 can abut against the third connecting part 32221 during rotation of the third connecting part 32221 in the first direction, thereby forming a limiting structure to enable the movable part 3222 to rotate in the first direction while synchronously pushing the connecting part 321 to rotate in the first direction. In addition, when the extended position is switched to the retracted position, the inclined surface of the first connecting part 3211 and the inclined surface of the third connecting part 32221 are smoothly connected, that is, there is no limiting relationship between the first connecting part 3211 and the third connecting part 32221 during rotation of the movable part 3222 in the second direction, that is, the connecting part 321 does not rotate with the movable part 3222, to prevent reverse rotation of the cleaning assembly 200 and to ensure the cleaning effect of the cleaning assembly 200 on the cleaning surface.

[0069] As shown in Figure 2 , Figure 4 and Figure 5 , in some embodiments of the present application, the side of the connecting part 321 facing the linkage structure 323 is provided with a first mounting groove 3213, and the movable part 3222 is used to accommodate the first mounting groove 3213, and the inner wall of the first mounting groove 3213 has a spacing with the movable part 3222 to ensure the smoothness and stability of the movable part 3222 during sliding in the first mounting groove 3213.

[0070] In addition, the side of the connecting part 321 away from the linkage structure 323 is provided with a second mounting groove 3214 in communication with the first mounting groove 3213, and the transmission part 3221 is used to accommodate the second mounting groove 3214. In the present embodiment, the end of the transmission part 3221 away from the linkage structure 323 passes through the first mounting groove 3213 and is accommodated in the second mounting groove 3214, and the inner wall of the second mounting groove 3214 has a spacing with the transmission part 3221 to ensure the smoothness and stability of the transmission part 3221 during extension and retraction in the second mounting groove 3214.

[0071] The first connecting part 3211 is located at the connection between the first mounting groove 3213 and the second mounting groove 3214. It can be understood that the first connecting part 3211 can be arranged on the side of the groove wall of the first mounting groove 3213 close to the second mounting groove 3214, or the first connecting part 3211 can be arranged on the side of the groove wall of the second mounting groove 3214 close to the first mounting groove 3213, or the first connecting part 3211 can be arranged on the edge of the slot of the second mounting groove 3214, and the slot of the second mounting groove 3214 is adjacent to the groove bottom of the first mounting groove 3213, which can be specifically set according to actual conditions.

[0072] As Figure 2 , Figure 4 , Figure 6 and Figure 7 illustrated, in some embodiments of the present application, the linkage structure 323 includes a first linkage structure 3233, a second linkage structure 3234 and a third linkage structure 3235.

[0073] Wherein, one end of the first linkage structure 3233 away from the movable piece 3222 is in transmission connection with the second linkage structure 3234 through the third linkage structure 3235.

[0074] In the retracted position, one side of the first linkage structure 3233 towards the movable piece 3222 is in transmission connection with the movable piece 3222, and one side of the second linkage structure 3234 towards the connecting piece 321 is in transmission connection with the connecting piece 321, for when the output shaft 311 of the driving motor 310 rotates in the second direction, the movable piece 3222 is driven to rotate in the second direction through the transmission piece 3221, and the first linkage structure 3233 is driven to rotate in the second direction through the movable piece 3222, the third linkage structure 3235 is driven to rotate in the third direction through the first linkage structure 3233, the second linkage structure 3234 is driven to rotate in the third direction through the third linkage structure 3235, and the connecting piece 321 and the cleaning assembly 200 are driven to rotate in the third direction through the second linkage structure 3234, the third direction being the same as the first direction.

[0075] It can be understood that, through the linkage structure 323, the output direction of the rotation of the connecting piece 321 is adjusted through the linkage structure 323 by adjusting the process of the output shaft 311 of the driving motor 310 rotating in the second direction, so that the connecting piece 321 rotates in the third direction (i.e. the first direction) under the transmission action of the linkage structure 323, thereby ensuring that the cleaning assembly 200 rotates in the third direction (i.e. the first direction) in the process of rotating in the retracted position and the extended position through one driving motor 310, to ensure the consistency of the control of the rotation direction of the cleaning assembly 200, thereby improving the cleaning quality and cleaning efficiency of the cleaning assembly 200 on the surface to be cleaned.

[0076] As Figure 6 and Figure 7 illustrated, in some embodiments of the present application, the second linkage structure 3234 is sleeved on the first linkage structure 3233, and there is a gap between the second linkage structure 3234 and the first linkage structure 3233, and the third linkage structure 3235 is arranged between the first linkage structure 3233 and the second linkage structure 3234, so that the first linkage structure 3233 can drive the third linkage structure 3235 to rotate in the process of rotating, and the second linkage structure 3234 is driven to rotate through the third linkage structure 3235.

[0077] In this embodiment, the third linkage structure 3235 includes at least one first gear, wherein the number of first gears can be one, two or more, and can be specifically set according to the actual situation.

[0078] In some embodiments, there are multiple first gears, which are spaced apart on the outer periphery of the first linkage structure 3233. Preferably, the multiple first gears are arranged at equal intervals on the outer periphery of the first linkage structure 3233.

[0079] The inner wall of the second linkage structure 3234 is provided with a second tooth 32341, which meshes with the first gear so that the second linkage structure 3234 can rotate synchronously during the rotation of the first gear.

[0080] In addition, the outer wall of the first linkage structure 3233 is provided with a first tooth 32331, which meshes with the first gear so that the first linkage structure 3233 can drive the first gear to rotate during rotation, that is, drive the third linkage structure 3235 to rotate.

[0081] It should be noted that by setting the third linkage structure 3235 as the first gear, and by meshing the first tooth 32331 in the first linkage structure 3233 and the second tooth 32341 in the second linkage structure 3234 with the first gear respectively, when in the retracted position, so that the first linkage structure 3233 rotates synchronously in the second direction under the drive of the movable part 3222, the first gear (i.e., the third linkage structure 3235) can be driven to rotate in the first direction through the first linkage structure 3233, and the second linkage structure 3234 can be driven to rotate in the first direction through the first gear, thereby driving the connector 321 and the cleaning component 200 to rotate in the first direction through the second linkage structure 3234.

[0082] like Figure 7 As shown, in some embodiments of this application, the first linkage structure 3233 includes a support platform 32332, a support ring 32333, and a second gear 32334 connected in sequence, with a first tooth 32331 disposed on the second gear 32334. It can be understood that in the retracted position, the second gear 32334 meshes with the first gear (i.e., the third linkage structure 3235), so that the second gear 32334 can drive the first gear (i.e., the third linkage structure 3235) to rotate in the first direction during its rotation in the second direction.

[0083] Among them, the support platform 32332 has a fifth joint 3231 on the side away from the support ring 32333, and the movable part 3222 has a fourth joint 3222 on the side facing the support platform 32332.

[0084] In the retracted position, the fifth coupling portion 3231 and the fourth coupling portion 32222 are in transmission connection, so that the movable piece 3222 can drive the first linkage structure 3233 to rotate in the second direction when the movable piece 3222 rotates in the second direction.

[0085] As shown in Figure 2 , Figure 4 and Figure 8 , in some embodiments of the present application, the cleaning device further comprises a housing 400.

[0086] The driving motor 310 is fixedly connected to the housing 400 to ensure the stability of the housing 400 and prevent the housing 400 from loosening. The housing 400 defines a cavity 410, and the linkage structure 323 is accommodated in the cavity 410 and is in rotational connection with the housing 400 to avoid friction between the linkage structure 323 and the housing 400, thereby ensuring the smoothness and stability of the rotation of the linkage structure 323 relative to the housing 400.

[0087] In addition, the side of the housing 400 close to the linkage structure 323 is provided with a support frame 430, and the support frame 430 is fixedly connected to the housing 400 and accommodated in the cavity 410.

[0088] In the present embodiment, a first bearing 600 is arranged between the inner periphery of the support frame 430 and the first linkage structure 3233, and the first bearing 600 is sleeved on the support ring 32333, and the inner ring of the first bearing 600 abuts against the outer wall of the support ring 32333, and the outer ring of the first bearing 600 abuts against the inner wall of the support frame 430, so that the first linkage structure 3233 can rotate relative to the support frame 430 and the housing 400 during the rotation of the first linkage structure 3233 under the driving action of the movable piece 3222, and the support frame 430 and the housing 400 can provide support and fixation for the first linkage structure 3233, thereby ensuring the stability of the first linkage structure 3233 in the cavity 410.

[0089] In addition, the outer periphery of the support frame 430 is provided with a plurality of spaced apart notches 431, and the third linkage structure 3235 is in rotational connection with the support frame 430, and the third linkage structure 3235 at least partially passes through the notches 431 and is in transmission connection with the second linkage structure 3234, so as to drive the second linkage structure 3234 to rotate through the third linkage structure 3235.

[0090] In the embodiment, the second linkage structure 3234 is rotatably sleeved on the support frame 430, and the second linkage structure 3234 and the inner wall of the shell 400 are provided with a second bearing 700, the outer ring of the second bearing 700 abuts against the inner wall of the shell 400, and the inner ring of the second bearing 700 abuts against the outer wall of the second linkage structure 3234, so that the second linkage structure 3234 can rotate relative to the shell 400, and the inner wall of the shell 400, the second bearing 700 and the outer wall of the support frame 430 can limit and fix the second linkage structure 3234, so as to ensure the stability of the second linkage structure 3234 in the cavity 410.

[0091] It should be noted that, in the retracted position, when the output shaft 311 of the driving motor 310 rotates in the second direction, the transmission member 3221 rotates in the second direction along with the output shaft 311, so that the movable member 3222 can drive the first linkage structure 3233 to rotate in the second direction through the transmission member 3221; since the first linkage structure 3233 is rotatably connected between the support frame 430 and the first linkage structure 3233 through the first bearing 600, that is, the first linkage structure 3233 can rotate in the second direction relative to the support frame 430, so as to ensure the smoothness and stability of the first linkage structure 3233 during rotation.

[0092] During the rotation of the first linkage structure 3233 in the second direction, the third linkage structure 3235 can be driven to rotate in the first direction, and the second linkage structure 3234 can be driven to rotate in the first direction through the third linkage structure 3235; since the second linkage structure 3234 and the inner wall of the shell 400 are rotatably connected through the second bearing 700, the second linkage structure 3234 can rotate in the first direction relative to the shell 400, so as to ensure the smoothness and stability of the second linkage structure 3234 during rotation, thereby ensuring the smoothness and stability of the connecting member 321 during rotation in the first direction through the second linkage structure 3234.

[0093] As shown in Figure 2 and Figure 4 In some embodiments of the present application, the length of the movable member 3222 is less than the distance between the first combination part 3211 and the fifth combination part 3231 along the axis direction of the output shaft 311, so as to form a gap between the first combination part 3211 and the third combination part 32221 when the cleaning assembly 200 rotates in the third direction in the retracted position. Thus, the third combination part 32221 and the first combination part 3211 are prevented from colliding during the rotation of the movable member 3222 in the second direction in the retracted position, so as to prevent the connecting member 321 from extending or retracting, thereby ensuring the stability of the cleaning assembly 200 during rotation in the retracted position.

[0094] As shown in Figure 2 , Figure 4 , Figure 9 and Figure 10 , in some embodiments of the present application, the outer periphery of the transmission member 3221 is provided with a helical groove 32211, and the inner wall of the movable member 3222 is provided with a helical protrusion 32223, the helical groove 32211 and the helical protrusion 32223 are engaged to enable the movable member 3222 to move along the axis direction of the output shaft 311 relative to the transmission member 3221. It can be understood that, in the process of rotating the transmission member 3221 in the first direction, the movable member 3222 and the connecting member 321 can be pushed to move along the axis direction of the output shaft 311 away from the linkage structure 323, so as to extend the cleaning assembly 200 from the frame 100 through the connecting member 321.

[0095] It should be noted that, in the process of switching the cleaning assembly 200 from the retracted position to the extended position, in the process of rotating the transmission member 3221 in the first direction, the cleaning device has a tendency to remain in the current state and has a resistance effect on the connecting member 321, so as to have a resistance effect on the movable member 3222 through the connecting member 321, so as to prevent the movable member 3222 from rotating in the first direction through the resistance. When the cleaning assembly 200 is switched to the extended position, at this time, the torque of the output shaft 311 is greater than the resistance of the cleaning device on the connecting member 321 and the movable member 3222, so as to drive the movable member 3222 and the connecting member 321 to rotate in the third direction (i.e. the first direction) through the transmission member 3221.

[0096] As shown in Figure 1 and Figure 3 , in some embodiments of the present application, the cleaning device further comprises a movable frame 800 and an elastic member 900.

[0097] The frame 100 defines an accommodation space 110, the drive motor 310 is accommodated in the accommodation space 110, and the frame 100 and the movable frame 800 are slidingly connected along the axis direction of the output shaft 311, so that the movable frame 800 can move along the axis direction of the output shaft 311 relative to the frame 100.

[0098] In addition, the cleaning assembly 200 is at least partially accommodated in the accommodation space 110, and the cleaning assembly 200 is fixedly connected to the end of the movable frame 800 away from the frame 100, so as to ensure the stability and smoothness of the cleaning assembly 200 during the extension or retraction process, and prevent the cleaning assembly 200 from tilting.

[0099] One end of the elastic member 900 is connected to the frame body 100, and the other end of the elastic member 900 is connected to the movable frame 800, so as to provide elastic tension between the frame body 100 and the movable frame 800 through the elastic member 900, so that the movable frame 800 and the cleaning assembly 200 can be switched from the extended position to the retracted position under the elastic force of the elastic member 900.

[0100] Specifically, the elastic member 900 is configured to: in the extended position, when the output shaft 311 rotates in the second direction, the cleaning assembly 200 is switched from the extended position to the retracted position under the elastic force of the elastic member 900, so that the connecting member 321 is connected with the linkage structure 323, thereby ensuring that the cleaning assembly 200 can be automatically switched from the extended position to the retracted position under the elastic force of the elastic member 900 after the cleaning of the corner area or the wall area is completed, thereby realizing the function of automatic resetting of the cleaning assembly 200, i.e., the cleaning assembly 200 does not need to be driven to reset by the driving motor 310, thereby reducing the consumption of energy.

[0101] In some embodiments, in the retracted position, the elastic member 900 is in a stretched state or an original length state. For example, if the elastic member 900 is in a stretched state in the retracted position, the elastic member 900 has an elastic tension on the movable frame 800 at this time, so as to ensure the stability of the movable frame 800 in the retracted position, thereby ensuring the stability of the cleaning assembly 200 in the retracted position.

[0102] As shown in Figure 3 In some embodiments, the elastic member 900 is arranged on the outer wall surface of the accommodating space 110, and the elastic force direction of the elastic member 900 is parallel to the extension direction of the cleaning assembly 200, so as to ensure the smoothness and stability of the movable frame 800 during the movement along the axis direction of the output shaft 311 under the elastic force of the elastic member 900.

[0103] As shown in Figure 1 and Figure 3 In some embodiments, one side of the frame body 100 away from the cleaning assembly 200 is provided with one of the limiting protrusion 1000 or the strip-shaped channel 1100, and the movable frame 800 is provided with the other one of the limiting protrusion 1000 or the strip-shaped channel 1100, and the limiting protrusion 1000 and the strip-shaped channel 1100 are matched with each other to limit the activity stroke and / or the activity direction of the cleaning assembly 200.

[0104] It can be understood that, in some embodiments, the one side of the frame body 100 away from the cleaning assembly 200 is provided with the limiting protrusion 1000, and the movable frame 800 is provided with the strip-shaped channel 1100. In other embodiments, the one side of the frame body 100 away from the cleaning assembly 200 is provided with the strip-shaped channel 1100, and the movable frame 800 is provided with the limiting protrusion 1000.

[0105] In some embodiments, the limiting protrusion 1000 cooperates with the strip channel 1100 to limit the travel or direction of movement of the cleaning component 200. In other embodiments, the limiting protrusion 1000 cooperates with the strip channel 1100 to limit the travel and direction of movement of the cleaning component 200.

[0106] It should be noted that the length direction of the strip channel 1100 is parallel to the axial direction of the output shaft 311. The limiting protrusion 1000 passes through the strip channel 1100 to provide guidance and limiting for the limiting protrusion 1000 through the strip channel 1100, thereby providing guidance and limiting for the cleaning component 200, so as to further ensure the smoothness and stability of the cleaning component 200 switching between the extended position and the retracted position.

[0107] It is understandable that the number of limit protrusions 1000 can be any number of one, two or more, and can be set according to the actual situation.

[0108] like Figure 1 and Figure 3 As shown, in some embodiments of this application, a limiting protrusion 1000 is provided on the side of the frame 100 away from the cleaning component 200, and a flange 1010 is provided on the side of the limiting protrusion 1000 away from the frame 100. The flange 1010 slides against the side of the movable frame 800 away from the frame 100, so as to provide a limiting effect on the movable frame 800 through the flange 1010, preventing the movable frame 800 from loosening from the frame 100, so as to ensure the smoothness and stability of the movable frame 800 during the sliding process along the axial direction of the output shaft 311, thereby ensuring the stability of the cleaning component 200 during the extension or retraction process along the axial direction of the output shaft 311.

[0109] like Figures 1 to 4 As shown, in some embodiments of this application, the cleaning component 200 includes a roller 210 and a mopping member 220 disposed on the outer periphery of the roller 210, so that the roller 210 drives the mopping member 220 to rotate synchronously during the rotation of the roller 210 along the first direction, and the mopping member 220 cleans the cleaning surface.

[0110] The transmission component 320 is located inside the roller 210, and the drive motor 310 is at least partially located inside the roller 210 to improve the space utilization rate inside the roller 210.

[0111] In addition, there is a gap between the roller 210 and the drive motor 310 to ensure the smoothness of the roller 210 during rotation, extension or retraction.

[0112] Specifically, the roller 210 is fixedly connected with one end of the connecting piece 321 away from the linkage structure 323, so that the connecting piece 321 can drive the roller 210 to rotate synchronously in the rotating process, and the connecting piece 321 can drive the roller 210 to move synchronously in the moving process along the axis direction of the output shaft 311.

[0113] In addition, some embodiments of the present application provide a cleaning robot, comprising a main machine capable of automatically moving on the ground and a cleaning device as described in any of the above embodiments, wherein the cleaning device is arranged at the bottom of the main machine.

[0114] The main machine is configured to automatically move on the ground. The cleaning device is arranged at the bottom of the main machine and is configured to clean the ground.

[0115] It should be noted that when the cleaning robot cleans the open ground, the cleaning assembly 200 is in the retracted position, and the cleaning assembly 200 rotates in the third direction (i.e., the first direction).

[0116] When the cleaning robot moves to the corner area or the wall area, the output shaft 311 of the driving motor 310 rotates in the first direction, drives the transmission piece 3221 to rotate through the output shaft 311, and drives the cleaning assembly 200 to rotate in the third direction (i.e., the first direction) by moving the movable piece 3222 and the connecting piece 321 away from the linkage structure 323 and driving the cleaning assembly 200 to switch from the retracted position to the extended position. In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus, other examples of the example embodiments can have different values.

[0117] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0118] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A cleaning device, characterized in that, The utility model relates to a cleaning device, including: a frame body; a cleaning assembly movably connected to the frame body; a drive mechanism including a drive motor and a transmission assembly, the drive motor is fixedly arranged in the frame body, and the cleaning assembly is in transmission connection with the output shaft of the drive motor through the transmission assembly; the transmission assembly is configured to drive the cleaning assembly to rotate in the retracted position and / or drive the cleaning assembly to extend and rotate in the extended position under the driving force of the output shaft of the drive motor.

2. The cleaning device of claim 1, wherein, The transmission assembly includes a connecting piece and a transmission mechanism; the connecting piece is fixedly connected to the cleaning assembly, and the transmission mechanism is in transmission connection with the output shaft; when the output shaft rotates in a first direction, the transmission mechanism is in transmission connection with the connecting piece to drive the connecting piece to extend and rotate in the extended position, thereby driving the cleaning assembly to extend and rotate in a third direction in the extended position.

3. The cleaning device of claim 2, wherein, The transmission assembly further includes a linkage structure; when the output shaft is switched to rotate in a second direction opposite to the first direction, the cleaning assembly retracts, and the transmission mechanism is indirectly in transmission connection with the connecting piece through the linkage structure to drive the connecting piece to rotate through the linkage structure, thereby driving the cleaning assembly to rotate in the third direction.

4. The cleaning device of claim 3, wherein, The cleaning device further includes a housing; the housing is fixedly connected to the drive motor, the housing defines a cavity and an opening in communication with the cavity, one end of the connecting piece facing the linkage structure is accommodated in the cavity, the other end of the connecting piece away from the linkage structure can be arranged in the opening, there is a gap between the connecting piece and the housing, and a limiting piece is arranged in the cavity to limit the movement stroke of the connecting piece from the retracted position to the extended position.

5. The cleaning device of claim 3, wherein, The transmission mechanism includes a transmission piece and a movable piece; the transmission piece is co-rotatingly and coaxially connected to the output shaft; the transmission piece is in cooperative connection with the movable piece; when the output shaft rotates in the first direction, the movable piece moves away from the linkage structure along the axis direction of the output shaft and is in transmission connection with the connecting piece, thereby driving the connecting piece to extend and rotate in the extended position; when the output shaft is switched to rotate in the second direction, the movable piece moves close to the linkage structure along the axis direction of the output shaft and is in transmission connection with the linkage structure, thereby driving the connecting piece to rotate in the retracted position through the linkage structure.

6. The cleaning device of claim 5, wherein, the connecting piece is provided with a first combination part and a second combination part; one side of the movable piece away from the linkage structure is provided with a third combination part, and the other side of the movable piece facing the linkage structure is provided with a fourth combination part; the linkage structure is provided with a fifth combination part and a sixth combination part; in the retracted position, the fourth combination part is combined with the fifth combination part to make the movable piece in transmission connection with the linkage structure, and the second combination part is combined with the sixth combination part to make the connecting piece in transmission connection with the linkage structure; in the extended position, the first combination part is combined with the third combination part to make the movable piece in transmission connection with the connecting piece.

7. The cleaning device of claim 6, wherein, The fourth connecting part and the fifth connecting part are ratchets, and / or the second connecting part and the sixth connecting part are ratchets, and / or the first connecting part and the third connecting part are ratchets.

8. The cleaning device of claim 6, wherein, The connecting piece is provided with a first mounting groove on one side facing the linkage structure, the movable piece is used for being accommodated in the first mounting groove, the connecting piece is provided with a second mounting groove in communication with the first mounting groove on the side away from the linkage structure, the transmission piece is used for being accommodated in the second mounting groove, and the first connecting part is located at the connection between the first mounting groove and the second mounting groove.

9. The cleaning device of claim 6, wherein, The linkage structure comprises a first linkage structure, a second linkage structure and a third linkage structure; One end of the first linkage structure away from the movable piece is in transmission connection with the second linkage structure through the third linkage structure; In the retracted position, one side of the first linkage structure facing the movable piece is in transmission connection with the movable piece, and one side of the second linkage structure facing the connecting piece is in transmission connection with the connecting piece, so that when the output shaft of the driving motor rotates in the second direction, the movable piece is driven to rotate in the second direction through the transmission piece, the first linkage structure is driven to rotate in the second direction through the movable piece, the third linkage structure is driven to rotate in the third direction through the first linkage structure, the second linkage structure is driven to rotate in the third direction through the third linkage structure, and the connecting piece and the cleaning assembly are driven to rotate in the third direction through the second linkage structure, the third direction being the same as the first direction.

10. The cleaning device of claim 9, wherein, The second linkage structure is sleeved on the first linkage structure, and the second linkage structure and the first linkage structure have a spacing therebetween, the third linkage structure is arranged between the first linkage structure and the second linkage structure, and the third linkage structure comprises at least one first gear; An outer wall of the first linkage structure is provided with a first tooth part, and the first tooth part is in meshing connection with the first gear; An inner wall of the second linkage structure is provided with a second tooth part, and the second tooth part is in meshing connection with the first gear.

11. The cleaning device of claim 10, wherein, The first linkage structure comprises a support table, a support ring and a second gear connected in sequence, and the first tooth part is arranged on the second gear; One side of the support table away from the support ring is provided with the fifth connecting part, one side of the movable piece facing the support table is provided with the fourth connecting part, and in the retracted position, the fifth connecting part and the fourth connecting part are in transmission connection, so that when the movable piece rotates in the second direction, the first linkage structure can be driven to rotate synchronously.

12. The cleaning device of claim 9, wherein, The cleaning device further comprises a shell; The driving motor is fixedly connected to the shell, the shell defines a cavity, the linkage structure is accommodated in the cavity and is in transmission connection with the shell; One side of the shell close to the linkage structure is provided with a support frame, and the support frame is accommodated in the cavity; A first bearing is arranged between the inner periphery of the support frame and the first linkage structure; The fourth connecting part and the fifth connecting part are ratchets, and / or the second connecting part and the sixth connecting part are ratchets, and / or the first connecting part and the third connecting part are ratchets. The support frame is provided with a plurality of spaced-apart notches, the third linkage structure is rotationally connected with the support frame, and the third linkage structure at least partially penetrates the notches and is in transmission connection with the second linkage structure; The second linkage structure is rotationally sleeved on the support frame, a second bearing is arranged between the second linkage structure and the inner wall of the shell, the outer ring of the second bearing abuts against the inner wall of the shell, and the inner ring of the second bearing abuts against the outer wall of the second linkage structure.

13. The cleaning device of any one of claims 6 to 12, wherein, In the axial direction of the output shaft, the length of the movable member is less than the distance between the first and fifth connecting portions, so that in the retracted position, when the cleaning assembly is rotated in the third direction, a clearance is formed between the first and third connecting portions.

14. The cleaning device of claim 13, wherein, The transmission member is provided with a spiral groove on the outer periphery, the movable member is provided with a spiral protrusion on the inner wall, and the spiral groove and the spiral protrusion are engaged to enable the movable member to move relative to the transmission member in the axial direction of the output shaft.

15. The cleaning device of any one of claims 3 to 12, wherein, Further comprising a movable frame and an elastic member; The frame body defines an accommodation space, and the driving motor is accommodated in the accommodation space; The cleaning assembly is at least partially accommodated in the accommodation space and is fixedly connected with the movable frame; One end of the elastic member is connected with the frame body, and the other end of the elastic member is connected with the movable frame; In the extended position, when the output shaft is rotated in the second direction, the cleaning assembly is moved from the extended position to the retracted position under the elastic force of the elastic member, so that the connecting member is connected with the linkage structure.

16. The cleaning device of claim 15, wherein, The elastic member is arranged on the outer wall surface of the accommodation space, and the elastic force direction of the elastic member is parallel to the extension direction of the cleaning assembly.

17. The cleaning device of claim 15, wherein, The side of the frame body away from the cleaning assembly is provided with one of a limiting protrusion and a strip-shaped channel, the movable frame is provided with the other of the limiting protrusion and the strip-shaped channel, and the limiting protrusion and the strip-shaped channel are matched with each other to limit the activity stroke and / or activity direction of the cleaning assembly.

18. The cleaning device of claim 15, wherein, The cleaning assembly comprises a roller and a wiping member arranged on the outer periphery of the roller; The transmission assembly is arranged in the roller, the driving motor is at least partially arranged in the roller, and the roller and the driving motor have a gap therebetween.

19. A cleaning robot, characterized in that Comprise: A main machine capable of automatically moving on the ground and the cleaning device as claimed in any one of claims 1 to 18, the cleaning device is arranged at the bottom of the main machine. A main machine capable of automatically moving on the ground and the cleaning device as claimed in any one of claims 1 to 18, the cleaning device is arranged at the bottom of the main machine.

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