Cleaning device

Abstract

The invention discloses cleaning equipment. The cleaning equipment comprises a shell and a deflection mechanism. The shell comprises a bottom plate, and the deflection mechanism is rotatably connected with the bottom plate; the deflection mechanism comprises a driving part, a transmission assembly and a cleaning assembly, the driving part is located in the shell, and the cleaning assembly is located outside the shell; a through hole is formed in the bottom plate, and the transmission assembly penetrates through the through hole and is connected with the driving piece and the cleaning assembly. The driving part can rotate in a first direction and a second direction to drive the cleaning assembly to rotate, and the first direction is opposite to the second direction; the deflection mechanism can be switched between an outward swinging position and an inward retracting position relative to the shell; the deflection mechanism further comprises a cover plate, the cover plate is located outside the shell, the orthographic projection of the cover plate on the shell covers the through hole, the cover plate is fixedly connected with the shell of the transmission assembly, and the cover plate can rotate along with the deflection mechanism. According to the scheme, the position of the cleaning assembly can be adjusted according to cleaning requirements, and the cover plate can play a role in shielding, preventing dust, preventing sundries and preventing splashed water from entering the shell through the through hole.

Description

[0001] This application is a divisional application of a patent with application number 2024104050408, titled "Cleaning device", and with a filing date of April 3, 2024 TECHNICAL FIELD The present application relates to the technical field of cleaning, in particular to a cleaning device. BACKGROUND

[0002] As a new type of cleaning household appliance, the sweeping robot is more and more popular among users. However, there is a gap left when the sweeping robot is used in the scene near the wall, and the mop cannot reach the wall. In the related art, the sweeping robot has a mop assembly that can be deflected. When it is necessary to approach the wall, the mop assembly can be deflected outward to realize the edge cleaning of the sweeping robot. Therefore, it is necessary to provide a cleaning device which can control the deflected mop to meet the needs of users. SUMMARY

[0003] The present application provides a cleaning device to solve at least one of the above technical problems.

[0004] The cleaning device provided by the present application includes a housing and a deflection mechanism. The deflection mechanism is rotatably connected to the housing, and includes a driving member and a cleaning assembly. The driving member is connected to the cleaning assembly, and can rotate in a first direction and a second direction to drive the cleaning assembly to rotate. The first direction is opposite to the second direction. The deflection mechanism can be switched between an outward deflection cleaning position and an inward retraction cleaning position relative to the housing. The cleaning device is configured to, in the case of the outward deflection cleaning position or the inward retraction cleaning position, start the driving member at a first rotational speed for a first preset time length, and then run at a second rotational speed. The first rotational speed is less than the second rotational speed. In the outward deflection cleaning position, the driving member rotates in the first direction to drive the cleaning assembly to rotate. In the inward retraction cleaning position, the driving member rotates in the second direction to drive the cleaning assembly to rotate. The rotation axis of the cleaning assembly is perpendicular to the bottom of the housing.

[0005] In the cleaning device described above, in the case of the outward deflection cleaning position or the inward retraction cleaning position, the driving member starts at a first rotational speed for a first preset time length, and then runs at a second rotational speed. The first rotational speed is less than the second rotational speed. In this way, the driving member can be started at a slower rotational speed to meet the requirement of low noise when the driving member starts.

[0006] In one embodiment, the cleaning device is configured to: When the deflection mechanism is in the outer deflection cleaning position and the driving member rotates in the first direction, the driving member performs a reverse rotation action to switch the deflection mechanism to the inner retraction cleaning position.

[0007] In one embodiment, the cleaning device is configured to: When the deflection mechanism is not switched to the inner retraction cleaning position after the driving member performs the first reverse rotation action, the driving member performs two reverse rotation actions to switch the deflection mechanism to the inner retraction cleaning position.

[0008] In one embodiment, the first reverse rotation action includes that the driving member operates at the first rotational speed and in the second direction for the first preset time length, and then operates at the second rotational speed.

[0009] In one embodiment, the second reverse rotation action includes that the driving member operates at the second rotational speed and in the first direction for a third preset time length. The third reverse rotation action includes that the driving member operates at a fourth rotational speed and in the second direction for a fourth preset time length, and then operates at the second rotational speed, wherein the fourth rotational speed is greater than the second rotational speed, and the fourth preset time length is greater than the third preset time length.

[0010] In one embodiment, the deflection mechanism is also switchable between the inner retraction cleaning position and an inner retraction off-the-ground position relative to the housing, and the cleaning device is configured to: when the deflection mechanism is in the inner retraction off-the-ground position, the driving member operates at the first rotational speed and in the second direction for a first preset time length, and then operates at a second rotational speed to switch the deflection mechanism to the inner retraction cleaning position.

[0011] In one embodiment, the cleaning device is configured to: When the deflection mechanism is not switched to the inner retraction cleaning position after the driving member operates at the first rotational speed and in the second direction for the first preset time length, and then operates at the second rotational speed, the driving member performs two reverse rotation actions to switch the deflection mechanism to the inner retraction cleaning position.

[0012] In one embodiment, the preceding reverse rotation action includes that the driving member operates at the second rotational speed and in the first direction for a third preset time length. The subsequent reverse rotation action includes that the driving member operates at a fourth rotational speed and in the second direction for a fourth preset time length, and then operates at the second rotational speed, wherein the fourth rotational speed is greater than the second rotational speed, and the fourth preset time length is greater than the third preset time length.

[0013] In an embodiment, the swing mechanism is further switchable between the inboard cleaning position and an inboard off-ground position relative to the housing, and the cleaning device is configured to: in the inboard cleaning position and when the driving member is running at the second direction and the second rotational speed, the driving member performs at least one reverse rotation action at a third rotational speed to switch the swing mechanism to the inboard off-ground position, the third rotational speed being less than the second rotational speed.

[0014] In an embodiment, a duration of the n+1th reverse rotation action is less than a duration of the nth reverse rotation action, n being a natural number greater than or equal to 1.

[0015] In an embodiment, the cleaning device is configured to: after the driving member performs the at least one reverse rotation action at the third rotational speed, if the swing mechanism is not switched to the inboard off-ground position, the driving member performs the at least one reverse rotation action again at a fifth rotational speed, the fifth rotational speed being greater than the third rotational speed.

[0016] In an embodiment, the cleaning device is configured to: after the driving member performs the reverse rotation action, if the swing mechanism is not switched to the corresponding position for m times consecutively, the cleaning device gives a prompt of abnormality of the cleaning assembly, m being a natural number greater than or equal to 2.

[0017] In an embodiment, the cleaning device is configured to: after the swing mechanism is switched to the inboard off-ground position, the driving member stops rotating.

[0018] In an embodiment, the cleaning device is configured to: before performing each reverse rotation action, the driving member stops rotating for a second preset duration.

[0019] In an embodiment, the rotational speed of the driving member is achieved by a corresponding duty ratio, and the rotational speed of the driving member is positively correlated with the duty ratio.

[0020] In an embodiment, the cleaning device is configured to: when the driving member has a current greater than a first set current and for a first duration or more, the cleaning device gives a prompt of abnormality of the swing structure, if the swing mechanism is in the outboard cleaning position or the inboard cleaning position.

[0021] the cleaning device is configured to: In the process of switching the yawing mechanism from one position to another, when the current of the driving member is greater than the second set current and lasts for more than the second time length, the cleaning device issues a prompt of the yawing structure abnormality.

[0022] In one embodiment, the cleaning device is configured to: in the inner retracted cleaning position, when the cleaning assembly is rotated in the first direction and subjected to a friction torque in the second direction, make the yawing mechanism swing in the second direction relative to the shell to the outer yawing cleaning position; in the outer yawing cleaning position, when the cleaning assembly is rotated in the second direction and subjected to a friction torque in the first direction, make the yawing mechanism swing in the first direction relative to the shell to the inner retracted cleaning position.

[0023] In one embodiment, the yawing mechanism comprises a transmission assembly, the transmission assembly comprises a first transmission member and a second transmission member, the first transmission member connects the driving member and the second transmission member, the second transmission member connects the cleaning assembly, the second transmission member is provided with a track surface, the first transmission member is movably abutted on the track surface, and the driving member is configured to drive the first transmission member to rotate to make the first transmission member move on the track surface and make the cleaning assembly lift relative to the shell.

[0024] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings. Figure 1 is a structural schematic diagram of a cleaning device (the yawing mechanism is in an inner retracted position) of an embodiment of the present application; Figure 2 is a structural schematic diagram of a cleaning device (the yawing mechanism is in an outer yawing position) of an embodiment of the present application; Figure 3 is a structural schematic diagram of a cleaning device (the yawing mechanism is in an inner retracted cleaning position) of an embodiment of the present application; Figure 4 is a structural schematic diagram of a cleaning device (the yawing mechanism is in an outer yawing cleaning position) of an embodiment of the present application; Figure 5 is a structural schematic diagram of a cleaning device (the yawing mechanism is in an inner retracted off-ground cleaning position) of an embodiment of the present application; Figure 6 is a structural schematic diagram of a cleaning device (the yawing mechanism is in an outer yawing off-ground position) of an embodiment of the present application; Figure 7 is another structural schematic view of the cleaning apparatus (the yawing mechanism is in the retracted position) of an embodiment of the present application; Figure 8 is an enlarged schematic view of the cleaning apparatus A part in Figure 7 Figure 9 is still another structural schematic view of the cleaning apparatus (the yawing mechanism is in the retracted position) of an embodiment of the present application; Figure 10 is a partially exploded schematic view of the cleaning apparatus (the yawing mechanism is in the retracted position) of an embodiment of the present application; Figure 11 is an enlarged schematic view of the cleaning apparatus B part in Figure 10 Figure 12 is a top view of the cleaning apparatus (the yawing mechanism is in the retracted position) of an embodiment of the present application; Figure 13 is a sectional schematic view of the cleaning apparatus along the line K-K in Figure 12 Figure 14 is an enlarged schematic view of the cleaning apparatus C part in Figure 13 Figure 15 is a structural schematic view of the first transmission member of the cleaning apparatus of an embodiment of the present application; Figure 16 is a top view of the first transmission member of the cleaning apparatus of an embodiment of the present application; Figure 17 is a process schematic view of the first transmission member of an embodiment of the present application from the first area to the second area.

[0026] Main element symbol explanation: cleaning apparatus 100; housing 12; yawing mechanism 14; bottom plate 16; cleaning assembly 20; through hole 22; driving member 24; transmission assembly 26; first connecting portion 28; second connecting portion 30; connecting hole 32; first hole wall portion 34; first transmission member 36; second transmission member 38; track surface 40; ring portion 42; push rod 44; gear set 46; first limiting portion 48; second limiting portion 50; first area 52; second area 54; third area 56; reset member 60; first connecting area 62; second connecting area 64; end cover 66; rotating shaft 70; elastic member 82; cover plate 84. DETAILED DESCRIPTION

[0027] ​​​​Embodiments of the present application are described in detail below with reference to several drawings. The embodiments of this application described hereinafter are examples for the purposes of simplification and clarity and are therefore not to be understood as limiting the application. The same or similar elements are denoted by the same or similar reference signs throughout the drawings.

[0028] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For purposes of simplicity and clarity, the description hereinafter of a certain embodiment is provided in connection with the drawings. It is expressly not intended that this description should limit the application, as it is to be read as only providing information to enable those skilled in the art to make and use the application. Moreover, the descriptions of well-known functions and constructions can be omitted for reasons of conciseness and lucidity, and various techniques and / or methods can be utilized and / or combinations of such techniques and / or methods can be utilized without deviating from the spirit and scope of the application.

[0029] In addition, the terms "first", "second", and the like, do not denote any order, quantity, combination, or importance, but rather are used to nomenclature different components and / or areas. Use of these terms in the present specification is simply intended to differentiate between two separate or different components. Also, the use of "including", "containing", "comprising", "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless otherwise indicated herein, the use of the following terms herein, such as "a", "an" and "the", are not intended in a limiting sense and are used in their on dictionary meaning being taken into account the context in which such terms are used.

[0030] In the description of the present application, it is to be understood that the terms "central", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counter-clockwise", and the like, indicate relative positions or orientations and are not intended to denote a specific orientation of the device or element being referred to, and thus should not be interpreted as limiting the present application.

[0031] In the present application, unless specifically stated and limited otherwise, the "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "on", "above" and "over" of a first feature to a second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the first feature is higher in horizontal height than the second feature. The "under", "below" and "underneath" of a first feature to a second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the first feature is lower in horizontal height than the second feature.

[0032] In the description of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mounting", "connected", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. It can be mechanical connection, or electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] Please refer to Figures 1 to 8 The cleaning device 100 in an embodiment of the present application includes a housing 12 and a swing mechanism 14. The swing mechanism 14 is rotatably connected to the housing 12, and the swing mechanism 14 includes a driving member 24 and a cleaning assembly 20, the driving member 24 is connected to the cleaning assembly 20, and the driving member 24 can rotate in a first direction and a second direction to drive the cleaning assembly 20 to rotate, the first direction is opposite to the second direction.

[0034] The swing mechanism 14 can be switched between an outward swing cleaning position (as shown in Figure 4 ) and an inward swing cleaning position (as shown in Figure 3 ). The cleaning device 100 is configured to: in the outward swing cleaning position or the inward swing cleaning position, the driving member 24 operates at a second rotating speed after starting at a first rotating speed for a first preset time length, the first rotating speed is less than the second rotating speed, wherein in the outward swing cleaning position, the driving member 24 rotates in the first direction to drive the cleaning assembly 20 to rotate, and in the inward swing cleaning position, the driving member 24 rotates in the second direction to drive the cleaning assembly 20 to rotate, and the rotating axis P of the cleaning assembly 20 is perpendicular to the bottom of the housing 12.

[0035] In the above-mentioned cleaning device 100, in the outward swing cleaning position or the inward swing cleaning position, the driving member 24 operates at a second rotating speed after starting at a first rotating speed for a first preset time length, the first rotating speed is less than the second rotating speed, thereby the driving member 24 can be controlled to start at a slower rotating speed to meet the requirement of low noise when the driving member 24 starts.

[0036] Specifically, the cleaning device 100 includes but is not limited to a robot vacuum cleaner, a sweeper, a sweeper-mop integrated machine, a mop (a robot without sweeping function), a double-turntable sweeper, a floor washing machine (such as a handheld floor washing machine, a non-handheld floor washing machine), etc. Optionally, in an embodiment, the housing 12 includes a bottom plate 16, and the swing mechanism 14 is rotatably connected to the bottom plate 16, and the bottom plate 16 can provide a mounting platform for the swing mechanism 14. Optionally, in other embodiments, the swing mechanism 14 can also be rotatably connected to other mounting structures on the housing 12, and is not limited to the bottom plate 16, which is not specifically limited here.

[0037] In one embodiment, the swing mechanism 14 is further capable of being located in a retracted off-ground position (as shown in Figure 5 ) and a swung off-ground position (as shown in Figure 6 ). The swung cleaning position can refer to the swing mechanism 14 being in the swung position and the cleaning position. The retracted cleaning position can refer to the swing mechanism 14 being in the retracted position and the cleaning position. The retracted off-ground position can refer to the swing mechanism 14 being in the retracted position and the off-ground position. The swung off-ground position can refer to the swing mechanism 14 being in the swung position and the off-ground position.

[0038] The swung position can refer to a position in which the rotational axis P of the cleaning assembly 20 is away from the center of the housing 12, as shown in Figure 2 . The retracted position can refer to a position in which the rotational axis P of the cleaning assembly 20 is close to the center of the housing 12, as shown in Figure 1 . The cleaning position can refer to a position in which the cleaning assembly 20 is capable of abutting the ground. The off-ground position can refer to a position in which the cleaning assembly 20 is away from the ground. In one embodiment, the swung position and the retracted position can be achieved by the friction torque applied to the cleaning assembly 20.

[0039] It should be noted that the shape of the housing 12 is not specifically limited in the present application. Alternatively, in the illustrated embodiment, the housing 12 is substantially cylindrical.

[0040] Specifically, in one embodiment, the cleaning device 100 is configured such that, in the retracted cleaning position, when the cleaning assembly 20 is rotated in the first direction and is subjected to the friction torque in the second direction, the friction torque in the second direction causes the swing mechanism 14 to swing in the second direction relative to the housing 12 to the swung cleaning position, and in the swung cleaning position, when the cleaning assembly 20 is rotated in the second direction and is subjected to the friction torque in the first direction, the friction torque in the first direction causes the swing mechanism 14 to swing in the first direction relative to the housing 12 to the retracted cleaning position. In this way, the need to add an additional power actuator can be reduced, and the complexity, cost, reliability and maintainability can be improved.

[0041] In one embodiment, the driving member 24 can include a motor, when the driving member 24 drives the cleaning assembly 20 to rotate, the rotational direction of the driving member 24 is the same as the rotational direction of the cleaning assembly 20, and the direction of the friction torque applied to the cleaning assembly 20 is opposite to the rotational direction of the cleaning assembly 20.

[0042] Alternatively, please refer to Figures 8 to 11The bottom plate 16 is provided with a through hole 22. The yawing mechanism 14 further comprises a transmission assembly 26. The transmission assembly 26 is connectable to the driving member 24 and the cleaning assembly 20. The driving member 24 is capable of driving the cleaning assembly 20 to rotate in the first direction and the second direction through the transmission assembly 26. The transmission assembly 26 is capable of penetrating the through hole 22. The driving member 24 is located in the housing 12. The cleaning assembly 20 is located outside the housing 12. The cleaning assembly 20 is detachably connected to the transmission assembly 26. In an embodiment, the cleaning assembly 20 comprises a first connecting part 28. The first connecting part 28 is non-cylindrical (e.g. polygonal). The transmission assembly 26 comprises a second connecting part 30. The second connecting part 30 is provided with a connecting hole 32. The shape of the connecting hole 32 is matched with the shape of the first connecting part 28. The first connecting part 28 is located in the connecting hole 32. The driving member 24 is capable of driving the second connecting part 30 to rotate. When the second connecting part 30 rotates, the first connecting part 28 is driven to rotate, and the cleaning assembly 20 is driven to rotate. The detachable connection between the cleaning assembly 20 and the transmission assembly 26 includes but is not limited to the following modes: screwing, magnetic attraction, buckling, etc. The specific mode is not limited herein.

[0043] In an embodiment, the through hole 22 comprises a first hole wall part 34 and a second hole wall part. When the yawing mechanism 14 abuts against the first hole wall part 34, the yawing mechanism 14 is located at the outward swinging position. When the yawing mechanism 14 abuts against the second hole wall part, the yawing mechanism 14 is located at the inward retraction position. In this way, the yawing stroke of the yawing mechanism 14 can be defined by the first hole wall part 34 and the second hole wall part.

[0044] Specifically, in Figure 8 the transmission assembly 26 penetrates the through hole 22. The through hole 22 can define the swinging stroke of the yawing mechanism 14. The shape of the through hole 22 can be designed according to the swinging trajectory of the yawing mechanism 14.

[0045] In an embodiment, when the transmission assembly 26 abuts against the first hole wall part 34, the yawing mechanism 14 is located at the outward swinging position. When the transmission assembly 26 abuts against the second hole wall part, the yawing mechanism 14 is located at the inward retraction position. It can be understood that the present application is not limited to the cooperation between the transmission assembly 26 and the through hole 22 to define the swinging stroke of the yawing mechanism 14. Other structural members can be provided to cooperate with other structural members of the yawing mechanism 14 to define the swinging stroke of the yawing mechanism 14. The specific mode is not limited herein.

[0046] In one embodiment, the cleaning device 100 comprises a controller and a position sensor, the controller can be electrically connected to the position sensor and the driving member 24, the position sensor can detect the position of the yawing mechanism 14 to achieve closed-loop control. Alternatively, in one embodiment, the cleaning assembly 20 is detachably connected to the transmission assembly 26 by magnetic attraction. A magnet is fixed on the cleaning assembly 20, and an iron sheet is fixed on the second connecting part 30. Through the attraction between the magnet and the iron sheet, the cleaning assembly 20 is detachably connected to the transmission assembly 26. The position sensor can comprise a linear Hall sensor and a switch Hall sensor, the linear Hall sensor can be arranged at the inner retracted position, and the switch Hall sensor can be arranged at the outer yawing position. Alternatively, the magnet can be fixed on the first connecting part 28.

[0047] In one embodiment, the controller can detect the position of the magnet of the cleaning assembly 20 through the switch Hall sensor, and then determine whether the yawing mechanism 14 reaches the inner retracted cleaning position, the outer yawing cleaning position, and the outer yawing off-ground position, and detect the position of the magnet of the cleaning assembly 20 through the linear Hall sensor, and then determine whether the yawing mechanism 14 reaches the inner retracted off-ground position and the inner retracted cleaning position. It can be understood that the relationship between the output value of the Hall sensor and the position of the yawing mechanism 14 at each position can be pre-calibrated and stored through simulation, testing, etc.

[0048] In other embodiments, the cleaning device 100 can also detect the position of the yawing mechanism 14 through other sensors, not limited to Hall sensors.

[0049] The yawing mechanism 14 is rotatably connected to the bottom plate 16, and the swing connection between the yawing mechanism 14 and the bottom plate 16 can form the swing center T of the yawing mechanism 14, as shown in Figure 12 When the driving member 24 drives the cleaning assembly 20 to rotate, the cleaning assembly 20 is not subjected to the friction torque when the cleaning assembly 20 has not yet contacted the ground or other fixed objects. When the cleaning assembly 20 contacts the ground or other fixed objects, the rotating cleaning assembly 20 will be subjected to the friction torque exerted by the ground or other fixed objects on the cleaning assembly 20, the direction of the friction torque is opposite to the rotation direction of the cleaning assembly 20, and the direction of the friction torque is the same as the yawing direction of the yawing mechanism 14.

[0050] Alternatively, in the embodiment shown in the figure, the first direction R1 is the clockwise direction, and the second direction R2 is the counterclockwise direction, as shown in Figure 15 and Figure 16The first direction can also be the forward rotation direction of the driving member 24, and the second direction R2 can be the reverse rotation direction of the driving member 24. It can be understood that in other embodiments, the first direction R1 is the counterclockwise direction, and the second direction R2 is the clockwise direction. The first direction can also be the reverse rotation direction of the driving member 24, and the second direction R2 can be the forward rotation direction of the driving member 24, and the present application does not make specific limitations thereon.

[0051] For the convenience of implementing the present application, the following embodiments are described by taking the first direction R1 as the clockwise direction and the second direction R2 as the counterclockwise direction. When the first direction R1 is the counterclockwise direction and the second direction R2 is the clockwise direction, the structure and logic of the cleaning robot 200 can be changed, replaced, combined, etc. by referring to the embodiment of the first direction R1 being the clockwise direction and the second direction R2 being the counterclockwise direction, and the technical solutions after these changes, replacements, combinations, etc. are within the protection scope of the present application.

[0052] In one embodiment, please refer to Figure 11 The transmission assembly 26 includes a first transmission member 36 and a second transmission member 38. The first transmission member 36 is connected to the driving member 24 and the second transmission member 38. The second transmission member 38 is connected to the cleaning assembly 20. The second transmission member 38 is provided with a track surface 40. The first transmission member 36 is movably abutted on the track surface 40. The driving member 24 is configured to drive the first transmission member 36 to rotate so as to move the first transmission member 36 on the track surface 40, and to lift or lower the cleaning assembly 20 relative to the housing 12.

[0053] In this way, the driving member 24 can drive the cleaning assembly 20 to lift or lower relative to the housing 12 through the structure of the transmission assembly 26.

[0054] Specifically, in some application scenarios, such as carpet cleaning, obstacle crossing, backwashing, and air drying scenarios, the cleaning device 100 can not need to perform cleaning operations. If the cleaning assembly 20 is still in the cleaning position, the cleaning assembly 20 will be in contact with the ground. In the case that the cleaning assembly 20 is in contact with the ground, the movement of the cleaning device 100 will cause a certain movement resistance of the cleaning device 100. Moreover, when the cleaning device 100 crosses obstacles, the cleaning assembly 20 in contact with the ground will also increase the difficulty of obstacle crossing.

[0055] Therefore, the cooperation between the first transmission member 36 and the second transmission member 38 can lift or lower the cleaning assembly 20 relative to the housing 12. When the cleaning assembly 20 does not need to be close to the ground, the cleaning assembly 20 can be lifted up. When the cleaning assembly 20 needs to be close to the ground, the cleaning assembly 20 can be lowered. That is, the cleaning assembly 20 can be located in a cleaning position for abutting the ground and can be located in a ground-leaving position for leaving the ground. Optionally, the rotation direction of the first transmission member 36 is the same as the rotation direction of the cleaning assembly 20 and the rotation direction of the driving member 24, and the rotation direction of the cleaning assembly 20 is opposite to the yawing direction of the yawing mechanism 14.

[0056] Optionally, in the Figure 15 , the second transmission member 38 comprises a ring portion 42, the top surface of the ring portion 42 is provided with two track surfaces 40, the first transmission member 36 comprises two push rods 44, each push rod 44 is located above a corresponding one of the two track surfaces 40, and the two push rods 44 are respectively abutted on the two track surfaces 40. The track surfaces 40 have high and low areas, when the push rods 44 are abutted on the high areas, the cleaning assembly 20 can be located in the cleaning position, and when the push rods 44 are abutted on the low areas, the cleaning assembly 20 can be located in the ground-leaving position. It can be understood that, if the push rods 44 and the track surfaces 40 are interchanged in the up-down positions, when the push rods 44 are abutted on the high areas, the cleaning assembly 20 can be located in the ground-leaving position, and when the push rods 44 are abutted on the low areas, the cleaning assembly 20 can be located in the cleaning position. It should be noted that the number and relative positional relationship of the track surfaces 40 and the push rods 44 are not specifically limited in the present application. In Figure 15 , the moving manner of the first transmission member 36 on the track surfaces 40 is sliding. It can be understood that, in other embodiments, a roller can be added to the end of each push rod 44, the roller is in contact with the track surfaces 40, and the moving manner of the first transmission member 36 on the track surfaces 40 is rolling. It can be understood that the number of the track surfaces 40 is not limited to two, but can be one or more than two, and the present application does not specifically limit this.

[0057] Optionally, the transmission assembly 26 comprises a gear set 46, the gear set 46 comprises at least one gear, the gear set 46 is connected between the driving member 24 and the first transmission member 36, and the gear set 46 transmits the power of the driving member 24 to the first transmission member 36, so that the driving member 24 can drive the first transmission member 36 to move on the track surfaces 40 to different areas, thereby adjusting the height of the cleaning assembly 20. The gear set 46 can be a speed-reducing gear set.

[0058] In one embodiment, the track surface 40 is respectively provided with a first limiting portion 48 and a second limiting portion 50, when the first transmission member 36 abuts against the first limiting portion 48, the first limiting portion 48 is configured to limit the movement stroke end of the first transmission member 36 on the track surface 40 in the first direction, when the first transmission member 36 abuts against the second limiting portion 50, the second limiting portion 50 is configured to limit the movement stroke end of the first transmission member 36 on the track surface 40 in the second direction.

[0059] In this way, by the two limiting portions, when the first transmission member 36 abuts against the limiting portion, the first transmission member 36 stops moving on the track surface 40.

[0060] Specifically, when the first transmission member 36 abuts against the first limiting portion 48, the first limiting portion 48 is configured to limit the movement stroke end of the first transmission member 36 on the track surface 40 in the first direction. At this time, the first transmission member 36 cannot move relative to the second transmission member 38 in the first direction, if the driving member 24 continuously drives the first transmission member 36 to rotate in the first direction, the first transmission member 36 drives the second transmission member 38 to rotate in the first direction through the first limiting portion 48, and in turn can drive the cleaning assembly 20 to rotate in the first direction.

[0061] When the first transmission member 36 abuts against the second limiting portion 50, the second limiting portion 50 is configured to limit the movement stroke end of the first transmission member 36 on the track surface 40 in the second direction. At this time, the first transmission member 36 cannot move relative to the second transmission member 38 in the second direction, if the driving member 24 continuously drives the first transmission member 36 to rotate in the second direction, the first transmission member 36 drives the second transmission member 38 to rotate in the second direction through the second limiting portion 50, and in turn can drive the cleaning assembly 20 to rotate in the second direction.

[0062] Therefore, when the first transmission member 36 has not abutted against the first limiting portion 48 or the second limiting portion 50, the first transmission member 36 can move to different regions on the track surface 40 when rotating, and the lifting of the cleaning assembly 20 can be realized. When the first transmission member 36 abuts against the first limiting portion 48 or the second limiting portion 50, the first transmission member 36 can drive the second transmission member 38 to rotate when rotating again, and the rotation of the cleaning assembly 20 can be realized.

[0063] In one embodiment, please refer to Figures 15 to 16The trajectory surface 40 includes a first region 52, a second region 54, and a third region 56. Along the first direction, the first region 52, the second region 54, and the third region 56 are connected in sequence. When the first transmission member 36 abuts against the first region 52 or the third region 56, the cleaning component 20 is located in a cleaning position for contacting the ground. When the first transmission member 36 abuts against the second region 54, the cleaning component 20 is located in a ground-lifting position for detaching from the ground. The cleaning positions include an inward cleaning position and an outward cleaning position. The ground-lifting positions include an outward swing-off-ground position and an inward swing-off-ground position.

[0064] In this way, the cleaning component 20 can switch between the ground position and the cleaning position through the three areas of the trajectory surface 40.

[0065] Specifically, in Figure 15 and Figure 16 In the diagram, the first direction R1 is clockwise, and the second direction R2 is counterclockwise.

[0066] Two adjacent areas can be connected via a connecting area, and the first transmission member 36 can move from one area to another via the connecting area. Figure 15 In this configuration, the first region 52 and the third region 56 are positioned higher than the second region 54. The first transmission member 36 is located above the track surface 40. When the first transmission member 36 abuts against the first region 52 or the third region 56, the first transmission member 36 is farther from the cleaning component 20, and the cleaning component 20 is in a cleaning position. When the first transmission member 36 abuts against the second region 54, the first transmission member 36 is closer to the cleaning component 20, and the cleaning component 20 is in a ground-free position.

[0067] Along the first direction, the first region 52, the second region 54 and the third region 56 are connected in sequence; that is, along the second direction, the third region 56, the second region 54 and the first region 52 are connected in sequence.

[0068] When the first transmission member 36 moves along the first direction from the first region 52 to the second region 54, the cleaning assembly 20 switches from the cleaning position to the off-ground position. When the first transmission member 36 moves along the first direction from the second region 54 to the third region 56, the cleaning assembly 20 switches from the off-ground position to the cleaning position.

[0069] When the first transmission member 36 moves along the second direction from the third region 56 to the second region 54, the cleaning assembly 20 switches from the cleaning position to the off-ground position. When the first transmission member 36 moves along the second direction from the second region 54 to the first region 52, the cleaning assembly 20 switches from the off-ground position to the cleaning position.

[0070] In one embodiment, the yaw mechanism 14 is configured as follows: When the driving member 24 drives the first transmission member 36 to rotate from the second region 54 to the third region 56 in the first direction, the cleaning assembly 20 is lowered from the off-ground position to the cleaning position and the first transmission member 36 abuts against the first limit portion 48; When the driving member 24 drives the first transmission member 36 to rotate from the third region 56 to the second region 54 in the second direction, the cleaning assembly 20 is raised from the cleaning position to the off-ground position and the first transmission member 36 is separated from the first limit portion 48 and the second limit portion 50; When the driving member 24 drives the first transmission member 36 to rotate from the second region 54 to the first region 52 in the second direction, the cleaning assembly 20 is lowered from the off-ground position to the cleaning position and the first transmission member 36 abuts against the second limit portion 50; When the driving member 24 drives the first transmission member 36 to rotate from the first region 52 to the second region 54 in the first direction, the cleaning assembly 20 is raised from the cleaning position to the off-ground position and the first transmission member 36 is separated from the second limit portion 50 and the first limit portion 48.

[0071] In this way, the rotation direction of the first transmission member 36 driven by the driving member 24 can be used to control the cleaning assembly 20 to abut against different regions of the track surface 40, thereby controlling the lifting of the cleaning assembly 20.

[0072] Specifically, in one embodiment, initially, the first transmission member 36 abuts against the second region 54 and the driving member 24 has not driven the first transmission member 36 to rotate. At this time, the cleaning assembly 20 is located at the off-ground position.

[0073] When the driving member 24 drives the first transmission member 36 to rotate from the second region 54 to the third region 56 in the first direction, the cleaning assembly 20 is lowered from the off-ground position to the cleaning position and the first transmission member 36 abuts against the first limit portion 48. At this time, the continuous driving of the driving member 24 can drive the first transmission member 36 to drive the second transmission member 38 to rotate in the first direction through the first limit portion 48, thereby driving the cleaning assembly 20 to rotate in the first direction.

[0074] When the cleaning assembly 20 rotating in the first direction contacts the ground or other fixed objects, the ground or other fixed objects generate a friction torque in the second direction on the cleaning assembly 20. If the yawing mechanism 14 is located at the outward yawing cleaning position, the yawing mechanism 14 does not yaw and remains at the outward yawing cleaning position. If the yawing mechanism 14 is located at the inward retracted cleaning position, the yawing mechanism 14 is driven to yaw in the second direction from the inward retracted cleaning position to the outward yawing cleaning position under the action of the friction torque in the second direction.

[0075] When the driving member 24 drives the first transmission member 36 to rotate from the third region 56 to the second region 54 along the second direction, the cleaning assembly 20 is lifted from the cleaning position to the off-ground position and the first transmission member 36 is separated from the first limit part 48 and the second limit part 50. At this time, the first transmission member 36 cannot drive the cleaning assembly 20 to rotate through the second transmission member 38, the cleaning assembly 20 does not rotate and is located at the off-ground position.

[0076] When the driving member 24 drives the first transmission member 36 to rotate from the second region 54 to the first region 52 along the second direction, the cleaning assembly 20 is lowered from the off-ground position to the cleaning position and the first transmission member 36 is in abutment with the second limit part 50. At this time, the continuous driving of the driving member 24 can drive the first transmission member 36 to drive the second transmission member 38 to rotate along the second direction through the second limit part 50, and in turn can drive the cleaning assembly 20 to rotate along the second direction.

[0077] When the cleaning assembly 20 rotating along the second direction contacts the ground or other fixed objects, the ground or other fixed objects generate a friction torque along the first direction on the cleaning assembly 20. If the yawing mechanism 14 is located at the outer yawing cleaning position, the yawing mechanism 14 swings along the first direction from the outer yawing cleaning position to the inner retracted cleaning position under the action of the friction torque along the first direction. If the yawing mechanism 14 is located at the inner retracted cleaning position, the yawing mechanism 14 does not swing and remains at the inner retracted cleaning position.

[0078] When the driving member 24 drives the first transmission member 36 to rotate from the first region 52 to the second region 54 along the first direction, the cleaning assembly 20 is lifted from the cleaning position to the off-ground position and the first transmission member 36 is separated from the second limit part 50 and the first limit part 48. At this time, the first transmission member 36 cannot drive the cleaning assembly 20 to rotate through the second transmission member 38, the cleaning assembly 20 does not rotate and is located at the off-ground position.

[0079] Optionally, the cleaning assembly 20 comprises a friction member (not shown in the figure), which can increase the friction torque and make the yawing mechanism 14 more easily yaw.

[0080] In one embodiment, the cleaning device 100 is configured to: When the first transmission member 36 is at the third region 56 and the yawing mechanism 14 is at the outer yawing cleaning position, the driving member 24 is configured to drive the cleaning assembly 20 to rotate along the first direction through the first limit part 48; When the driving member 24 drives the first transmission member 36 to move from the third region 56 to the second region 54 along the second direction, the sway mechanism 14 rises from the outward cleaning position to the outward swing off-ground position; when the driving member 24 drives the first transmission member 36 to move from the second region 54 to the first region 52 along the second direction, the sway mechanism 14 falls from the outward swing off-ground position to the outward cleaning position. The sway mechanism 14 is subjected to a frictional torque along the first direction and swings from the outward cleaning position to the inward cleaning position. The driving member 24 is configured to drive the cleaning assembly 20 to rotate along the second direction through the second limiting part 50. When the first transmission member 36 is in the first region 52 and the sway mechanism 14 is in the inward cleaning position, the drive member 24 is configured to drive the cleaning assembly 20 to rotate in the second direction via the second limiting part 50. When the driving member 24 drives the first transmission member 36 to move from the first region 52 to the second region 54 along the first direction, the cleaning component 20 rises from the inward cleaning position to the inward off-ground position; when the driving member 24 drives the first transmission member 36 to move from the second region 54 to the third region 56 along the first direction, the cleaning component 20 falls from the inward off-ground position to the inward cleaning position, and the oscillating mechanism 14 is subjected to a frictional torque along the second direction and oscillates from the inward cleaning position to the outward oscillating cleaning position. The driving member 24 is configured to drive the cleaning component 20 to rotate along the first direction through the first limiting part 48.

[0081] Thus, the rotation direction of the cleaning component 20 can be controlled by the drive component 24 driving the first transmission component 36, thereby enabling the yaw mechanism 14 to switch between various positions.

[0082] Specifically, when the first transmission member 36 abuts against the third region 56, the yaw mechanism 14 can be located in the outer yaw clean position (e.g., Figure 4 (As shown). At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the first direction through the first limiting part 48. When the driving member 24 drives the first transmission member 36 to move from the third region 56 to the second region 54 in the second direction, the yaw mechanism 14 rises from the outward cleaning position to the outward swing off-ground position. At this time, the yaw mechanism 14 has not yet swung. When the driving member 24 drives the first transmission member 36 to move from the second region 54 to the first region 52 in the second direction, the yaw mechanism 14 falls from the outward swing off-ground position to the outward cleaning position. The yaw mechanism 14 is subjected to frictional torque in the first direction and swings from the outward cleaning position to the inward cleaning position. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the second direction through the second limiting part 50, and the yaw mechanism 14 is in the inward cleaning position.

[0083] When the first transmission member 36 abuts against the first region 52, the swing mechanism 14 is in the retracted cleaning position, and the driving member 24 can drive the cleaning assembly 20 to rotate in the second direction through the second limit portion 50. When the driving member 24 drives the first transmission member 36 to move from the first region 52 to the second region 54 in the first direction, the swing mechanism 14 is lifted from the retracted cleaning position to the retracted off-ground position, and the swing mechanism 14 has not yet swung. When the driving member 24 drives the first transmission member 36 to move from the second region 54 to the third region 56 in the first direction, the swing mechanism 14 is lowered from the retracted off-ground position to the retracted cleaning position, and the swing mechanism 14 is swung from the retracted cleaning position to the outwardly swinging cleaning position under the friction torque in the second direction. At this time, the driving member 24 can drive the cleaning assembly 20 to rotate in the first direction through the first limit portion 48, and the swing mechanism 14 is in the outwardly swinging cleaning position.

[0084] It should be noted that the lifting of the swing mechanism 14 between the off-ground position and the cleaning position can refer to the lifting of the cleaning assembly 20 between the off-ground position and the cleaning position.

[0085] Initially, the swing mechanism 14 is in the outwardly swinging cleaning position or the retracted cleaning position, and the driving member 24 is in the closed state. When the cleaning device 100 needs to work, the controller can control the driving member 24 to start at a first rotational speed for a first preset time length and then operate at a second rotational speed, where the first rotational speed is less than the second rotational speed. When the swing mechanism 14 is in the outwardly swinging cleaning position, the driving member 24 rotates in the first direction to drive the cleaning assembly 20 to rotate, and when the swing mechanism 14 is in the retracted cleaning position, the driving member 24 rotates in the second direction to drive the cleaning assembly 20 to rotate.

[0086] Since the driving member 24 starts at a slow speed, the slow start of the driving member 24 can be achieved, the noise of the driving member 24 when starting can be reduced, and the user's demand for low noise can be met. The specific values of the first preset time length, the first rotational speed, and the second rotational speed are not limited in the present application, and can be set according to actual conditions. In an embodiment, the driving member 24 includes a motor, and the corresponding motor speed can be achieved through the duty cycle of the driving signal. In one example, the duty cycle of the driving signal corresponding to the first rotational speed is 50%, the first preset time length is 2 seconds, and the duty cycle of the driving signal corresponding to the second rotational speed is 72%. It can be understood that in other embodiments, other parameters such as current and power can be used to control the speed of the motor, and the duty cycle is not limited.

[0087] In the embodiment shown in the figure, the cleaning device 100 has two cleaning assemblies 20, the yawing mechanism 14 is provided with one cleaning assembly 20, and the other cleaning assembly 20 is arranged on the bottom of the shell 12. The other cleaning assembly 20 can be a lifting cleaning assembly 20 without yawing function, and the lifting manner is similar to that of the cleaning assembly 20 on the yawing mechanism 14. In other embodiments, the cleaning device 100 can include two yawing mechanisms 14, each of which includes a cleaning assembly 20.

[0088] Optionally, when the two cleaning assemblies 20 are in abutment with the ground and rotate, the rotation directions of the two cleaning assemblies 20 can be opposite.

[0089] In Figure 8 In the embodiment shown in the figure, the cleaning device 100 includes a resilient member 82, one end of the resilient member 82 is connected to the shell 12, and the other end of the resilient member 82 is connected to the yawing mechanism 14. The resilient member 82 can make the yawing mechanism 14 more stable and smooth when switching between the inner retracted cleaning position and the outer yawing cleaning position, and avoid the yawing mechanism 14 from being stuck during the yawing process.

[0090] The yawing mechanism 14 further includes a cover plate 84, which can be fixedly connected to the housing of the transmission assembly 26. The cover plate 84 is provided with a mounting hole, and the second transmission member 38 passes through the mounting hole. The cover plate 84 is located outside the shell 12 and covers the through hole 22 in the orthographic projection on the shell 12. The cover plate 84 can be fixedly connected to the yawing mechanism 14 to follow the yawing mechanism 14 to swing. The cover plate 84 can play the roles of hiding, dustproof, preventing sundries, and preventing water splashing from entering the interior of the shell 12 through the through hole 22.

[0091] The transmission assembly 26 includes a gear set 46, and the cover plate 84 is fixedly connected to the housing of the gear set 46. The cover plate 84 is driven to rotate by the housing of the gear set 46. It can be understood that the housing of the gear set 46 is connected to the cover plate 84, and the rotation of the gear set 46 drives the rotation of the cover plate 84. Therefore, the second transmission member 38 does not need to contact the hole wall of the mounting hole on the cover plate 84 to drive the cover plate 84 to rotate, and thus the friction between the second transmission member 38 and the cover plate 84 during the rotation and lifting of the second transmission member 38 is avoided, and problems such as wear and noise are avoided.

[0092] In addition, in the transmission assembly, the second transmission member 38 is a component directly passing through the mounting hole on the cover plate 84, and the most direct way to push the cover plate 84 to rotate is to push it by the swinging process of the second transmission member 38. The inventor finds that, when the cleaning assembly 20 is driven to rotate, the second transmission member 38 will rotate relative to the cover plate 84 in this structure. Therefore, the housing of the transmission assembly 26 needs to have a sleeve structure sleeved outside the second transmission member 38, which is connected to the cover plate 84. The sleeve structure is used to isolate the second transmission member 38 in rotary motion from the fixed cover plate 84, and at the same time, the cover plate 84 can be driven to rotate through the sleeve structure when the transmission assembly 26 swings.

[0093] In the embodiment, the housing of the gear set 46 is connected to the cover plate 84, and the swinging of the housing of the gear set 46 is used to drive the cover plate 84 to rotate. Therefore, it is not necessary to consider isolating the moving second transmission member 38 from the cover plate 84. Overall, the housing of the transmission assembly 26 does not need to cover the second transmission member 38, and the second transmission member 38 can be kept in an independent exposed state. In this way, the structure of the housing of the entire transmission assembly 26 is simplified, and the cost of parts is reduced.

[0094] In one embodiment, please refer to Figures 12 to 14 The deflection mechanism 14 includes a reset member 60, which is compressed downward by the second transmission member 38 when the deflection mechanism 14 is in the cleaning position. During the switching of the deflection mechanism 14 from the cleaning position to the ground-clearing position, the reset member 60 can be elongated upward to drive the second transmission member 38 to rise, thereby driving the cleaning assembly 20 to rise to the ground-clearing position. The transmission assembly 26 includes a rotating shaft 70, which can be connected to the gear set 46 and driven to rotate by the gear set 46. The rotating shaft 70 is fixedly connected to the first transmission member 36 and rotatably penetrates into the second transmission member 38. The reset member 60 is located in the second transmission member 38 and sleeved on the part of the rotating shaft 70 located in the second transmission member 38. One end of the reset member 60 abuts against the second transmission member 38, and the other end abuts against an end cover 66 fixedly connected to the end of the rotating shaft 70. The second transmission member 38 and the cleaning assembly 20 can be lifted and lowered along the axial direction of the rotating shaft 70.

[0095] The reset member 60 includes but is not limited to elastic members such as tension springs, torsion springs, elastic sheets, and other reset members 60 that can be deformed by external force and can restore the deformation when the external force is removed. Figure 14 The reset member 60 shown in the figure is a tension spring.

[0096] In one embodiment, the cleaning device 100 is configured as: When the deflection mechanism 14 is in the outer deflection cleaning position and the driving member 24 is rotated in the first direction, the driving member 24 performs a reverse rotation action to switch the deflection mechanism 14 to the inner deflection cleaning position.

[0097] Thus, the driving member 24 performs a reverse rotation action to switch the swing mechanism 14 from the outer swing cleaning position to the inner retraction cleaning position.

[0098] Specifically, when the swing mechanism 14 works at the outer swing cleaning position, the driving member 24 runs in the first direction to drive the cleaning assembly 20 to rotate in the first direction.

[0099] When the swing mechanism 14 is switched from the outer swing cleaning position to the inner retraction cleaning position, the controller can control the driving member 24 to perform a reverse rotation action to switch the swing mechanism 14 to the inner retraction cleaning position. The controller can control the driving member 24 to rotate in the opposite direction to perform the reverse rotation action.

[0100] Initially, the cleaning assembly 20 touches the ground and rotates in the first direction to clean. During the process of switching the swing mechanism 14 from the outer swing cleaning position to the inner retraction cleaning position, the driving member 24 performs a reverse rotation action, i.e., the driving member 24 runs in the second direction to drive the cleaning assembly 20 to rotate in the second direction, so that the cleaning assembly 20 is subjected to the friction torque of the ground in the first direction, and the friction torque in the first direction switches the swing mechanism 14 to the inner retraction cleaning position.

[0101] After the driving member 24 performs the reverse rotation action, the controller determines, according to the output of the position sensor, that the swing mechanism 14 is switched to the inner retraction cleaning position. In this case, the controller can control the driving member 24 to continue driving the cleaning assembly 20 to rotate in the second direction. When the swing mechanism 14 is at the outer swing cleaning position, the first transmission member 36 is located in the third region 56 and abuts against the first limiting portion 48 to drive the cleaning assembly 20 to rotate in the first direction. During the process of switching the swing mechanism 14 from the outer swing cleaning position to the inner retraction cleaning position, the first transmission member 36 is switched from the third region 56 to the second region 54 and the first region 52 in the second direction in sequence, and finally the first transmission member 36 abuts against the second limiting portion 50 to drive the cleaning assembly 20 to rotate in the second direction.

[0102] In one embodiment, the cleaning device 100 is configured as follows: After the driving member 24 performs the first reverse rotation action, if the swing mechanism 14 is not switched to the inner retraction cleaning position, the driving member 24 performs two reverse rotation actions to switch the swing mechanism 14 to the inner retraction cleaning position.

[0103] Thus, to some extent, it is ensured that the swing mechanism 14 can be switched to the inner retraction cleaning position.

[0104] Specifically, after the driving member 24 performs the first reverse rotation action, the controller can control the driving member 24 to perform two reverse rotation actions again to switch the deflection mechanism 14 to the inner retraction cleaning position, in the case that the controller determines, according to the output of the position sensor, that the deflection mechanism 14 does not switch to the inner retraction cleaning position.

[0105] When performing the first reverse rotation action, the driving member 24 rotates in the second direction, so that the first transmission member 36 (the push rod 44) moves towards the first region 52. When performing the second reverse rotation action, the driving member 24 rotates in the first direction, so that the first transmission member 36 (the push rod 44) moves away from the first region 52. When performing the third reverse rotation action, the driving member 24 rotates in the second direction, so that the first transmission member 36 moves towards the first region 52.

[0106] The second reverse rotation action is to move the first transmission member 36 away from the first region 52, and the third reverse rotation action is to make the first transmission member 36 try to reach the first region 52 again. In this way, it is ensured to some extent that the deflection mechanism 14 can be switched from the outer deflection cleaning position to the inner retraction cleaning position.

[0107] In one embodiment, the first reverse rotation action includes that the driving member 24 runs at the first rotating speed and in the second direction for the first preset time length, and then runs at the second rotating speed.

[0108] In this way, the driving member 24 can be controlled to perform the first reverse rotation action in the process of switching the deflection mechanism 14 from the outer deflection cleaning position to the inner retraction cleaning position. In one embodiment, the driving member 24 includes a motor, and the corresponding rotating speed of the motor can be realized by the duty ratio of the driving signal. In one example, the duty ratio of the driving signal corresponding to the first rotating speed is 50%, the first preset time length is 2 seconds, and the duty ratio of the driving signal corresponding to the second rotating speed is 72%.

[0109] In one embodiment, the second reverse rotation action includes that the driving member 24 runs at the second rotating speed and in the first direction for the third preset time length. The third reverse rotation action includes that the driving member 24 runs at a fourth rotating speed and in the second direction for a fourth preset time length, and then runs at the second rotating speed, wherein the fourth rotating speed is greater than the second rotating speed, and the fourth preset time length is greater than the third preset time length.

[0110] Thus, during the switching of the yawing mechanism 14 from the outer cleaning position to the inner cleaning position, the driving member 24 can be controlled to perform the second and third reverse rotation actions. In an embodiment, the driving member 24 comprises a motor, and the corresponding motor speed can be achieved by the duty cycle of the driving signal. In an example, the fourth speed corresponds to a duty cycle of 85% of the driving signal, the third preset time length is 0.5 seconds, and the second speed corresponds to a duty cycle of 72% of the driving signal, and the fourth preset time length is 1.5 seconds.

[0111] In an embodiment, the yawing mechanism 14 is further switchable between the inner cleaning position and an inner off-ground position relative to the housing 12, and the cleaning device 100 is configured such that, when the yawing mechanism 14 is in the inner off-ground position, the driving member 24 is controlled to operate at the second speed in the second direction for the first preset time length and then at the second speed to switch the yawing mechanism 14 to the inner cleaning position.

[0112] Thus, the driving member 24 is operated to switch the yawing mechanism 14 from the inner off-ground position to the inner cleaning position.

[0113] Specifically, when the yawing mechanism 14 is in the inner off-ground position, the driving member 24 and the cleaning assembly 20 stop rotating. When the yawing mechanism 14 is switched from the inner off-ground position to the inner cleaning position, the controller can control the driving member 24 to operate at the second speed in the second direction for the first preset time length and then at the second speed to switch the yawing mechanism 14 to the inner cleaning position. Similarly, when the yawing mechanism 14 is in the inner off-ground position, the driving member 24 can also be controlled to operate in a soft start manner.

[0114] Initially, the cleaning assembly 20 is off the ground and does not rotate. During the switching of the yawing mechanism 14 from the inner off-ground position to the inner cleaning position, the driving member 24 is controlled to operate at the second speed in the second direction for the first preset time length and then at the second speed to switch the yawing mechanism 14 to the inner cleaning position.

[0115] After the driving member 24 operates at the second speed in the second direction for the first preset time length and then at the second speed, the controller determines, according to the output of the position sensor, that the yawing mechanism 14 is switched to the inner cleaning position, and the controller can control the driving member 24 to continue rotating in the second direction to drive the cleaning assembly 20 to rotate in the second direction.

[0116] When the yawing mechanism 14 is in the inner off-ground position, the first transmission member 36 is located in the second region 54 and separated from the first limiting portion 48 and the second limiting portion 50. During the switching of the yawing mechanism 14 from the inner off-ground position to the inner cleaning position, the first transmission member 36 is switched from the second region 54 to the first region 52 in the second direction, and finally the first transmission member 36 abuts against the second limiting portion 50 to drive the cleaning assembly 20 to rotate in the second direction.

[0117] In one embodiment, the cleaning device 100 is configured to: In the case that the swing mechanism 14 is not switched to the inner-retracted cleaning position after the driving member 24 runs at the second speed in the second direction for the first preset time length, the driving member 24 performs two reverse rotation actions to switch the swing mechanism 14 to the inner-retracted cleaning position.

[0118] Thus, it is ensured to some extent that the swing mechanism 14 can be switched to the inner-retracted cleaning position.

[0119] Specifically, in the case that the swing mechanism 14 is not switched to the inner-retracted cleaning position after the driving member 24 runs at the second speed in the second direction for the first preset time length, the controller can control the driving member 24 to perform two reverse rotation actions to switch the swing mechanism 14 to the inner-retracted cleaning position according to the output of the position sensor.

[0120] In the present embodiment, when the first reverse rotation action is performed, the driving member 24 rotates in the first direction to move the first transmission member 36 (the push rod 44) away from the first region 52, and when the second reverse rotation action is performed, the driving member 24 rotates in the second direction to move the first transmission member 36 towards the first region 52.

[0121] The first reverse rotation action is to move the first transmission member 36 away from the first region 52, and the second reverse rotation action is to make the first transmission member 36 try to reach the first region 52 again. Thus, it is ensured to some extent that the swing mechanism 14 can be switched from the inner-retracted ground-clearing position to the inner-retracted cleaning position.

[0122] In one embodiment, the preceding reverse rotation action includes that the driving member 24 runs at the second speed in the first direction for a third preset time length; The following reverse rotation action includes that the driving member 24 runs at a fourth speed in the second direction for a fourth preset time length and then runs at the second speed, wherein the fourth speed is greater than the second speed, and the fourth preset time length is greater than the third preset time length.

[0123] Thus, the driving member 24 can be controlled to perform two reverse rotation actions in the process of switching the swing mechanism 14 from the inner-retracted ground-clearing position to the inner-retracted cleaning position. In one embodiment, the driving member 24 includes a motor, and the corresponding motor speed can be realized by the duty ratio of the driving signal. In one example, the duty ratio of the driving signal corresponding to the fourth speed is 85%, the third preset time length is 0.5 seconds, the duty ratio of the driving signal corresponding to the second speed is 72%, and the fourth preset time length is 1.5 seconds.

[0124] In one embodiment, the swing mechanism 14 is further switchable between the inner cleaning position and the inner ground clearance position relative to the housing 12, and the cleaning device 100 is configured such that, in the inner cleaning position and when the driving member 24 is operated in the second direction and at the second rotational speed, the driving member 24 performs at least one reverse rotation action to switch the swing mechanism 14 to the inner ground clearance position at a third rotational speed, the third rotational speed being less than the second rotational speed.

[0125] Thus, the driving member 24 performs one reverse rotation action to switch the swing mechanism 14 from the inner cleaning position to the inner ground clearance position.

[0126] Specifically, when the swing mechanism 14 is in the inner cleaning position, the driving member 24 is operated in the second direction and at the second rotational speed to drive the cleaning assembly 20 to rotate in the second direction.

[0127] When the swing mechanism 14 is switched from the inner cleaning position to the inner ground clearance position, the driving member 24 performs one reverse rotation action to switch the swing mechanism 14 to the inner ground clearance position at a third rotational speed, the third rotational speed being less than the second rotational speed. The controller can control the driving member 24 to rotate in the opposite direction to perform the reverse rotation action.

[0128] Initially, the cleaning assembly 20 touches the ground and rotates in the second direction to clean. During the process of switching the swing mechanism 14 from the inner cleaning position to the inner ground clearance position, the driving member 24 performs one reverse rotation action at the third rotational speed, i.e., the driving member 24 is operated in the first direction and drives the cleaning assembly 20 to rotate in the first direction, so as to switch the swing mechanism 14 to the inner ground clearance position.

[0129] After the driving member 24 performs one reverse rotation action, the controller determines, according to the output of the position sensor, that the swing mechanism 14 is switched to the inner ground clearance position, and the controller can control the driving member 24 to stop rotating, so as to stop the driving member 24 and the cleaning assembly 20 from rotating.

[0130] When the swing mechanism 14 is in the inner cleaning position, the first transmission member 36 is located in the first region 52 and abuts against the second limit portion 50 to drive the cleaning assembly 20 to rotate in the second direction. During the process of switching the swing mechanism 14 from the inner cleaning position to the inner ground clearance position, the first transmission member 36 is switched from the first region 52 to the second region 54 in the first direction, and the swing mechanism 14 is switched to the inner ground clearance position.

[0131] The driving member 24 performs one reverse rotation action at the third rotation speed to switch the swing mechanism 14 to the inner-retracted off-ground position. The driving member 24 performs two reverse rotation actions at the third rotation speed to switch the swing mechanism 14 to the inner-retracted off-ground position. The more the reverse rotation actions are performed during the switching of the inner-retracted cleaning position to the inner-retracted off-ground position, the more the first transmission member 36 can be ensured to be located in the second region 54, thereby improving the success rate of the switching of the swing mechanism 14 to the inner-retracted off-ground position. It can be understood that the more the reverse rotation actions are performed, the more time is consumed.

[0132] In an embodiment, the driving member 24 includes a motor, and the corresponding rotation speed of the motor can be achieved by the duty cycle of the driving signal. In an example, the duty cycle of the driving signal corresponding to the third rotation speed is 18%.

[0133] In an embodiment, the duration of the n+1th reverse rotation action is less than the duration of the nth reverse rotation action, and n is a natural number greater than or equal to 1.

[0134] Therefore, the first transmission member 36 can be ensured to be located in the second region 54 to a certain extent, and the time can be reduced, thereby enabling the swing mechanism 14 to be located in the inner-retracted off-ground position.

[0135] When the driving member 24 rotates, the first transmission member 36 can be driven to rotate. The longer the driving member 24 rotates, the greater the rotation angle of the first transmission member 36. The duration of the n+1th reverse rotation action being less than the duration of the nth reverse rotation action causes the rotation angle of the first transmission member 36 corresponding to the n+1th reverse rotation action to be less than the rotation angle of the first transmission member 36 corresponding to the nth reverse rotation action.

[0136] In Figure 17 , the number of reverse rotation actions is two, and the duration of the second reverse rotation action is less than the duration of the first reverse rotation action. The second reverse rotation action is relatively small, and the rotation angle of the first transmission member 36 driven by the driving member 24 is also relatively small.

[0137] The driving member 24 rotates by a corresponding angle, thereby driving the first transmission member 36 to rotate. The second region 54 and the third region 56 are provided with a first connection region 62, and the first region 52 and the second region 54 are provided with a second connection region 64.

[0138] In an embodiment, when the swing mechanism 14 is in the inner-retracted cleaning position, the first transmission member 36 is located in the first region 52 and abuts against the second limiting portion 50. The driving member 24 drives the first transmission member 36 to rotate in the second direction, so that the cleaning assembly 20 rotates in the second direction.

[0139] During the transition from the inward cleaning position to the inward off-ground position, the drive member 24 performs a reverse rotation at a third rotation speed. That is, the drive member 24 drives the first transmission member 36 to rotate along the first direction, causing the first transmission member 36 to move from the first region 52 along the second connecting region 64 to the second region 54. Due to inertia, the first transmission member 36 may jump from the second region 54 onto the first connecting region 62. At this time, the drive member 24 performs another reverse rotation, that is, the drive member 24 drives the first transmission member 36 to rotate along the second direction, thereby ensuring to a certain extent that the first transmission member 36 can rotate to the second region 54, and the yaw mechanism 14 is in the inward off-ground position.

[0140] Optionally, in Figure 17 In the inward cleaning position, the drive member 24 drives the first transmission member 36 to perform a reverse rotation action V1 along the first direction. Then, the drive member 24 performs a reverse rotation action V2 along the second direction. The duration of the reverse rotation action V2 is shorter than the duration of the reverse rotation action V1, resulting in a smaller rotation angle of the first transmission member 36 corresponding to the reverse rotation action V2 compared to the rotation angle of the first transmission member 36 corresponding to the reverse rotation action V1. This makes it easier for the first transmission member 36 to switch to the second region 54.

[0141] It is understood that the drive component 24 can perform not only one or two reverse rotation actions, but also three, four, or other numbers of reverse rotation actions; no specific limitation is made here. Figure 17 This indicates a change in the rotation direction of the first transmission component 36 and the driving component 24, but does not represent the actual movement trajectory of the first transmission component 36.

[0142] The present invention does not specifically limit the duration of the reverse rotation action. In one example, during the process of switching from the inward cleaning position to the inward off-ground position, the drive unit 24 performs two reverse rotation actions, the first reverse rotation action lasting for 0.4 seconds and the second reverse rotation action lasting for 0.2 seconds.

[0143] In one embodiment, the cleaning device 100 is configured as follows: If the yaw mechanism 14 does not switch to the inward-adjusted and ground-lifted position after the drive member 24 performs at least one reverse rotation action at a fifth speed, where the fifth speed is greater than the third speed.

[0144] Therefore, a larger rotational speed can be used to try to switch the yaw mechanism 14 from the inward cleaning position to the inward off-ground position.

[0145] After the driving member 24 performs the at least one reverse rotation action at the third rotation speed, in a case where the controller determines that the yaw mechanism 14 does not switch to the inner-retracted off-ground position according to the output of the position sensor, the controller can control the driving member 24 to perform the at least one reverse rotation action again at a fifth rotation speed, the fifth rotation speed being greater than the third rotation speed.

[0146] In an embodiment, the driving member 24 comprises a motor, and the corresponding motor rotation speed can be achieved by the duty cycle of the driving signal. In an example, the duty cycle of the driving signal corresponding to the fifth rotation speed is 25%.

[0147] The present application does not specifically limit the duration of the reverse rotation action. In an example, the driving member 24 performs two reverse rotation actions at the fifth rotation speed, the first reverse rotation action has a duration of 0.4 seconds and is in the first direction, and the second reverse rotation action has a duration of 0.2 seconds and is in the second direction.

[0148] In an embodiment, the cleaning device 100 is configured to: In a case where the yaw mechanism 14 does not switch to the corresponding position for m consecutive times after the driving member 24 performs the reverse rotation action, the cleaning device 100 issues a prompt of an abnormality of the cleaning assembly 20, m being a natural number greater than or equal to 2.

[0149] In this way, the cleaning device 100 can issue a prompt of an abnormality of the cleaning assembly 20, so that the user can troubleshoot the abnormality of the cleaning assembly 20.

[0150] Specifically, in an embodiment, in the process of switching the outer-yaw cleaning position to the inner-retracted cleaning position, in a case where the yaw mechanism 14 does not switch to the inner-retracted cleaning position for m consecutive times after the driving member 24 performs the reverse rotation action, the cleaning device 100 issues a prompt of an abnormality of the cleaning assembly 20. The prompt can be a prompt to clean the ground debris or replace a new cleaning assembly 20. The prompting manner includes but is not limited to displaying text, patterns, playing voice, and pushing information to a user terminal. The user terminal includes but is not limited to a mobile phone, a tablet computer, a computer, a wearable smart device (such as a smart watch, a smart bracelet, a smart helmet, smart glasses), and the like.

[0151] In an embodiment, in the process of switching the inner-retracted off-ground position to the inner-retracted cleaning position, in a case where the yaw mechanism 14 does not switch to the inner-retracted cleaning position for m consecutive times after the driving member 24 performs the reverse rotation action, the cleaning device 100 issues a prompt of an abnormality of the cleaning assembly 20. The prompt can be a prompt to clean the ground debris or replace a new cleaning assembly 20. The prompting manner includes but is not limited to displaying text, patterns, playing voice, and pushing information to a user terminal. The user terminal includes but is not limited to a mobile phone, a tablet computer, a computer, a wearable smart device (such as a smart watch, a smart bracelet, a smart helmet, smart glasses), and the like.

[0152] In one embodiment, in the process of switching from the inward cleaning position to the inward off-ground position, in the case that the deflection mechanism 14 has not switched to the inward off-ground position for m times consecutively after the driving member 24 performs the reverse rotation action, the cleaning device 100 sends a prompt of abnormality of the cleaning assembly 20. The prompt can be a prompt of checking the state of the cleaning assembly 20. The prompting manner includes but is not limited to displaying text, pattern, playing voice, and pushing information to a user terminal. The user terminal includes but is not limited to a mobile phone, a tablet computer, a computer, a wearable smart device (such as a smart watch, a smart bracelet, a smart helmet, and smart glasses), and the like.

[0153] In the process of switching from the outward deflection cleaning position to the inward off-ground position, the deflection mechanism 14 can first switch from the outward deflection cleaning position to the inward cleaning position, and then switch from the inward cleaning position to the inward off-ground position.

[0154] It can be understood that the explanation and description of the embodiment of switching from the inward off-ground position to the inward cleaning position and switching from the inward cleaning position to the outward deflection cleaning position can refer to the explanation and description of the embodiment of switching from the outward deflection cleaning position to the inward cleaning position, the embodiment of switching from the inward off-ground position to the inward cleaning position, and the embodiment of switching from the inward cleaning position to the inward off-ground position, which will not be described in detail herein.

[0155] In one example, m = 3, that is, in the case that the deflection mechanism 14 has not switched to the corresponding position for 3 times consecutively after the driving member 24 performs the reverse rotation action, the cleaning device 100 sends a prompt of abnormality of the cleaning assembly 20.

[0156] In one embodiment, the cleaning device 100 is configured to: In the case that the deflection mechanism 14 switches to the inward off-ground position, the driving member 24 stops rotating.

[0157] Therefore, in the case that the deflection mechanism 14 is in the inward off-ground position, the cleaning assembly 20 can stop rotating.

[0158] Specifically, in some application scenarios, such as scenarios of cleaning carpets, obstacle crossing, backwashing, and air drying, the cleaning device 100 can not need to perform cleaning operations. The deflection mechanism 14 can be in the inward off-ground position. At this time, the cleaning assembly 20 is separated from the ground, the controller can control the driving member 24 to stop rotating, and then the cleaning assembly 20 also stops rotating, which can protect the cleaning assembly 20 to a certain extent.

[0159] In one embodiment, the cleaning device 100 is configured to: before performing each reverse rotation action, the driving member 24 stops rotating for a second preset time length.

[0160] Therefore, the induced current can be avoided.

[0161] Specifically, in one embodiment, the driving member 24 can be a brush motor, and the driving member 24 stops rotating for a second preset time length before performing each reverse rotation action. The induced current of the motor can be avoided when the reverse rotation action is performed, so that the accuracy of motor control can be improved.

[0162] The present application does not limit the specific value of the second preset time length. In one example, the second preset time length is 0.2 seconds.

[0163] In one embodiment, the rotation speed of the driving member 24 is achieved by a corresponding duty cycle, and the rotation speed of the driving member 24 is positively correlated with the duty cycle.

[0164] Therefore, the control of the rotation speed of the driving member 24 can be achieved.

[0165] Specifically, in one embodiment, the driving member 24 can include a motor, and the controller can control the driving member 24 to operate, including the control of the rotation speed and the rotation direction of the driving member 24. The controller can control the rotation speed of the driving member 24 by the duty cycle of the driving signal. The rotation speed of the driving member 24 is positively correlated with the duty cycle, that is, the greater the duty cycle, the greater the corresponding rotation speed of the driving member 24.

[0166] In one embodiment, the cleaning device 100 is configured to: When the driving current of the driving member 24 is greater than the first set current and lasts for the first time length, the cleaning device 100 issues a prompt of abnormality of the yawing structure when the yawing mechanism 14 is in the outer yawing cleaning position or the inner retraction cleaning position.

[0167] Therefore, the user can be reminded to check the state of the yawing mechanism 14 during the cleaning process.

[0168] Specifically, in the case that the yawing mechanism 14 is in the outer yawing cleaning position or the inner retraction cleaning position, the driving member 24 can drive the cleaning assembly 20 to rotate to clean the ground. When the driving current of the driving member 24 is greater than the first set current and lasts for more than the first time length during the cleaning process of the cleaning assembly 20, the cleaning device 100 can determine that the yawing structure is abnormal, and issue a prompt of abnormality of the yawing structure.

[0169] In one embodiment, the driving member 24 includes a motor, and the first set current can be the maximum working current of the motor. In one example, when the driving current of the driving member 24 is greater than 0.35A and lasts for more than 3 seconds, the cleaning device 100 can determine that the yawing structure is abnormal, and issue a prompt of abnormality of the yawing structure. The prompt mode can refer to the above explanation of the prompt mode, which will not be described in detail here.

[0170] In one embodiment, the cleaning device 100 is configured to: In the process of switching the deflection mechanism 14 from one position to another, when the current of the driving member 24 is greater than the second set current and lasts for more than the second time length, the cleaning device 100 gives a prompt of deflection mechanism abnormality.

[0171] In this way, the user can be reminded to check the state of the deflection mechanism 14 in the process of position switching.

[0172] Specifically, in the case of switching the deflection mechanism 14 from one position to another (such as switching from the outer deflection cleaning position to the inner retraction cleaning position), the driving member 24 can perform a rotating or reverse rotating action. When the current of the driving member 24 is greater than the second set current and lasts for more than the second time length, the cleaning device 100 can determine that the deflection mechanism is abnormal, and give a prompt of deflection mechanism abnormality.

[0173] In one embodiment, the driving member 24 includes a motor, and the second set current can be the locked-rotor current of the motor. In one example, when the current of the driving member 24 is greater than 0.6 A and lasts for more than 3 seconds, the cleaning device 100 can determine that the deflection mechanism is abnormal, and give a prompt of deflection mechanism abnormality. The prompt mode can refer to the above description of the prompt mode, and will not be expanded here.

[0174] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0175] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, combinations, modifications, replacements and variations of the embodiments can be made without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that, Includes the housing and the oscillation mechanism; The housing includes a base plate, and the oscillation mechanism is rotatably connected to the base plate; the oscillation mechanism includes a driving component, a transmission component, and a cleaning component, the driving component being located inside the housing, and the cleaning component being located outside the housing; The base plate is provided with a through hole, through which the transmission component passes and connects to the drive component and the cleaning component; The drive element is rotatable in a first direction or a second direction to drive the cleaning assembly to rotate, wherein the first direction is opposite to the second direction; The oscillating mechanism can switch between an outward oscillating position and an inward retracting position relative to the housing; The oscillation mechanism also includes a cover plate, which is located outside the housing and its orthographic projection on the housing covers the through hole. The cover plate is fixedly connected to the housing of the transmission assembly and can rotate with the oscillation mechanism.

2. The cleaning equipment according to claim 1, characterized in that, The transmission assembly includes a gear set, and the cover plate is fixedly connected to the housing of the gear set. The cover plate is rotated by the swinging of the housing of the gear set.

3. The cleaning equipment according to claim 1, characterized in that, The cleaning device is configured such that when the cleaning component rotates along the first direction and is subjected to a frictional torque along the second direction, the oscillating mechanism oscillates relative to the housing along the second direction to the outward oscillation position; and when the cleaning component rotates along the second direction and is subjected to a frictional torque along the first direction, the oscillating mechanism oscillates relative to the housing along the first direction to the inward oscillation position.

4. The cleaning equipment according to claim 1, characterized in that, The transmission assembly includes a first transmission member and a second transmission member. The first transmission member connects the drive member and the second transmission member, and the second transmission member connects the cleaning assembly. The second transmission member has a track surface, and the first transmission member is movably supported against the track surface. The drive member is configured to drive the first transmission member to rotate, causing the first transmission member to move on the track surface, thereby raising and lowering the cleaning assembly relative to the housing. This allows the cleaning assembly to switch between a cleaning position that is in contact with the ground and a ground-lifting position that is detached from the ground.

5. The cleaning equipment according to claim 4, characterized in that, The trajectory surface is provided with a first limiting part and a second limiting part respectively. When the first transmission member abuts against the first limiting part, the first limiting part is configured to limit the end point of the movement of the first transmission member along the first direction on the trajectory surface. When the first transmission member abuts against the second limiting part, the second limiting part is configured to limit the end point of the movement of the first transmission member along the second direction on the trajectory surface. The cleaning component is located at the cleaning position when the first transmission member is located at the end point of its travel along the first direction on the track surface and at the end point of its travel along the second direction on the track surface.

6. The cleaning equipment according to claim 5, characterized in that, The trajectory surface includes a first region, a second region, and a third region. Along the first direction, the first region, the second region, and the third region are connected in sequence. When the first transmission member abuts against the first region or the third region, the cleaning component is located at the cleaning position. When the first transmission member abuts against the second region, the cleaning component is located at the off-ground position.

7. The cleaning equipment according to claim 6, characterized in that, The yaw mechanism is configured as follows: When the driving member drives the first transmission member to rotate from the second region to the third region along the first direction, the cleaning component descends from the ground position to the cleaning position and the first transmission member abuts against the first limiting part. When the driving member drives the first transmission member to rotate from the third region to the second region along the second direction, the cleaning assembly rises from the cleaning position to the ground-free position and the first transmission member separates from the first limiting part and the second limiting part; When the driving member drives the first transmission member to rotate from the second region to the first region along the second direction, the cleaning component descends from the ground position to the cleaning position and the first transmission member abuts against the second limiting part. When the driving member drives the first transmission member to rotate from the first region to the second region along the first direction, the cleaning component rises from the cleaning position to the ground position and the first transmission member separates from the second limiting part and the first limiting part.

8. The cleaning equipment according to claim 6, characterized in that, The cleaning equipment is configured as follows: When the first transmission member is in the third region, the cleaning component is in the cleaning position and the swing mechanism is in the swing position, and the driving member is configured to drive the cleaning component to rotate along the first direction via the first limiting part; When the driving member drives the first transmission member to move from the third region to the second region along the second direction, the cleaning assembly rises from the cleaning position to the off-ground position; When the driving member drives the first transmission member to move from the second region to the first region along the second direction, the cleaning component descends from the ground position to the cleaning position, and the oscillating mechanism is subjected to a frictional torque along the first direction to swing from the outward oscillating position to the inward oscillating position. The driving member is configured to drive the cleaning component to rotate along the second direction through the second limiting part. When the first transmission member is in the first region, the cleaning component is in the cleaning position and the sway mechanism is in the retracted position, and the driving member is configured to drive the cleaning component to rotate in the second direction via the second limiting part; When the driving member drives the first transmission member to move from the first region to the second region along the first direction, the cleaning component rises from the cleaning position to the ground position; When the driving member drives the first transmission member to move from the second region to the third region along the first direction, the cleaning component descends from the ground position to the cleaning position, and the oscillating mechanism swings from the inward position to the outward position under the frictional torque along the second direction. The driving member is configured to drive the cleaning component to rotate along the first direction through the first limiting part.

9. The cleaning equipment according to claim 4, characterized in that, The sway mechanism includes a reset member. When the sway mechanism is in the cleaning position, the reset member is compressed downward by the second transmission member. During the process of the sway mechanism switching from the cleaning position to the off-ground position, the reset member can extend upward to drive the second transmission member to rise, thereby driving the cleaning component to rise to the off-ground position.

10. The cleaning equipment according to claim 9, characterized in that, The transmission assembly includes a rotating shaft, which is fixedly connected to the first transmission member and rotatably inserted into the second transmission member. The reset member is located inside the second transmission member and sleeved on the portion of the rotating shaft located inside the second transmission member. One end of the reset member abuts against the second transmission member, and the other end abuts against an end cap connected to the end of the rotating shaft. The second transmission member and the cleaning assembly can move up and down along the axial direction of the rotating shaft.

11. The cleaning equipment according to claim 4, characterized in that, The cover plate is provided with mounting holes, and the second transmission component passes through the mounting holes.

12. The cleaning equipment according to claim 1, characterized in that, The shape of the through hole corresponds to the swing trajectory of the oscillating mechanism, and the swing stroke of the oscillating mechanism is limited by the through hole.

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