Cleaning equipment

Abstract

The invention provides cleaning equipment. The cleaning equipment comprises a rack, a first connecting piece, a second connecting piece, a cleaning mechanism and a driving mechanism; the first connecting piece is fixedly mounted on the rack; the second connecting piece is slidably connected to the first connecting piece; the cleaning mechanism comprises a cleaning piece, is installed on the second connecting piece and is in linkage with the second connecting piece, so that the cleaning piece is provided with an inwards-shrinking position and a plurality of outwards-expanding positions relative to the rack. The driving mechanism is used for driving the second connecting piece to slide so as to drive the cleaning piece to operate through sliding of the second connecting piece. The plurality of external expansion positions at least comprise a first external expansion position, a second external expansion position and a third external expansion position; at the first external expansion position, the edge of the cleaning part is flush with the edge of the rack, and at the second external expansion position and the third external expansion position, the edge of the cleaning part extends out of the edge of the rack. The technical problem that the cleaning effect is limited due to the fact that the cleaning part cannot adapt to diversified cleaning scenes due to the single external expansion position can be solved.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and more particularly to a cleaning device. Background Technology

[0002] Existing cleaning devices with outward expansion capabilities typically have only a single outward expansion position for their cleaning components. This structure is significantly less adaptable to diverse real-world cleaning scenarios. Specifically, when cleaning shallow crevices or the bottom of low furniture, a fixed outward expansion may cause the cleaning component to overextend, leading to mechanical jamming or accelerated wear. Conversely, when cleaning deep corners or narrow crevices, the same outward expansion may be insufficient to effectively reach and clean the target area, ultimately creating cleaning blind spots. Summary of the Invention

[0003] This invention provides a cleaning device to improve the technical problem that the cleaning components cannot adapt to diverse cleaning scenarios due to their single external expansion position, thus limiting the cleaning effect.

[0004] The present invention provides a cleaning device, comprising: a frame, a first connector, a second connector, a cleaning mechanism, and a driving mechanism; the first connector is fixedly installed on the frame; the second connector is slidably connected to the first connector; the cleaning mechanism includes a cleaning component, which is a mop assembly; the cleaning component is mounted on the second connector and moves in conjunction with the second connector, so that the cleaning component has an inward position and multiple outward positions relative to the frame; the driving mechanism is used to drive the second connector to slide relative to the first connector, so that the cleaning component moves between the inward position and the outward position through the sliding of the second connector; wherein, the multiple outward positions include at least a first outward position, a second outward position, and a third outward position; in the first outward position, the edge of the cleaning component is flush with the edge of the frame; in the second and third outward positions, the edge of the cleaning component extends beyond the edge of the frame, and in the third outward position, the distance by which the edge of the cleaning component extends beyond the edge of the frame is greater than the distance by which the edge of the cleaning component extends beyond the edge of the frame in the second outward position.

[0005] The beneficial effects of this design are as follows: The cleaning component has three working states: a first extended position, a second extended position, and a third extended position, each corresponding to different cleaning coverage areas and scene adaptability. When the cleaning component is in the first extended position, its edge remains flush with the edge of the rack, allowing for seamless cleaning of vertical surfaces such as walls and baseboards without colliding with furniture, thus achieving basic coverage of edge areas. Simultaneously, since the cleaning component does not extend beyond the rack's outline, it will not interfere with the normal movement of the cleaning equipment, ensuring smooth movement during the cleaning process. When the cleaning component switches to the second extended position, its edge extends beyond the rack's edge, allowing it to at least partially reach into common corners and irregular gaps, expanding its cleaning capabilities for common complex structures. This is suitable for cleaning typical scenarios such as gaps between cabinets and walls, and the bottoms of regular furniture. When the cleaning unit is switched to the third extended position, its edge extends further beyond the frame edge, creating a larger extension. This allows the cleaning unit to reach deep, hard-to-reach areas that traditional cleaning equipment struggles to access, such as the deep recesses under large furniture pieces and the backs of narrow crevices, thus improving coverage of all edges and corners throughout the house. This three-level adjustable extension design allows the cleaning equipment to progressively expand its cleaning range while maintaining mobility, enhancing its adaptability to different home layouts and edge shapes.

[0006] In one embodiment of the present invention, along the width direction of the frame, at the second outward expansion position, the edge of the cleaning component extends 20mm beyond the edge of the frame; the width direction of the frame is perpendicular to the walking direction of the cleaning equipment.

[0007] The advantages of this design are as follows: In this embodiment, the outward extension distance of the second extension position is set to 20mm. This extension distance can match the standard gap between furniture and walls in most home scenarios, allowing the cleaning component to fully penetrate into such gaps and effectively cover common edge dead corners. At the same time, this extension distance also reduces the risk of collisions with furniture legs, wall corners, and other protrusions due to excessive extension of the cleaning component, thus achieving a good balance between cleaning effect and equipment protection.

[0008] In one embodiment of the present invention, along the width direction of the frame, at the third outward expansion position, the edge of the cleaning component extends 40mm beyond the edge of the frame; the width direction of the frame is perpendicular to the walking direction of the cleaning equipment.

[0009] The beneficial effects of this design are as follows: In this embodiment, by setting the outward extension distance of the third extension position to 40mm, the cleaning component can fully penetrate areas that traditional cleaning equipment cannot effectively cover, such as the bottom of most large furniture and gaps between pipes and walls. Therefore, the cleaning range of the cleaning equipment can be expanded. This 40mm outward extension distance, together with the aforementioned 20mm second outward extension position, can form a gradient cleaning mode from "basic coverage" to "deep cleaning." Users can flexibly choose the appropriate outward extension distance according to the actual scenario, thereby improving cleaning efficiency while better adapting to diverse home environment needs.

[0010] In one embodiment of the present invention, the second connector has multiple preset positions along the sliding direction of the second connector, and the multiple preset positions correspond one-to-one with multiple outward expansion positions; the cleaning device also includes a gear adjustment mechanism, which is used to control the operation of the drive mechanism so that the second connector can selectively stop at any preset position, thereby causing the cleaning component to stop at the corresponding outward expansion position.

[0011] The beneficial effects of this design are as follows: In this embodiment, the cleaning device can switch the second connecting member between multiple preset positions through the cooperation of the drive mechanism and the gear adjustment mechanism, thereby enabling selective adjustment of the cleaning component between the retracted position and multiple different outward expansion positions. This structure can improve the problem that traditional cleaning devices, due to the single outward expansion mode of the cleaning component, are unable to conform to different furniture layouts and edge shapes. It allows the cleaning component to flexibly select different outward expansion positions according to the needs of complex scenarios such as the bottom of sofas, the edges of concave furniture, or corner gaps, thereby reducing cleaning blind spots during the cleaning process, improving adaptability to different home environments, and enhancing the overall cleaning effect of the cleaning device.

[0012] In one embodiment of the present invention, the driving mechanism includes:

[0013] The first driving component is mounted on the first connecting component and has a rotating output end. The first driving component is a drive motor.

[0014] The first translation component includes a power input end and a power output end. The power input end is connected to the rotation output end, and the power output end is connected to the second connector to drive the second connector to move between multiple preset positions.

[0015] The gear adjustment mechanism includes an encoder and a controller. The encoder is electrically connected to the first drive component. The controller can control the operation of the first drive component according to the electrical signal fed back by the encoder, so as to control the sliding distance of the second connector and allow the second connector to be selectively stopped at any preset position.

[0016] The beneficial effects of this setup are as follows: By setting an encoder to monitor the rotation parameters of the drive motor in real time, the controller can precisely control the operation of the first drive component based on the electrical signals fed back from the encoder, thereby achieving precise adjustment of the sliding distance of the second connecting component, allowing it to selectively stop at any preset position. This control method not only ensures the positioning accuracy of the cleaning component in its outward or inward state but also ensures the stability of the cleaning effect under different cleaning conditions. Simultaneously, this non-contact detection mechanism effectively avoids the component wear and jamming problems common in mechanical positioning mechanisms, significantly improving the overall service life and environmental adaptability of the motion mechanism, making it particularly suitable for work scenarios requiring frequent adjustments to the cleaning range.

[0017] In one embodiment of the present invention, the first translation component includes a lead screw and a lead screw nut. The lead screw is rotatably disposed on the first connector and connected to the rotary output end. The lead screw nut is threadedly engaged with the lead screw and connected to the second connector. The first driving member drives the lead screw to rotate, thereby causing the lead screw nut to move horizontally, and then driving the second connector to slide horizontally.

[0018] The beneficial effects of this design are as follows: The first translation component adopts a lead screw and nut drive structure. On the one hand, lead screw drive has excellent repeatability and positioning accuracy, effectively avoiding the elastic deformation or slippage that easily occurs in traditional belt drives during forward and reverse operation. It also overcomes the shortcomings of large backlash in rack and pinion drives, thus ensuring precise and stable positioning control of the cleaning component when switching between different expansion positions. On the other hand, by selecting trapezoidal or ball screws with self-locking functions, the transmission system can automatically lock the current position after the drive stops, effectively preventing accidental displacement of the cleaning component due to gravity or external interference, which helps improve the safety and reliability of the cleaning equipment.

[0019] In one embodiment of the present invention, the gear adjustment mechanism further includes a position detection component. When the position detection component is disposed in the first connector and / or at least one outward expansion position, the controller can control the drive mechanism to stop running according to the position electrical signal issued by the position detection component.

[0020] The beneficial effects of this configuration are as follows: This embodiment adds a position detection component to the encoder and controller. The position detection component sends an electrical signal to stop the drive mechanism, achieving precise positioning of the cleaning component at the target location. This design effectively calibrates and compensates for the encoder's control accuracy. Specifically, although the encoder can achieve precise displacement control, the mechanical transmission system may accumulate errors due to wear, deformation, or signal loss during long-term use, causing the actual control position of the cleaning component to gradually deviate from the preset value. In this case, the position detection component can serve as a physical reference point. When the cleaning component moves to its trigger position, the controller can respond to the position signal and execute a stop command, unaffected by the current accumulated error of the encoder. This control mechanism can correct the stop position and eliminate errors in real time during each outward movement of the cleaning component, ensuring long-term positioning consistency of key points. It can also be used as a system self-checking method. If there is a continuous deviation between the encoder feedback and the position signal, the system can determine a transmission abnormality and issue a maintenance reminder in a timely manner, thereby improving the overall reliability and intelligence level of operation.

[0021] In one embodiment of the present invention, in the retracted position, the cleaning component has a raised position and a lowered position. In the raised position, the cleaning component is lifted away from the surface to be cleaned, and in the lowered position, the cleaning component contacts the surface to be cleaned. When the cleaning component is in the raised position, the positioning detection component generates a first positioning electrical signal, and the controller controls the drive mechanism to stop running according to the first positioning electrical signal.

[0022] The beneficial effects of this setup are as follows: By incorporating positioning detection and control functions at the lifting position of the cleaning component, this position becomes a unified initial reference point for the component's outward expansion. When the cleaning component reaches the lifting position, the positioning detection component triggers the first positioning electrical signal, which the controller uses to stop the drive mechanism, ensuring that the cleaning component returns to the same position each time it starts and resets. This setup provides a reliable positioning starting point for subsequent outward expansion movements, helping to mitigate the cumulative errors that may arise from repeated operations. Simultaneously, this initial position detection and control mechanism establishes a verifiable physical reference for the control system, providing a clear reference position, thus improving the maintainability of the cleaning component's operating status and its fault diagnosis and recovery capabilities.

[0023] In one embodiment of the present invention, when the cleaning component moves to the first outward expansion position, the positioning detection component generates a second positioning electrical signal, and the controller controls the drive mechanism to stop operating according to the second positioning electrical signal.

[0024] The beneficial effects of this design are as follows: In this embodiment, by setting a positioning detection component at the first outward expansion position, a second positioning electrical signal is triggered when the cleaning component is flush with the edge of the frame. The controller then stops the drive mechanism accordingly. This design not only achieves precise positioning of the cleaning component but also utilizes the visual reference provided by the flush position to bring other beneficial effects to the installation and commissioning of the cleaning equipment: On the one hand, installers can quickly complete the positioning and installation of the detection component using this visible reference, effectively reducing assembly difficulty and ensuring consistency. On the other hand, during routine maintenance, staff can intuitively determine whether there are operational errors by observing the alignment status, thus improving the maintainability of the equipment.

[0025] In one embodiment of the present invention, the positioning detection component includes a position detection element and a stop, one of which is disposed on a first connector and the other is disposed on a second connector; when the cleaning component is in a raised position or a first outward expansion position, the stop triggers the position detection element and causes the position detection element to generate a first positioning electrical signal or a second positioning electrical signal.

[0026] The beneficial effects of this design are as follows: This embodiment employs a trigger-based detection scheme that combines a stop block with a position detection element, achieving accurate detection of the cleaning component at key positions such as the raised position and the first outward expansion position. When the cleaning component moves to these positions, the stop block interacts with the corresponding position detection element and triggers the corresponding positioning electrical signal, providing clear position feedback to the controller, thereby achieving reliable identification and precise control across multiple position states. This scheme has a simple structure, consisting only of a stop block and a position detection element, and has the advantages of low cost and small footprint, making it particularly suitable for use in installation environments with limited internal space for cleaning equipment. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0028] In the attached diagram:

[0029] FIG. 1 This is a schematic diagram of the overall structure of a cleaning device provided in an embodiment of the present invention;

[0030] FIG. 2 This is a schematic diagram of a cleaning device with a receiving cavity in one embodiment of the present invention;

[0031] FIG. 3 for FIG. 1Another perspective view of the embodiment shown;

[0032] FIG. 4 This is a partial exploded view of a cleaning device provided in one embodiment of the present invention;

[0033] FIG. 5 This is a schematic diagram of the installation structure of the first connector, the second connector, the cleaning mechanism, and the driving mechanism in one embodiment of the present invention;

[0034] FIG. 6 This is a schematic diagram of the installation structure of the first connector, the second connector, and the cleaning mechanism in one embodiment of the present invention;

[0035] FIG. 7 for FIG. 6 The exploded view of the parts in the embodiment shown;

[0036] FIG. 8 This is a schematic diagram of a cleaning mechanism with a connecting component in one embodiment of the present invention;

[0037] FIG. 9 for FIG. 8 A magnified view of a portion of region A in the middle;

[0038] FIG. 10 This is a bottom view of the cleaning mechanism in the retracted position according to an embodiment of the present invention;

[0039] FIG. 11 This is a bottom view of the cleaning mechanism in the first outward expansion position according to an embodiment of the present invention;

[0040] FIG. 12 This is a bottom view of the cleaning mechanism in the second outward expansion position according to an embodiment of the present invention;

[0041] FIG. 13 This is a schematic diagram of a drive mechanism consisting of a lead screw and a lead screw nut in one embodiment of the present invention;

[0042] FIG. 14 This is a schematic diagram of the overall structure of the second connector in one embodiment of the present invention;

[0043] FIG. 15 This is a schematic diagram of the installation structure between the nut, the elastic element and the second connector in one embodiment of the present invention;

[0044] FIG. 16 This is an exploded view of some parts between the cover plate and the first connector, the second connector and the cleaning mechanism in one embodiment of the present invention;

[0045] FIG. 17 As shown in one embodiment of the present invention FIG. 13 A magnified view of a portion of region C in the middle;

[0046] FIG. 18 This is a schematic diagram of the falling position of the cleaning component in the retracted position according to one embodiment of the present invention;

[0047] FIG. 19 This is a schematic diagram of the lifting position of the cleaning component in the retracted position according to one embodiment of the present invention;

[0048] FIG. 20 This is a bottom view of the cleaning mechanism in the third outward expansion position according to one embodiment of the present invention;

[0049] FIG. 21 This is a schematic diagram showing the location of the gear adjustment mechanism in one embodiment of the present invention;

[0050] FIG. 22 for FIG. 21 A magnified view of a portion of region F in the middle;

[0051] FIG. 23 for FIG. 21 A magnified view of a portion of region E in the middle;

[0052] FIG. 24 This is a top view of the installation structure between the drive mechanism, the first connector, the second connector, and the cleaning mechanism in one embodiment of the present invention;

[0053] FIG. 25 This is a schematic diagram of the cover plate closing the sliding cavity in one embodiment of the present invention;

[0054] FIG. 26 This is a schematic diagram of the installation structure between the elastic element, the nut, and the second connector in one embodiment of the present invention;

[0055] FIG. 27 for FIG. 26 A magnified view of a portion of region G in the middle;

[0056] FIG. 28 This is a schematic diagram of a structure in which the second connector is provided with a first sliding groove in one embodiment of the present invention;

[0057] FIG. 29 for FIG. 25 Top view of the embodiment shown;

[0058] FIG. 30 for FIG. 29 A cross-sectional view along the HH direction;

[0059] FIG. 31 This is a schematic diagram of the overall structure of the silk mother in one embodiment of the present invention;

[0060] FIG. 32 This is a schematic diagram of the structure in an embodiment of the present invention with the elastic element removed from the mounting groove;

[0061] FIG. 33This is a schematic diagram of the second guide structure in one embodiment of the present invention;

[0062] FIG. 34 This is an exploded view of the first and second connectors in one embodiment of the present invention;

[0063] FIG. 35 This is a schematic diagram of a first protrusion structure provided on a second connector in one embodiment of the present invention;

[0064] FIG. 36 This is a schematic diagram of the mounting structure of the first protrusion structure on the first side wall in one embodiment of the present invention;

[0065] FIG. 37 for FIG. 36 A magnified view of a portion of region I;

[0066] FIG. 38 This is a schematic diagram of the structure of the cleaning component when the first connecting component is removed in the raised position according to one embodiment of the present invention;

[0067] FIG. 39 for FIG. 38 A magnified view of a portion of region J in the middle;

[0068] FIG. 40 This is a schematic diagram of the structure in one embodiment of the present invention, showing the first connecting member removed when the cleaning component is in the second falling position;

[0069] FIG. 41 for FIG. 40 A magnified view of a portion of the K region;

[0070] FIG. 42 This is a schematic diagram of the structure in one embodiment of the present invention, showing the first connecting member removed when the cleaning member is in the first falling position;

[0071] FIG. 43 for FIG. 42 A magnified view of a portion of region L in the middle;

[0072] FIG. 44 for FIG. 10 A magnified view of a portion of region B in the middle;

[0073] FIG. 45 This is a schematic diagram of another angle of the structure when the supporting part is in the first platform position in one embodiment of the present invention;

[0074] FIG. 46 for FIG. 45 A magnified view of a portion of region M in the middle;

[0075] FIG. 47 This is a partial structural diagram of the cleaning component in the first outward expansion position according to an embodiment of the present invention;

[0076] FIG. 48 This is a partial structural diagram of the cleaning component in the second outward expansion position according to one embodiment of the present invention;

[0077] FIG. 49 This is a partial structural diagram of the cleaning component in the third outward expansion position according to one embodiment of the present invention.

[0078] The attached figures are labeled as follows:

[0079] 100. Cleaning equipment; 10. Frame; 101. Receiving cavity; 1011. Inner sidewall; 102. Tangent; 11. First connector; 111. Sliding cavity; 1111. Opening; 1112. Second slide rail; 1113. Second sidewall; 1114. Second bottom wall; 112. Cover plate; 113. Mounting platform; 12. Second connector; 121. First end; 122. Second end; 123. Mounting groove; 1231. First end wall; 1232. Second end wall; 125. Lifting surface; 1251. First platform position; 1252. Second platform position; 12 53. Inclined section; 1254. Flat section; 1255. Stepped section; 1256. Transition surface; 126. Cavity; 1261. First sidewall; 1262. First bottom wall; 1263. Thickened section; 1264. First groove; 1265. Hollowed-out area; 1271. First stop; 1272. Second stop; 128. Inclined groove; 1281. First groove wall; 1282. Second groove wall; 13. Cleaning mechanism; 131. Cleaning component; 132. Supporting part; 133. Extension part; 1331. Clearance groove; 1332. Extending shaft; 134. Mounting base 1341. End wall; 135. Connecting assembly; 136. Second driving component; 14. Driving mechanism; 141. First driving component; 1411. Rotation axis; 142. First translation assembly; 1421. Lead screw; 1422. Lead nut; 14221. Lead hole; 1423. Worm gear; 1424. Worm; 15. Gear adjustment mechanism; 151. Position detection assembly; 1511. Position detection element; 1512. Stop; 15121. Light-shielding part; 161. Elastic element; 162. First guide structure; 1621. Guide groove; 1622. Guide block ; 163, Second guide structure; 1631, First slot; 1632, Second slot; 1633, First protrusion; 1634, Second protrusion; 171, First protrusion structure; 1711, First rolling element; 1712, First mounting shaft; 17121, Ribbed structure; 1713, First groove; 1714, Mounting hole; 1715, First protrusion unit; 1716, Second protrusion unit; 172, Second protrusion structure; 1721, Second rolling element; 1722, Second mounting shaft; 173, Second groove; 20, Side brush; 30, Roller brush. Detailed Implementation

[0080] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0081] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0082] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0083] Please see FIGS. 1-49 This invention provides a cleaning device 100. The cleaning device 100, through the cooperation of a drive mechanism 14 and a gear adjustment mechanism 15, enables the second connecting member 12 to switch between multiple preset positions, thereby allowing the cleaning member 131 to selectively adjust between a recessed position and multiple different outward expansion positions. This structure improves upon the problem of traditional cleaning devices 100 where the outward expansion mode of the cleaning member 131 is limited and difficult to conform to different furniture layouts and edge shapes. It allows the cleaning member 131 to flexibly select different outward expansion positions according to the needs of complex scenarios such as the bottom of sofas, the edges of concave furniture, or corner gaps, thereby reducing blind spots during cleaning operations, improving adaptability to different home environments, and enhancing the overall cleaning effect of the cleaning device 100.

[0084] The cleaning device 100 provided in the embodiments of the present invention can be a self-moving cleaning robot or a handheld floor scrubber. The self-moving cleaning robot can be a mopping robot or a sweeping and mopping robot, etc. In the following embodiments, some components of the cleaning device 100 are described as an example of a self-moving cleaning robot.

[0085] Please see FIG. 1The cleaning equipment 100 has a frame 10, the interior of which can accommodate various components of the cleaning equipment 100. The frame 10 can have any shape, such as cylindrical, elliptical, or D-shaped. The cleaning equipment 100 also includes a walking system conventionally provided on existing cleaning equipment 100, used to drive the frame 10 to move independently, thereby achieving a self-moving walking function on the surface to be cleaned. The walking system includes at least a driver and drive wheels, which are driven to rotate under the action of the driver. There are generally two drive wheels, symmetrically arranged at the bottom of the frame 10. The specific structure of the walking system and the connection structure between the walking system and the frame 10 can be referred to the relevant structural descriptions in existing cleaning equipment 100, and will not be repeated here.

[0086] To perform its cleaning function, the cleaning equipment 100 includes at least a cleaning mechanism 13. The cleaning mechanism 13 is detachably connected to the frame 10, and the detachable connection method can be a snap-fit ​​connection, a bolt-fit connection, or the like. The cleaning component 131 on the cleaning mechanism 13 can be configured for dry mopping or wet mopping. Optionally, in this embodiment, the cleaning component 131 on the cleaning mechanism 13 is configured for wet mopping.

[0087] Please see FIG. 2 and FIG. 3 Optionally, in one embodiment, the cleaning device 100 may further include a side brush 20 and a roller brush 30, which are disposed at the bottom of the frame 10. Along the traveling direction of the frame 10, both the side brush 20 and the roller brush 30 are located in front of the cleaning component 131. The side brush 20 may be disposed at the edge of the frame 10, and the side brush 20 can rotate via a rotating mechanism, which may be a combination of a motor and a reducer, etc. When the side brush 20 rotates, it can gather debris at the edge of the frame 10 towards the inside of the frame 10, thereby increasing the cleaning range of the cleaning device 100.

[0088] The side brush 20 can be a rubber strip or a bristle brush, as long as it can clean the floor, there is no limitation. The roller brush 30 is rotatably mounted in the roller brush cavity at the bottom of the frame 10. The roller brush 30 can sweep up the garbage on the floor during the rolling process. The number of roller brushes 30 can be set according to specific requirements, and there is no limitation in this embodiment. Along the traveling direction of the frame 10, the side brush 20 and the roller brush 30 are set in front of the cleaning component 131. This facilitates the cleaning operation of the cleaning equipment 100, which is to first dry sweep and then wet mop, and also facilitates the layout of the internal space of the frame 10.

[0089] In addition, the cleaning equipment 100 may also include a sensing system and a control system. The sensing system and the control system are electrically connected. The sensing system includes an LDS (Light Detection and Ranging) located above the rack 10, a buffer and vision sensor located at the front of the rack 10, and an edge sensor located on the front side wall of the rack 10. Among them, the LDS, buffer, and edge sensor can all measure or sense distance to obtain the distance between the edge of the rack 10 and obstacles. The control system controls the cleaning equipment 100 to perform corresponding actions based on this distance. For example, it controls the cleaning equipment 100 to perform obstacle avoidance, edge cleaning, and return to the base station.

[0090] Please see FIG. 4 and FIG. 5 In this embodiment, the cleaning device 100 includes: a frame 10, a first connector 11, a second connector 12, a cleaning mechanism 13, a drive mechanism 14, and a gear adjustment mechanism 15.

[0091] The first connector 11 is fixedly installed on the frame 10. The fixed connection method can be to fix it to the frame 10 with fasteners such as bolts, or it can be to fix it to the frame 10 with a snap-fit ​​structure, etc.

[0092] The second connector 12 is slidably mounted on the first connector 11 and has multiple preset positions distributed along the sliding direction. The sliding mounting method can be varied. For example, one of the first connector 11 and the second connector 12 may have a groove, while the other may have a slider; the groove and slider cooperate to achieve a sliding connection between the second connector 12 and the first connector 11. Alternatively, one of the first connector 11 and the second connector 12 may have a guide rod, while the other may have a guide sleeve; the guide rod and guide sleeve cooperate to achieve a sliding connection between the second connector 12 and the first connector 11.

[0093] Please see FIG. 4The cleaning mechanism 13 includes a mounting base 134 and a cleaning component 131, with the cleaning component 131 mounted on the mounting base 134. The mounting base 134 is connected to the second connector 12 and can move in tandem with the second connector 12 to drive the cleaning component 131 to have an inward position and multiple outward positions relative to the frame 10, with each outward position corresponding one-to-one with a multiple preset position of the second connector 12. The specific number of outward positions can be configured according to cleaning requirements, including but not limited to two, three, or more, as long as the cleaning component 131 can have a multi-level adjustable cleaning range relative to the frame 10. It should be noted that in this embodiment, the inward position can correspond to one of the preset positions or can be set to other specific positions independent of all preset positions. Of course, provided that the installation requirements of the cleaning component 131 are met, the cleaning mechanism 13 may also not have a mounting base 134, and the cleaning component 131 can be directly connected to the second connector 12.

[0094] The cleaning component 131 is a mop assembly, which can be a tracked mop assembly, a roller mop assembly, or the like. Exemplarily, in this embodiment, the cleaning component 131 is a roller mop assembly.

[0095] Additionally, it should be noted that, such as FIG. 10 As shown, when the cleaning component 131 is in the retracted position, it retracts into the internal space of the frame 10, meaning the edge of the cleaning component 131 is located inside the edge of the frame 10. FIG. 11 and FIG. 12 As shown, when the cleaning component 131 is in the extended position, at least a portion of the edge of the cleaning component 131 extends outside the edge of the frame 10 or is flush with the edge of the frame 10.

[0096] In this embodiment, the cleaning mechanism 13 is installed on the second connector 12 and moves in conjunction with the second connector 12. Specifically, when the second connector 12 slides along the first connector 11, the mounting base 134 can move synchronously with the second connector 12 to drive the cleaning component 131 to move between the inward and outward positions relative to the frame 10.

[0097] Please see FIG. 5 and FIG. 10 The drive mechanism 14 is used to drive the second connecting member 12 to slide horizontally relative to the first connecting member 11, so as to move the cleaning member 131 to an inward position or any outward position via the second connecting member 12. Here, the horizontal direction can refer to the width direction of the frame 10, which is perpendicular or substantially perpendicular to the travel direction of the cleaning equipment 100. The drive mechanism 14 can be any mechanism capable of driving the second connecting member 12 to slide horizontally relative to the first connecting member 11, such as a combination of a motor and a lead screw and nut, or a combination of a motor and a gear rack. This embodiment does not limit this.

[0098] Please see FIG. 5 The gear adjustment mechanism 15 controls the operation of the drive mechanism 14, enabling the second connecting member 12 to selectively stop at any preset position, thereby causing the cleaning member 131 to stop at the corresponding outward or inward position. The specific structure of the gear adjustment mechanism 15 is not limited. In one embodiment, the gear adjustment mechanism 15 may include a position detection unit and a controller. The position detection unit may be any electrical device capable of detecting the real-time movement position of the second connecting member 12, such as a photoelectric switch, optocoupler sensor, or limit switch. The controller is signal-connected to the position detection unit and the drive mechanism 14. The controller can receive feedback electrical signals from the position detection unit and control the start and stop of the drive mechanism 14 according to the feedback electrical signals, so that the second connecting member 12 can be positioned at different preset positions.

[0099] In another embodiment, the gear adjustment mechanism 15 may further include a controller and an encoder electrically connected to the controller. The encoder can detect the rotation angle or displacement of the output end of the drive mechanism 14. The controller can indirectly determine the running position of the second connector 12 based on the detection signal of the encoder, and then the second connector 12 can be positioned at different preset positions by controlling the operation of the drive mechanism 14.

[0100] It should be noted that the above embodiments can be implemented individually or combined according to actual needs. Any structure or control scheme that can achieve the selective stopping function of the second connector 12 at a preset position is within the protection scope of this invention.

[0101] In this embodiment, the cleaning device 100 can control the drive mechanism 14 to operate through the gear adjustment mechanism 15 according to the needs of different cleaning scenarios, so that the second connecting member 12 can selectively move and position between multiple preset positions. When the cleaning member 131 needs to clean narrow areas such as walls and corners, it can select a matching outward expansion position according to the edge shape, so that the cleaning member 131 moves from the inward position to the corresponding outward expansion position, thereby extending at least part of the edge of the cleaning member 131 to the outside of the edge of the frame 10, achieving effective cleaning of corner areas of different depths. When the cleaning member 131 performs a regular cleaning task in an open area, it can be controlled to return to the inward position, so that the overall edge of the cleaning member 131 is located inside the edge of the frame 10, avoiding interference with furniture and other obstacles.

[0102] Therefore, in this embodiment, the cleaning device 100 can switch the second connecting member 12 between multiple preset positions through the cooperation of the drive mechanism 14 and the gear adjustment mechanism 15, thereby enabling the cleaning member 131 to selectively adjust between the inward position and multiple different outward expansion positions. This structure can improve the problem that traditional cleaning devices 100 are difficult to fit different furniture layouts and edge shapes due to the single outward expansion mode of the cleaning member 131. It allows the cleaning member 131 to flexibly select different outward expansion positions according to the needs of complex scenarios such as the bottom of sofas, the edges of concave furniture, or the gaps in wall corners, thereby reducing cleaning blind spots during the cleaning process, improving adaptability to different home environments, and improving the overall cleaning effect of the cleaning device 100.

[0103] Please see FIG. 11 and FIG. 12 In one embodiment of the present invention, the outward expansion position includes at least a first outward expansion position and a second outward expansion position. In the first outward expansion position, such as... FIG. 11 As shown, the edge of the cleaning component 131 is flush with the edge of the frame 10. Specifically, the edge of the cleaning component 131 being flush with the edge of the frame 10 means that, in a projection view along the height direction of the frame 10, a tangent line 102 is drawn on the side of the body 10 near the edge of the cleaning component. This tangent line 102 coincides with the edge of the cleaning component 131 near the tangent line 102, or, within the allowable installation error range, the tangent line 102 and the edge of the cleaning component 131 are approximately coincident.

[0104] It should be noted that, in one embodiment, with the edge of the cleaning component 131 flush with the edge of the frame 10, the mounting base 134 for mounting the cleaning component 131 may partially extend beyond the edge of the frame 10, such as... FIG. 11 As shown. Of course, in other embodiments, with the edge of the cleaning component 131 flush with the edge of the frame 10, the mounting base 134 for mounting the cleaning component 131 may also be flush with the edge of the frame 10.

[0105] At the second outward expansion position, such as FIG. 12 As shown, the edge of the cleaning component 131 extends at least partially beyond the edge of the frame 10. Specifically, one side of the edge of the cleaning component 131 extends at least partially along the width direction of the frame 10 to the side of the tangent 102 away from the edge of the frame 10, forming a distance L1. It should be noted that in the recessed position, in the projected view along the height direction of the frame 10, the overall outline of the cleaning component 131 is located inside the outline of the frame 10.

[0106] In this embodiment, the cleaning component 131 has three working states: an inward-retracted position, a first outward-expanded position, and a second outward-expanded position. When in the inward-retracted position, the entire edge of the cleaning component 131 is located inside the edge of the rack 10. At this position, the cleaning component 131 is mainly suitable for routine cleaning of open areas, but cannot reach edge areas such as walls and corners, as well as irregular or narrow angled areas. When switched to the first outward-expanded position, the edge of the cleaning component 131 is flush with the edge of the rack 10, allowing it to seamlessly clean vertical surfaces such as walls and baseboards, achieving basic coverage of edge areas. When further switched to the second outward-expanded position, at least part of the edge of the cleaning component 131 extends outside the edge of the rack 10, thus allowing it to get closer to complex areas such as corners and irregular edges, thereby improving the cleaning effect on irregular or narrow angled areas.

[0107] Please see FIG. 13 In one embodiment of the present invention, the driving mechanism 14 includes a first driving member 141 and a first translation component 142. The first driving member 141 is mounted on a first connecting member 11, and the mounting method includes, but is not limited to, fasteners such as bolts. Specifically, the first driving member 141 being mounted on the first connecting member 11 means that the fixed end of the first driving member 141 is mounted on the first connecting member 11. The first driving member 141 has a rotating output end that rotates relative to the fixed end. The first driving member 141 is a drive motor, and the rotating output end is the output shaft of the drive motor. The first translation component 142 includes a power input end and a power output end. The power input end is connected to the rotating output end, and the power output end is connected to a second connecting member 12 to drive the second connecting member 12 to move between multiple preset positions.

[0108] The first translation component 142 can have various structural options. For example, in one embodiment, the first translation component 142 can adopt a lead screw and nut structure. The power input end is a lead screw, which is rotatably connected to the first connecting member 11. The lead screw and the rotary output end are coaxially connected via a coupling. The power output end is a nut, which forms a transmission pair with the second connecting member 12 through a threaded engagement. When the drive motor operates, the lead screw rotates, driving the nut to move horizontally. The nut then drives the second connecting member 12 to slide horizontally relative to the first connecting member 11. In another embodiment, the first translation component 142 is a gear and rack mechanism. Its power input end is a gear fixedly connected to the rotary output end, and its power output end is a rack fixedly installed to the second connecting member 12. The gear and rack maintain a meshing state, and the rotation of the gear drives the rack and the second connecting member 12 to move horizontally in the sliding direction.

[0109] The gear adjustment mechanism 15 includes an encoder and a controller. The encoder is electrically connected to the first drive member 141. The controller can control the operation of the first drive member 141 according to the electrical signal fed back by the encoder, so as to control the sliding distance of the second connector 12, so that the second connector 12 can be selectively stopped at any preset position.

[0110] Specifically, the encoder maintains an electrical signal connection with the first drive component 141 (drive motor), enabling real-time detection and recording of the drive motor's rotational parameters (such as rotation angle, number of revolutions, or angular displacement). Since the rotational motion of the drive motor is converted into linear displacement of the second connecting member 12 via the first translation component 142, a definite linear conversion relationship exists between the drive motor's rotational parameters and the sliding distance of the second connecting member 12. The controller pre-stores threshold values ​​for the drive motor's rotational parameters corresponding to each preset position of the second connecting member 12 (e.g., the number of pulses or angle values ​​corresponding to the first and second outward expansion positions, respectively). The controller continuously receives real-time electrical signals from the encoder and compares them with multiple preset parameter thresholds to determine whether the second connecting member 12 has reached the target preset position. When the controller calculates and identifies that the second connecting member 12 has moved to the target preset position, it immediately issues a braking or stop command to the first drive component 141, causing it to stop operating promptly. Through this closed-loop control mechanism, the second connecting member 12 can selectively stop at any preset position, thereby ensuring that the cleaning component 131 remains stably in the corresponding outward expansion or inward retraction position.

[0111] It should be noted that the controller controlling the operation of the drive motor based on the encoder is a conventional control method in the prior art, and this will not be described in detail in this embodiment.

[0112] By setting an encoder to monitor the rotation parameters of the drive motor in real time, the controller can precisely control the operation of the first drive component 141 based on the electrical signals fed back by the encoder. This allows for precise adjustment of the sliding distance of the second connecting component 12, enabling it to selectively stop at any preset position. This control method not only ensures the positioning accuracy of the cleaning component 131 in its outward or inward position but also guarantees the stability of the cleaning effect under different cleaning conditions. Simultaneously, this non-contact detection mechanism effectively avoids the component wear and jamming problems common in mechanical positioning mechanisms, significantly improving the overall service life and environmental adaptability of the motion mechanism, making it particularly suitable for work scenarios requiring frequent adjustments to the cleaning range.

[0113] Although there are several possible structural options for the first translation component 142, please refer to [link / reference]. FIG. 13In one embodiment of the present invention, the first translation component 142 includes a lead screw 1421 and a lead screw nut 1422. The lead screw 1421 is rotatably mounted on the first connecting member 11 via bearing seats at both ends, and the length direction of the lead screw 1421 is consistent with the sliding direction of the second connecting member 12. Of course, in other embodiments, the lead screw 1421 can also be rotatably mounted on the first connecting member 11 by means other than bearing seats, such as shaft hole fitting. One end of the lead screw 1421 can be directly connected to the rotary output end, or it can be indirectly connected to the rotary output end through other transmission components. The lead screw nut 1422 is threadedly engaged with the lead screw 1421 and connected to the second connecting member 12. The lead screw nut 1422 can be clamped and fixed to the second connecting member 12, or it can be fixed to the second connecting member 12 by bolts, or it can be elastically abutted to the second connecting member 12 by an elastic element, as long as it ensures that the second connecting member 12 can slide during the operation of the lead screw nut 1422.

[0114] When the cleaning device 100 needs to switch between different outward expansion positions and inward contraction positions, the first drive member 141 operates and drives the lead screw 1421 to rotate. The lead screw nut 1422 moves horizontally under the drive of the lead screw 1421, thereby pushing the second connector 12 to slide relative to the first connector 11, so that the cleaning member 131 can move accurately to the target position, realizing flexible switching between multiple outward expansion positions and inward contraction positions.

[0115] In this embodiment, the first translation component 142 adopts a lead screw and nut transmission structure. On the one hand, the lead screw 1421 transmission has excellent repeatability and positioning accuracy. During forward and reverse operation, it can effectively avoid the elastic deformation or slippage that is easy to occur in traditional belt transmission. At the same time, it can also overcome the shortcomings of large backlash in gear and rack transmission, thereby ensuring that the cleaning component 131 can achieve accurate and stable positioning control when switching between different outward expansion positions.

[0116] Please see FIG. 14 and FIG. 15 In one embodiment of the present invention, along the sliding direction of the second connector 12, the second connector 12 has a first end 121 and a second end 122 disposed opposite to each other. The second connector 12 includes a mounting groove 123 located between the first end 121 and the second end 122. A nut 1422 is accommodated in the mounting groove 123. The nut 1422 can be fixed in the mounting groove 123 by snap-fit, fixed in the mounting groove 123 by fasteners such as bolts, or elastically snapped into the mounting groove 123 by an elastic element. In addition, the specific shape of the mounting groove 123 is not limited. For example, it can be a rectangular groove, a U-shaped groove, etc., as long as it can accommodate the nut 1422.

[0117] In this embodiment, by setting the mounting groove 123 between the first end 121 and the second end 122 of the second connector 12 and accommodating the nut 1422 within the mounting groove 123, this structural design allows the nut 1422 to be stably installed with the second connector 12 without the need for additional connecting bosses or extension structures at both ends of the second connector 12 along its length. This layout saves axial space occupied by the second connector 12 along its length, thereby providing a larger effective sliding stroke for the second connector 12 within the same overall size. Ultimately, when the cleaning component 131 switches to the outward expansion position, a larger outward expansion dimension can be achieved, which is beneficial for increasing the maximum distance that the cleaning component 131 extends beyond the edge of the frame 10 in the outward expansion position.

[0118] Please see FIG. 6 and FIG. 7 In one embodiment of the present invention, the first connecting member 11 is provided with a sliding cavity 111, the extending direction of the sliding cavity 111 being consistent with the sliding direction of the second connecting member 12. The second connecting member 12 is slidably installed within the sliding cavity 111. Specifically, along the height direction of the frame 10, the sliding cavity 111 has an opening 1111 on the side opposite to the cleaning member 131. The second connecting member 12 is installed into the sliding cavity 111 from the opening 1111 and slides along the sliding cavity 111. Along the width direction of the sliding cavity 111, the two outer sidewalls of the second connecting member 12 are in sliding contact with the two inner sidewalls of the sliding cavity 111, respectively. The width direction of the sliding cavity 111 is perpendicular to the sliding direction of the second connecting member 12. The manner of sliding contact is not limited. For example, in one embodiment, the outer sidewall of the second connecting member 12 can be in direct contact with the inner sidewall of the sliding cavity 111 to form a sliding contact when the second connecting member 12 slides. In another embodiment, the outer wall of the second connector 12 or the inner wall of the sliding cavity 111 may be provided with a protruding structure, which may include, but is not limited to, rollers, ridges, or dots. When the second connector 12 moves within the sliding cavity 111, the point contact, line contact, or partial surface contact formed between these protruding structures and the corresponding wall surfaces ensures the sliding accuracy of the second connector 12, reduces frictional resistance, and thus improves the smoothness of sliding and the stability of operation.

[0119] Specifically, please refer to FIG. 6 and FIG. 7The mounting base 134 of the cleaning mechanism 13 is provided with a connecting component 135. A second sliding groove 1112 is provided at the bottom of the sliding cavity 111, and a first sliding groove 1264 is provided for the second connecting member 12. One end of the connecting component 135 is fixedly connected to the mounting base 134, and the other end passes through the second sliding groove 1112 and the first sliding groove 1264 in sequence, connecting to the second connecting member 12. When the second connecting member 12 moves along the sliding cavity 111, it drives the connecting component 135 to slide within the second sliding groove 1112, thereby causing the cleaning mechanism 13 to operate between an inward-retracting position and an outward-expanding position.

[0120] In this embodiment, by providing a sliding cavity 111 on the first connector 11 and having the two inner sidewalls of the sliding cavity 111 slide in contact with the outer sidewall of the second connector 12, the sliding process of the second connector 12 relative to the first connector 11 can be guided, limiting the lateral offset or torsion of the second connector 12 during the sliding process. This ensures that it always moves smoothly along a preset straight trajectory, providing a reliable guiding basis for the precise positioning of the cleaning component 131. Simultaneously, by housing the second connector 12 entirely within the sliding cavity 111, this structure allows for a nested layout of the first connector 11 and the second connector 12 in the height direction of the frame 10. This reduces the superimposed thickness of the two components in the height space, making the structure of the cleaning equipment 100 more compact in the height direction, thus optimizing the overall space utilization and installation layout.

[0121] Because the sliding cavity 111 is located near the bottom of the frame 10, and the screw 1421 and nut 1422 are installed close to the surface to be cleaned, particulate impurities and dust generated during cleaning can easily enter the meshing area of ​​the screw 1421 and nut 1422, or intrude into the sliding contact area between the second connector 12 and the sliding cavity 111, thus causing problems such as sliding jamming or abnormal wear of the second connector 12. To improve the above problems, please refer to... FIG. 16 In one embodiment of the present invention, the second connecting member 12, the lead screw 1421, and the lead nut 1422 are all housed within the sliding cavity 111. The two ends of the lead screw 1421 are rotatably connected to two opposite sidewalls of the sliding cavity 111 in the extending direction. The sliding cavity 111 has an opening 1111 facing the frame 10. The cleaning device 100 also includes a cover plate 112, which covers the opening 1111.

[0122] Specifically, please refer to FIG. 4The frame 10 has a receiving cavity 101 on the side facing the surface to be cleaned, and the first connector 11, the second connector 12, and the cleaning mechanism 13 are all housed in the receiving cavity 101. A cover plate 112 is fixedly connected to the wall of the receiving cavity 101 and covers the opening 1111 of the sliding cavity 111. Simultaneously, the cover plate 112 is fixedly connected to the first connector 11, thereby fixing the first connector 11 to the frame 10, ultimately achieving the connection between the cleaning mechanism 13 and the frame 10.

[0123] In this embodiment, by accommodating the second connector 12, the lead screw 1421, and the nut 1422 within the sliding cavity 111, and covering the opening 1111 of the sliding cavity 111 with a cover plate 112, a relatively sealed space can be constructed. This space can physically reduce the probability of dust, particles, and other impurities intruding into the transmission meshing area and sliding contact parts, thereby creating a relatively clean internal environment within the sliding cavity 111. This arrangement helps ensure the meshing transmission accuracy of the lead screw 1421 and the nut 1422 during long-term operation, reduces abnormal wear or jamming caused by dust contamination, and thus helps ensure that the second connector 12 maintains stable and precise sliding performance.

[0124] Based on the first translation assembly 142 including a lead screw 1421 and a lead nut 1422, further please refer to... FIG. 17 In one embodiment of the present invention, the first translation component 142 further includes a worm gear 1423 and a worm 1424. The worm 1424 is connected to the rotational output end of the first driving member 141. Specifically, the worm 1424 and the rotational output end of the first driving member 141 are coaxially and fixedly connected, and the fixed connection method includes, but is not limited to, shaft-hole interference fit or set screw connection. The worm gear 1423 is connected to the lead screw 1421, specifically, the worm gear 1423 and one end of the lead screw 1421 are coaxially and fixedly connected, and the fixed connection method includes, but is not limited to, coupling connection or shaft-hole interference fit connection. The worm gear 1423 and the worm 1424 are arranged in a perpendicular spatial arrangement and maintain meshing. When the first driving member 141 operates, it drives the worm 1424 to rotate synchronously, the worm 1424 drives the worm gear 1423 to rotate synchronously, and finally the worm gear 1423 drives the lead screw 1421 to rotate synchronously.

[0125] In this embodiment, by adding a worm gear transmission mechanism, a high overall transmission ratio is achieved within a limited space, making the rotational speed of the lead screw 1421 more stable and controllable, thereby effectively improving the position adjustment accuracy of the second connecting member 12. Simultaneously, because this transmission method uses a vertically staggered shaft arrangement, it can fully utilize the installation space inside the frame 10, making it particularly suitable for the power transmission needs of the cleaning equipment 100 in highly confined environments. Furthermore, the smooth and continuous meshing transmission between the worm 1424 and the worm wheel 1423 results in lower operating noise compared to gear transmission structures, further enhancing user comfort.

[0126] In one embodiment of the present invention, the preset position includes a first preset position and a second preset position. In the retracted position, the cleaning member 131 has a raised position and a lowered position. In the raised position, as shown... FIG. 19 As shown, the cleaning component 131 detaches from the surface to be cleaned. At the point of descent, as... FIG. 18 As shown, the cleaning component 131 is in contact with the surface to be cleaned. When the second connecting member 12 is in the first preset position, the cleaning component 131 is in the raised position, and when the second connecting member 12 is in the second preset position, the cleaning component 131 is in the lowered position.

[0127] In this embodiment, the lifting and lowering states of the cleaning component 131 are linked to the sliding position of the second connecting component 12: when the second connecting component 12 is in a first preset position, the cleaning component 131 is in a raised state; when the second connecting component 12 moves to a second preset position, the cleaning component 131 automatically switches to a lowered state. This structure can utilize the horizontal sliding of the second connecting component 12 to achieve lifting and lowering control of the cleaning component 131, eliminating the need for an additional independent lifting actuator, thereby effectively simplifying the overall structure and reducing manufacturing costs. Simultaneously, the cleaning component 131 has two switchable positions—raised and lowered—in its retracted position, allowing it to flexibly adjust its working mode according to actual cleaning needs, further expanding the functional diversity and scenario adaptability of the cleaning equipment 100.

[0128] Please see FIGS. 6-9 In one embodiment of the present invention, the second connecting member 12 is provided with a lifting surface 125, and the cleaning mechanism 13 is provided with a supporting part 132 on the side opposite to the surface to be cleaned. Specifically, the supporting part 132 is provided on the side of the mounting base 134 of the cleaning mechanism 13 opposite to the cleaning component 131. Along the height direction of the frame 10, the lifting surface 125 is supported below the supporting part 132, and the supporting part 132 is pressed against the lifting surface 125 by the gravity of the cleaning mechanism 13. When the second connecting member 12 operates between the first preset position and the second preset position, the supporting part 132 can move along the lifting surface 125 to drive the cleaning component 131 to switch between the raised position and the lowered position.

[0129] The lifting surface 125 can be an inclined surface, an arc surface, or a combination of inclined and arc surfaces. The supporting part 132 can be a structure such as an inclined block, an arc block, or a pin connected to the cleaning mechanism 13. When the supporting part 132 moves along the lifting surface 125, the contact between the supporting part 132 and the lifting surface 125 can be rolling or sliding; this embodiment is not limited to either.

[0130] It should be noted that, as long as the cleaning mechanism 13 can achieve stable lifting and lowering relative to the frame 10 through the sliding of the supporting part 132 along the lifting surface 125, this embodiment does not limit the specific number and position of the lifting surface 125 on the second connecting member 12. For example, in the width direction of the second connecting member 12, lifting surfaces 125 can be provided on both side walls, or a single lifting surface 125 can be provided only in its central region. Correspondingly, the number and position of the supporting part 132 on the mounting base 134 are not fixed; they only need to be configured according to the actual layout of the lifting surface 125 to ensure effective cooperation between the two.

[0131] In this embodiment, by setting a lifting surface 125 and a supporting part 132 that cooperate with each other, when the second connecting member 12 slides between the first preset position and the second preset position, the supporting part 132 can move along the lifting surface 125, thereby driving the cleaning member 131 to switch between the raised position and the lowered position. This structure can realize the lifting function of the cleaning member 131 simply by the abutting cooperation of the lifting surface 125 and the supporting part 132, and has the advantages of simple structure and convenient processing.

[0132] Existing cleaning equipment generally suffers from insufficient adaptability to complex scenarios in practical use. Specifically, due to the structural design of cleaning components (such as roller mops and belt mops), their outward expansion patterns are relatively simple, making it difficult to effectively adapt to different furniture layouts and edge shapes. For example, when cleaning the underside of sofas, the edges of concave furniture, or crevices in wall corners, the cleaning components often cannot fully fit or reach these narrow areas, resulting in cleaning blind spots. Furthermore, due to the lack of flexible and adjustable cleaning mechanisms, existing equipment struggles to perform targeted cleaning tasks in diverse home environments, thus hindering further improvements in overall cleaning effectiveness.

[0133] Please see FIG. 1 , FIG. 4 and FIG. 5The present invention also provides a cleaning device 100, which includes: a frame 10, a first connecting member 11, a second connecting member 12, a cleaning mechanism 13, a drive mechanism 14, and a gear adjustment mechanism 15. The first connecting member 11 is fixedly connected to the frame 10; the second connecting member 12 is slidably mounted on the first connecting member 11. The cleaning mechanism 13 includes a cleaning component 131, which is mounted on the second connecting member 12 and moves in conjunction with the second connecting member 12, so that the cleaning component 131 has an inward position and multiple outward positions relative to the frame 10. The drive mechanism 14 is mounted on the first connecting member 11 and is used to drive the second connecting member 12 to slide, thereby moving the cleaning component 131 to the inward position or any outward position.

[0134] It should be noted that the specific structure and interconnection relationship of the first connector 11, the second connector 12, the cleaning mechanism 13, and the driving mechanism 14 in this embodiment can be referred to FIG. 5 and FIG. 6 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0135] The main difference between this embodiment and the previous embodiments lies in the specific implementation method of the gear adjustment mechanism 15. In this embodiment, the gear adjustment mechanism 15 includes a controller and a position detection component 151. The position detection component 151 is disposed on the first connector 11 and / or the second connector 12 and is electrically connected to the controller. Specifically, when the cleaning component 131 moves to the retracted position and / or at least one outward expansion position, the controller can control the drive mechanism 14 to stop operating based on the position electrical signal issued by the position detection component 151.

[0136] In one embodiment, when the cleaning component 131 moves to the retracted position, the positioning detection component 151 generates a positioning electrical signal. The controller then controls the drive mechanism 14 to stop operating based on this signal, ensuring the cleaning component 131 is accurately positioned in the retracted position. In another embodiment, when the cleaning component 131 moves to any of the multiple expansion positions, the positioning detection component 151 generates a corresponding positioning electrical signal. The controller then controls the drive mechanism 14 to stop operating based on the received positioning electrical signal, thus stopping the cleaning component 131 at any target expansion position. In other embodiments, multiple positioning detection components 151 are provided, each corresponding to a different working position of the cleaning component 131. Specifically, when the cleaning component 131 moves to the retracted position or any expansion position, a corresponding positioning detection component 151 generates a positioning electrical signal. The controller then controls the drive mechanism 14 to stop operating at the corresponding position based on these positioning electrical signals, enabling the cleaning component 131 to be positioned at all working positions.

[0137] It should be noted that this embodiment does not strictly limit the specific structure and location of the positioning detection component 151. Any structure that can generate a positioning electrical signal when the cleaning component 131 reaches the preset position falls within the protection scope of this solution. The following are some common implementation methods:

[0138] In one embodiment, the positioning detection component 151 includes a limit switch disposed on the first connector 11 and a stop block disposed on the second connector 12. When the second connector 12 slides to a preset position, the stop block contacts the limit switch and triggers it to generate a positioning electrical signal.

[0139] In another embodiment, the positioning detection component 151 includes an optocoupler sensor disposed on the first connector 11 and a stop correspondingly mounted on the second connector 12. When the stop moves with the second connector 12 into the optical path of the optocoupler sensor, the optocoupler sensor detects the change in the optical path state and generates a positioning electrical signal.

[0140] In another embodiment, the positioning detection component 151 includes a Hall sensor disposed on the first connector 11 and a magnet correspondingly mounted on the second connector 12. When the magnet moves with the second connector 12 into the sensing range of the Hall sensor, the Hall sensor generates a level change and forms a positioning electrical signal.

[0141] In other embodiments, the positioning detection component 151 can also be a laser displacement sensor, which integrates a laser emitter and a signal receiver. The laser displacement sensor is mounted on one end of the first connector 11 along its length, and the laser beam emitted by the laser emitter can be directed towards the end of the second connector 12 along its length (i.e., the surface being measured). During the sliding process of the second connector 12 relative to the first connector 11, the sliding distance of the second connector 12 relative to the first connector 11 is detected by detecting the change in the relative distance between the surface being measured and the laser emitter. When the laser displacement sensor detects that the sliding distance of the second connector 12 is consistent with the sliding distance of a preset inward position and / or at least one outward position in the controller, the laser displacement sensor generates a positioning electrical signal, and the controller can control the drive mechanism 14 to stop operating based on the positioning electrical signal emitted by the laser displacement sensor.

[0142] Of course, in other embodiments, the laser displacement sensor can also be mounted on the second connector 12, and the laser beam emitted by the laser emitting end can be directly facing the end (i.e., the surface to be measured) of the first connector 11 along its length. With this configuration, the laser displacement sensor can also detect the sliding distance of the second connector 12 relative to the first connector 11, thereby achieving the effect described in the above embodiments.

[0143] In this invention, a gear adjustment scheme combining a position detection component 151 and a controller is adopted. Compared with the encoder-based control method, this scheme can directly trigger the generation of a position signal when the cleaning component 131 reaches the preset position. The controller then controls the drive mechanism 14 to stop operating based on this signal. This eliminates the complex process of continuously monitoring motor parameters, calculating displacement, and repeatedly comparing data, as required by the encoder scheme. This not only makes the entire system respond more quickly but also simplifies the control logic. Furthermore, the position detection component 151 (such as a limit switch or optocoupler sensor) can be flexibly arranged on the first connector 11 or the second connector 12 according to the mechanical structure, without being limited by the motor installation position or transmission form, thus exhibiting stronger adaptability in space-constrained scenarios. In addition, this scheme, based on a one-time trigger control mechanism at the position endpoint, can avoid positioning deviations that may occur during continuous encoder operation due to signal accumulation errors, electromagnetic interference, or data drift, thereby improving the reliability and control consistency of the system.

[0144] In one embodiment of the present invention, in the retracted position, the cleaning member 131 has a raised position and a lowered position. In the raised position, as shown... FIG. 19 As shown, the cleaning component 131 is lifted away from the surface to be cleaned, and at the falling position, as... FIG. 18 As shown, the cleaning component 131 is in contact with the surface to be cleaned. FIG. 21 and FIG. 22 As shown, when the cleaning component 131 is in the raised position, the positioning detection component 151 generates a first positioning electrical signal, and the controller controls the drive mechanism 14 to stop running according to the first positioning electrical signal.

[0145] In this embodiment, by setting a position detection and control function at the lifting position of the cleaning component 131, the lifting position becomes a unified initial reference point for the outward expansion operation of the cleaning component 131. When the cleaning component 131 reaches the lifting position, the position detection component 151 triggers a first position electrical signal, and the controller controls the drive mechanism 14 to stop accordingly, thereby ensuring that the cleaning component 131 returns to the same position each time it starts and resets. This setting can provide a reliable positioning starting point for subsequent outward expansion movements, which helps to improve the problem of cumulative errors that may be caused by repeated operation. At the same time, this initial position detection and control mechanism can also establish a verifiable physical reference for the control system, that is, provide a clear reference position, which can improve the maintainability of the operating status of the cleaning component 131 and its fault diagnosis and recovery capabilities.

[0146] Please see FIG. 22In one embodiment of the present invention, the first connecting member 11 is provided with a first limiting part, and the second connecting member 12 is provided with a second limiting part. When the controller fails to stop the drive mechanism 14 according to the first positioning electrical signal, the first limiting part and the second limiting part can abut against each other during the continued operation of the drive mechanism 14 to prevent the second connecting member 12 from continuing to operate. The first limiting part and the second limiting part can be additional structural components provided on the first connecting member 11 and the second connecting member 12, or they can be the wall of the first connecting member 11 itself or the wall of the second connecting member 12 itself.

[0147] Specifically, in this embodiment, please refer to FIG. 22 and FIG. 21 The first connector 11 is provided with FIG. 5 and FIG. 6 In the illustrated embodiment, the second connector 12 is slidably mounted within the sliding cavity 111. Along the sliding direction of the second connector 12, the sliding cavity 111 has a first end wall 1231 at one end in the length direction, and the second connector 12 has a second end wall 1232 on the side facing the first end wall 1231. The first end wall 1231 forms the aforementioned first limiting portion, and the second end wall 1232 forms the aforementioned second limiting portion. When the controller fails to stop the drive mechanism 14 according to the first positioning electrical signal, the first end wall 1231 and the second end wall 1232 can abut against each other in the sliding direction of the second connector 12 during the continued operation of the drive mechanism 14, thereby preventing the second connector 12 from continuing to operate within the sliding cavity 111.

[0148] In this embodiment, by setting a first limiting part and a second limiting part, a dual protection mechanism combining mechanical and electrical control can be formed. When the positioning detection component 151 or the controller fails and cannot stop the drive mechanism 14 normally according to the positioning electrical signal, the first limiting part and the second limiting part will abut against each other when the second connecting member 12 runs to its limit position, forming a mechanical block. This effectively prevents the second connecting member 12 from impacting the end of the sliding cavity 111 due to excessive running, avoiding component damage or equipment failure. At the same time, in case of unexpected situations such as abnormality of the electrical control system or failure of the positioning detection component 151, this mechanical limiting structure can still function independently, providing the final safety guarantee for equipment operation, thereby improving the fault tolerance and long-term operational reliability of the entire machine.

[0149] Please see FIG. 11 and FIG. 21 In one embodiment of the present invention, the plurality of outward expansion positions include at least a first outward expansion position. At the first outward expansion position, along the width direction of the frame 10, the edge of the cleaning component 131 is flush with the edge of the frame 10. When the cleaning component 131 moves to the first outward expansion position, the positioning detection component 151 generates a second positioning electrical signal, and the controller controls the drive mechanism 14 to stop operating according to the second positioning electrical signal.

[0150] In this embodiment, by setting a positioning detection component 151 at the first outward expansion position, a second positioning electrical signal is triggered when the cleaning component 131 is flush with the edge of the frame 10. The controller then controls the drive mechanism 14 to stop operating accordingly. This design not only achieves precise positioning of the cleaning component 131, but also utilizes the visual reference provided by the flush position to bring other beneficial effects to the installation and commissioning of the cleaning equipment 100: Firstly, installers can quickly complete the positioning and installation of the positioning detection component 151 using this visible reference, effectively reducing assembly difficulty and ensuring consistency. Secondly, during routine maintenance, staff can intuitively judge whether there are operational errors by observing the alignment status, thus improving the maintainability of the equipment.

[0151] Please see FIG. 22 and FIG. 21 In one embodiment of the present invention, the positioning detection component 151 includes a position detection element 1511 and a stop 1512. One of the position detection element 1511 and the stop 1512 is disposed on the first connecting member 11, and the other is disposed on the second connecting member 12. When the cleaning member 131 is in the raised position or the first outward expansion position, the stop 1512 triggers the position detection element 1511, causing the position detection element 1511 to generate a first positioning electrical signal or a second positioning electrical signal. The position detection element 1511 may be a limit switch, an optocoupler sensor, etc.

[0152] Specifically, in one embodiment, a position detection element 1511 is disposed on the second connector 12, and a stop 1512 is disposed on the first connector 11, with two stops 1512 provided. When the second connector 12 slides to align the position detection element 1511 with one of the stops 1512, a first positioning electrical signal is triggered; when it aligns with the other stop 1512, a second positioning electrical signal is triggered.

[0153] In another embodiment, two position detection elements 1511 are provided, both of which are disposed on the first connector 11, while the stop block 1512 is disposed on the second connector 12. When the second connector 12 slides to align the stop block 1512 with one of the position detection elements 1511, a first positioning electrical signal is triggered; when it aligns with the other position detection element 1511, a second positioning electrical signal is triggered.

[0154] It should be noted that the specific number and arrangement of the stop block 1512 and the position detection element 1511 in the above embodiments can be adjusted according to the actual number of detection positions. All technical solutions that use the cooperation of the stop block 1512 and the position detection element 1511 to trigger the position electrical signal at different positions are within the protection scope of this invention.

[0155] In this embodiment, a trigger-based detection scheme employing a stop block 1512 in conjunction with a position detection element 1511 enables precise detection of the cleaning component 131 at key positions such as the raised position and the first outward expansion position. When the cleaning component 131 moves to these positions, the stop block 1512 interacts with the corresponding position detection element 1511, triggering a corresponding position signal to provide clear position feedback to the controller, thereby achieving reliable identification and precise control across multiple position states. This scheme has a simple structure, consisting only of the stop block 1512 and the position detection element 1511, and has the advantages of low cost and small footprint, making it particularly suitable for use in installation environments with limited internal space in the cleaning equipment 100.

[0156] Although there are various specific arrangements for the stop 1512 and the position detection element 1511, optionally, in one embodiment of the present invention, please refer to... FIG. 22 and FIG. 21 A stop block 1512 is disposed on the second connector 12, and there is one such stop block 1512. Two position detection elements 1511 are disposed on the first connector 11. When the cleaning component 131 moves to the raised position, the stop block 1512 triggers one of the position detection elements 1511 to generate a first position signal. When the cleaning component 131 moves to the first outward expansion position, the stop block 1512 triggers the other position detection element 1511 to generate a second position signal.

[0157] Specifically, the stop block 1512 is disposed on one outer wall of the second connector 12 in the width direction, and has an approximately L-shaped structure. The stop block 1512 can be integrally formed with the second connector 12, or it can be fixed to the outer wall of the second connector 12 by fasteners such as bolts. The first connector 11 has a mounting platform 113 on one side wall of the sliding cavity 111 in the width direction. Along the width direction of the sliding cavity 111, the mounting platform 113 extends outward from the sliding cavity 111, and two position detection elements 1511 are mounted on the mounting platform 113 at intervals. By setting the mounting platform 113, the installation of the position detection elements 1511 does not occupy the internal space of the sliding cavity 111, reducing the probability of motion interference with the second connector 12. For ease of description, the two position detection elements 1511 are respectively labeled as the first position detection element 1511 and the second position detection element 1511. During the sliding of the second connector 12 along the sliding cavity 111, the stop block 1512 moves with the second connector 12 and can trigger the first position detection element 1511 when it moves to the raised position to generate a first position signal; and trigger the second position detection element 1511 when it moves to the first outward expansion position to generate a second position signal.

[0158] In this embodiment, the position detection element 1511 is centrally located on the fixed first connector 11, which can realize unified routing management of power lines and signal lines, effectively avoid repeated bending of cables caused by the reciprocating motion of the second connector 12, thereby preventing line wear or poor contact, and improving the reliability of long-term system operation.

[0159] Based on the above embodiments, please further refer to... FIG. 22 In one embodiment of the present invention, the position detection element 1511 is an optocoupler sensor. Specifically, two optocouplers are disposed on the mounting platform 113, with their optical path direction perpendicular to the sliding direction of the second connector 12. Correspondingly, a light-shielding part 15121 that can cooperate with the optical path of the optocoupler sensor is provided on the stop 1512 of the second connector 12. When the cleaning member 131 moves to the retracted position or the first outward expansion position, the light-shielding part 15121 on the stop 1512 precisely cuts into the optical path of the corresponding optocoupler sensor, causing it to output a corresponding positioning electrical signal.

[0160] Since the optocoupler sensor achieves position detection through optical signals, it completely electrically isolates the mechanical action from the electronic control system. This effectively prevents false triggering caused by line crosstalk, ground loops or voltage fluctuations, improving the system's anti-interference capability. Furthermore, due to its sealed characteristics and non-contact working principle, it is not affected by common contaminants such as dust and oil, and can stably resist the erosion of water vapor and detergent spray during cleaning operations, ensuring long-term reliable operation in the humid environment of cleaning operations.

[0161] Based on the adjustment of the moving position of the cleaning component 131 using a controller and a position detection component 151, please refer to FIG. 13 In one embodiment of the present invention, the drive mechanism 14 includes a first drive member 141 and a first translation component 142. The first drive member 141 is mounted on the first connector 11 and has a rotation output end; the first drive member 141 is a drive motor. The first translation component 142 includes a power input end and a power output end; the power input end is connected to the rotation output end, and the power output end is connected to the second connector 12 to drive the second connector 12 to slide horizontally relative to the first connector 11. The gear adjustment mechanism 15 also includes an encoder, which is electrically connected to the first drive member 141. The controller can control the running distance of the first drive member 141 according to the electrical signal fed back by the encoder. Specifically, by setting the encoder, the controller can control the running distance of the first drive member 141 according to the electrical signal fed back by the encoder, thereby realizing the positioning control of the cleaning component 131 at various operating positions.

[0162] In this embodiment, an encoder is further introduced to form a composite control system based on the existing controller and the positioning detection component 151. This control system continuously monitors the operating parameters of the drive motor through the encoder, enabling the controller to track the dynamic displacement of the cleaning component 131 at any position in real time. This effectively compensates for the limitation of the positioning detection component 151, which can only trigger electrical signals at preset points, and facilitates the addition of other outward expansion positions according to the outward expansion distance requirements of the cleaning component 131. Simultaneously, when the positioning detection component 151 fails due to mechanical misalignment or malfunction, the system can automatically switch to encoder control mode to continue performing positioning operations, thereby enhancing the equipment's continuous operation capability and the reliability of task completion under abnormal operating conditions.

[0163] The cleaning component 131 has FIG. 11 Based on the first outward expansion position shown in the embodiment, in another embodiment of the present invention, the outward expansion position further includes... FIG. 12 The second extended position is shown in the embodiment. In the second extended position, the edge of the cleaning component 131 extends at least partially to the outside of the edge of the frame 10. When the cleaning component 131 moves to the second extended position, the controller can control the first drive component 141 to stop operating based on the electrical signal fed back by the encoder; and / or, the position detection component 151 generates a third position electrical signal, and the controller controls the first drive component 141 to stop operating based on the third position electrical signal.

[0164] Specifically, in one embodiment, the controller controls the first drive unit 141 to stop operating when the cleaning unit 131 reaches the second outward expansion position based on the electrical signal fed back by the encoder. In another embodiment, the position detection component 151 generates a third position electrical signal when the cleaning unit 131 moves to the second outward expansion position, and the controller controls the first drive unit 141 to stop operating accordingly. In other embodiments, the system supports two control methods simultaneously: the controller can implement stop control based on the electrical signal fed back by the encoder, or it can perform a stop operation when the position detection component 151 generates a third position electrical signal. The two methods can be selected according to actual needs or used as backups for each other.

[0165] In this embodiment, because the cleaning component 131 has a second outward expansion position, when the cleaning component 131 moves to the second outward expansion position, at least part of its edge can extend beyond the edge of the frame 10. This allows the cleaning component 131 to be closer to complex structures such as corners, irregular areas, or narrow angles, effectively improving the cleaning effect on these difficult-to-clean areas. Meanwhile, the control method for this second outward expansion position has multiple options and can be flexibly configured according to actual application needs: encoder control can be used in situations requiring high-precision positioning, while the control method of the position detection component 151 can be selected in scenarios where cost optimization is emphasized. This design can balance cleaning efficiency and system implementation flexibility, better meeting the diverse needs of different users.

[0166] In the settings FIG. 12 Based on the second outward expansion position shown, please refer to FIG. 20 In one embodiment of the present invention, the extended position further includes a third extended position. In the third extended position, the edge of the cleaning component 131 extends to the outside of the edge of the frame 10 by a distance L2, and this distance L2 is greater than the distance L1 from the edge of the cleaning component 131 to the outside of the edge of the frame 10 when the cleaning component 131 is in the second extended position. When the cleaning component 131 moves to the third extended position, the controller can control the first drive component 141 to stop operating based on the electrical signal fed back by the encoder; and / or, the positioning detection component 151 generates a fourth positioning electrical signal, and the controller controls the first drive component 141 to stop operating based on the fourth positioning electrical signal.

[0167] Specifically, in one embodiment, the controller controls the first drive unit 141 to stop operating when the cleaning unit 131 reaches the third outward expansion position based on the electrical signal fed back by the encoder. In another embodiment, the position detection component 151 generates a fourth position electrical signal when the cleaning unit 131 moves to the third outward expansion position, and the controller controls the first drive unit 141 to stop operating accordingly. In other embodiments, the system simultaneously supports two control methods: the controller can implement stop control based on the electrical signal fed back by the encoder, or it can perform a stop operation when the position detection component 151 generates the fourth position electrical signal. The two methods can be selected according to actual needs or used as backups for each other.

[0168] In this embodiment, because the cleaning component 131 has a third outward extension position, and in this third outward extension position, the edge of the cleaning component 131 can extend a greater distance L2 beyond the edge of the frame 10, thereby enabling the cleaning component 131 to deeply clean deep corners that are difficult for traditional cleaning equipment 100 to reach, such as the deep bottom of large furniture, the back of narrow crevices, and other special areas, thus improving the coverage of dead corners at the edges of the entire house. At the same time, the control method for this third outward extension position has multiple options and can be flexibly configured according to actual application needs: encoder closed-loop control can be used in situations requiring high-precision positioning, while the control method of the position detection component 151 can be selected in scenarios where cost optimization is emphasized. This design can balance cleaning efficiency and system implementation flexibility, and can adapt to the diverse needs of different users.

[0169] Existing cleaning devices with outward expansion capabilities typically have only a single outward expansion position for their cleaning components. This structure is significantly less adaptable to diverse real-world cleaning scenarios. Specifically, when cleaning shallow crevices or the bottom of low furniture, a fixed outward expansion may cause the cleaning component to overextend, leading to mechanical jamming or accelerated wear. Conversely, when cleaning deep corners or narrow crevices, the same outward expansion may be insufficient to effectively reach and clean the target area, ultimately creating cleaning blind spots.

[0170] To solve the above problems, the present invention provides a cleaning device 100, which includes: a frame 10, a first connector 11, a second connector 12, a cleaning mechanism 13, and a driving mechanism 14.

[0171] The first connector 11 is fixedly mounted on the frame 10, and the second connector 12 is slidably connected to the first connector 11. The cleaning mechanism 13 includes a cleaning component 131, which is mounted on the second connector 12 and moves in conjunction with it, so that the cleaning component 131 has an inward position and multiple outward positions relative to the frame 10. The drive mechanism 14 drives the second connector 12 to slide relative to the first connector 11, thereby causing the cleaning component 131 to move between the inward and outward positions through the operation of the second connector 12.

[0172] It should be noted that, in this embodiment, the specific structures of the first connector 11, the second connector 12, the cleaning mechanism 13, and the driving mechanism 14 can be referred to FIG. 5 and FIG. 6 The structures shown in the embodiments will not be described again here.

[0173] The cleaning component 131 is a mop assembly, which can be a tracked mop assembly, a roller mop assembly, or the like. Exemplarily, in this embodiment, the cleaning component 131 is a roller mop assembly.

[0174] Among these, the multiple outward expansion positions include at least a first outward expansion position, a second outward expansion position, and a third outward expansion position. At the first outward expansion position, such as... FIG. 11 As shown, the edge of the cleaning component 131 is flush with the edge of the frame 10, at the second and third outward expansion positions, as... FIG. 12 and FIG. 20 As shown, the edges of the cleaning components 131 extend beyond the edge of the frame 10. In the third outward expansion position, the distance L2 from the edge of the cleaning components 131 extending beyond the edge of the frame 10 is greater than the distance L1 from the edge of the cleaning components 131 extending beyond the edge of the frame 10 in the second outward expansion position.

[0175] Specifically, taking the direction in which the cleaning component 131 moves from the inward position to the outward position as the first direction, the inward position, the first outward position, the second outward position, and the third outward position are sequentially arranged along the first direction. At the second and third outward positions, the specific dimensions by which the edge of the cleaning component 131 extends beyond the edge of the frame 10 are not limited, and need to be determined according to the cleaning performance requirements of the cleaning equipment 100 during the actual design process.

[0176] In this embodiment, the cleaning component 131 has three working states: a first outward expansion position, a second outward expansion position, and a third outward expansion position, each corresponding to different cleaning coverage ranges and scene adaptability. When the cleaning component 131 is in the first outward expansion position, its edge remains flush with the edge of the frame 10, enabling seamless cleaning of vertical surfaces such as walls and baseboards without colliding with furniture, thus achieving basic coverage of edge areas. Simultaneously, since the cleaning component 131 does not extend beyond the outline of the frame 10, it does not interfere with the normal movement of the cleaning device 100, ensuring smooth movement during the cleaning process. When the cleaning component 131 switches to the second outward expansion position, its edge extends beyond the edge of the frame 10, allowing at least a partial penetration into common corners and irregular gaps, expanding its cleaning capability for common complex structures. This is suitable for cleaning typical scenarios such as gaps between cabinets and walls, and the bottom of regular furniture. When the cleaning component 131 is further switched to the third outward expansion position, the edge of the cleaning component 131 can extend beyond the edge of the frame 10 by a greater distance, forming a larger extension state. This allows the cleaning component 131 to reach deep corners that are difficult for traditional cleaning equipment 100 to access, such as the deep bottom of large furniture and the back of narrow crevices, thereby improving the coverage of edge dead corners throughout the house. Through the above-mentioned three-level adjustable outward expansion position design, the cleaning equipment 100 can gradually expand its cleaning range while maintaining mobility, thereby improving its comprehensive adaptability to different home layouts and edge shapes.

[0177] Please see FIG. 12 In one embodiment of the present invention, along the width direction of the frame 10, at the second outward expansion position, the distance L1 from the edge of the cleaning component 131 extending to the outside edge of the frame 10 is 20mm. The width direction of the frame 10 is perpendicular to the traveling direction of the cleaning device 100. It should be noted that in this embodiment, "the width direction of the frame 10 is perpendicular to the traveling direction of the cleaning device 100" means that the two are orthogonal or approximately orthogonal in the horizontal plane. This perpendicular relationship allows for angular deviations within the range of conventional manufacturing and assembly tolerances. As long as the outward expansion movement of the cleaning component 131 in the width direction effectively intersects with the traveling direction of the cleaning device 100, the technical effect of this solution can be achieved.

[0178] Traditional cleaning devices 100 often suffer from insufficient outward extension or non-adjustable extension of the cleaning component 131, making it difficult to adapt to the standard gaps (e.g., 15-25mm) between common furniture (such as cabinets and coffee tables) and walls, leading to blind spots during cleaning. In product design, if the outward extension of the cleaning component 131 is too small, it cannot effectively reach edge areas; while if the distance is too large, it is prone to collision and interference with furniture. In this embodiment, the outward extension distance of the second extension position is set to 20mm. This distance matches the standard gaps between furniture and walls in most home scenarios, allowing the cleaning component 131 to fully penetrate these gaps and effectively cover common edge dead corners. Simultaneously, this outward extension distance reduces the risk of collisions with furniture legs, wall corners, or other protrusions due to excessive extension of the cleaning component 131, thus achieving a good balance between cleaning effectiveness and device protection.

[0179] Please see FIG. 20 In one embodiment of the present invention, along the width direction of the frame 10, at the third outward expansion position, the distance L2 from the edge of the cleaning component 131 extending to the outside of the edge of the frame 10 is 40mm; the width direction of the frame 10 is perpendicular to the walking direction of the cleaning equipment 100.

[0180] Traditional cleaning equipment 100 often struggles to reach deep areas when dealing with wider edge areas (such as the bottom of large furniture, behind pipes, and other structural gaps) due to insufficient extension distance, creating stubborn dead corners that are difficult to clean. At the same time, the single outward extension distance cannot adapt to diverse home structures, especially when dealing with gaps or spaces larger than 30mm, where the cleaning effect is significantly limited. In addition, due to the lack of tiered outward extension cleaning solutions for different scenarios, cleaning equipment 100 often fails to achieve deep cleaning of special areas while ensuring operational safety.

[0181] In this embodiment, by setting the outward extension distance of the third outward extension position to 40mm, the cleaning component 131 can fully penetrate areas that traditional cleaning equipment 100 cannot effectively cover, such as the bottom of most large furniture and gaps between pipes and walls. Therefore, the cleaning range of the cleaning equipment 100 can be expanded. This 40mm outward extension distance, together with the aforementioned 20mm second outward extension position, can form a gradient cleaning mode from "basic coverage" to "deep cleaning". Users can flexibly select the appropriate outward extension distance according to the actual scenario, thereby improving cleaning efficiency while better adapting to the diverse needs of home environments.

[0182] In one embodiment of the present invention, along the sliding direction of the second connecting member 12, the second connecting member 12 has a plurality of preset positions, and the plurality of preset positions correspond one-to-one with a plurality of outward expansion positions; the cleaning device further includes a gear adjustment mechanism 15, which is used to control the operation of the drive mechanism 14, so that the second connecting member 12 can selectively stop at any preset position, thereby causing the cleaning member 131 to stop at the corresponding outward expansion position. For details regarding the setting position and specific structure of the gear adjustment mechanism 15 in this embodiment, please refer to the above description. FIG. 22 The description of the illustrated embodiments will not be repeated here.

[0183] In this embodiment, the cleaning device 100 can switch the second connecting member 12 between multiple preset positions through the cooperation of the drive mechanism 14 and the gear adjustment mechanism 15, thereby enabling the cleaning member 131 to selectively adjust between the inward position and multiple different outward expansion positions. This structure can improve the problem that traditional cleaning devices 100 have difficulty fitting different furniture layouts and edge shapes due to the single outward expansion mode of the cleaning member 131. It allows the cleaning member 131 to flexibly select different outward expansion positions according to the needs of complex scenarios such as the bottom of sofas, the edges of concave furniture, or the gaps in wall corners, thereby reducing cleaning blind spots during the cleaning process, improving adaptability to different home environments, and improving the overall cleaning effect of the cleaning device.

[0184] In one embodiment of the present invention, the gear adjustment mechanism 15 includes an encoder and a controller. The encoder is electrically connected to the first drive member 141. The controller can control the operation of the first drive member 141 according to the electrical signal fed back by the encoder, thereby controlling the sliding distance of the second connecting member 12, so that the second connecting member 12 can be selectively stopped at any preset position. It should be noted that, in this embodiment, the specific control logic of the controller controlling the operation of the first drive member 141 according to the electrical signal fed back by the encoder can be referred to the relevant description in the foregoing embodiments. It will not be repeated here.

[0185] By setting an encoder to monitor the rotation parameters of the drive motor in real time, the controller can precisely control the operation of the first drive component 141 based on the electrical signals fed back by the encoder. This allows for precise adjustment of the sliding distance of the second connecting component 12, enabling it to selectively stop at any preset position. This control method not only ensures the positioning accuracy of the cleaning component 131 in its outward or inward position but also guarantees the stability of the cleaning effect under different cleaning conditions. Simultaneously, this non-contact detection mechanism effectively avoids the component wear and jamming problems common in mechanical positioning mechanisms, significantly improving the overall service life and environmental adaptability of the motion mechanism, making it particularly suitable for work scenarios requiring frequent adjustments to the cleaning range.

[0186] Although there are various structural options for the first translation component 142, in one embodiment of the present invention, the first translation component 142 includes a lead screw 1421 and a lead screw nut 1422. The lead screw 1421 is rotatably mounted on the first connecting member 11 and connected to the rotary output end. The lead screw nut 1422 is threadedly engaged with the lead screw 1421 and connected to the second connecting member 12. The first driving member 141 drives the lead screw 1421 to rotate, thereby causing the lead screw nut 1422 to move horizontally, and further driving the second connecting member 12 to slide horizontally. The specific installation structure of the lead screw 1421 and the lead screw nut 1422 between the first connecting member 11 and the second connecting member 12 can be referred to FIG. 13 The structural description of the illustrated embodiment will not be repeated here.

[0187] In this embodiment, the first translation component 142 adopts a lead screw and nut transmission structure. On the one hand, the lead screw 1421 transmission has excellent repeatability and positioning accuracy. During forward and reverse operation, it can effectively avoid the elastic deformation or slippage that is easy to occur in traditional belt transmission. At the same time, it can also overcome the shortcomings of large backlash in gear and rack transmission, thereby ensuring that the cleaning component 131 can achieve accurate and stable positioning control when switching between different outward expansion positions.

[0188] Based on the scheme of the gear adjustment mechanism 15 including an encoder and a controller, in one embodiment of the present invention, the gear adjustment mechanism 15 further includes a position detection component 151. The position detection component 151 is disposed on the first connector 11 and / or the second connector 12 and is electrically connected to the controller. When the cleaning component 131 moves to the retracted position and / or at least one outward expansion position, the controller can control the drive mechanism 14 to stop operating according to the position electrical signal issued by the position detection component 151. In the retracted position, the cleaning component 131 has a raised position and a lowered position. In the raised position, the cleaning component 131 is lifted away from the surface to be cleaned. In the lowered position, the cleaning component 131 contacts the surface to be cleaned. When the cleaning component 131 is in the raised position, the position detection component 151 generates a first position electrical signal, and the controller controls the drive mechanism 14 to stop operating according to the first position electrical signal. The specific structure of the position detection component 151 in this embodiment can be referred to the relevant description in the foregoing embodiments, and will not be repeated here.

[0189] This embodiment adds a position detection component 151 to the encoder and controller. The position detection component's electrical signal controls the drive mechanism 14 to stop, achieving precise positioning of the cleaning component 131 at the target location. This design effectively calibrates and compensates for the encoder's control accuracy. Specifically, although the encoder can achieve precise displacement control, the mechanical transmission system may accumulate errors due to wear, deformation, or signal loss during long-term use, causing the actual control position of the cleaning component 131 to gradually deviate from the preset value. In this case, the position detection component 151 can serve as a physical reference point. When the cleaning component 131 moves to its trigger position, the controller can respond to the position signal and execute a stop command, unaffected by the current accumulated error of the encoder. This control mechanism can not only correct the stop position and eliminate errors in real time during each outward movement of the cleaning component 131, ensuring long-term positioning consistency of key points, but also serve as a system self-checking method. If there is a continuous deviation between the encoder feedback and the position signal, the system can determine a transmission abnormality and issue a maintenance reminder in a timely manner, thereby improving the overall reliability and intelligence level of operation.

[0190] In one embodiment of the present invention, in the retracted position, the cleaning member 131 has a raised position and a lowered position. In the raised position, as shown... FIG. 19 As shown, the cleaning component 131 is lifted away from the surface to be cleaned, and at the falling position, as... FIG. 18 As shown, the cleaning component 131 is in contact with the surface to be cleaned. FIG. 22 and FIG. 22 As shown, when the cleaning component 131 is in the raised position, the positioning detection component 151 generates a first positioning electrical signal, and the controller controls the drive mechanism 14 to stop running according to the first positioning electrical signal.

[0191] In this embodiment, by setting a position detection and control function at the lifting position of the cleaning component 131, the lifting position becomes a unified initial reference point for the outward expansion operation of the cleaning component 131. When the cleaning component 131 reaches the lifting position, the position detection component 151 triggers a first position electrical signal, and the controller controls the drive mechanism 14 to stop accordingly, thereby ensuring that the cleaning component 131 returns to the same position each time it starts and resets. This setting can provide a reliable positioning starting point for subsequent outward expansion movements, which helps to improve the problem of cumulative errors that may be caused by repeated operation. At the same time, this initial position detection and control mechanism can also establish a verifiable physical reference for the control system, that is, provide a clear reference position, which can improve the maintainability of the operating status of the cleaning component 131 and its fault diagnosis and recovery capabilities.

[0192] In one embodiment of the present invention, when the cleaning component 131 moves to the first outward expansion position, the positioning detection component 151 generates a second positioning electrical signal, and the controller controls the drive mechanism 14 to stop operating according to the second positioning electrical signal.

[0193] In this embodiment, by setting a positioning detection component 151 at the first outward expansion position, a second positioning electrical signal is triggered when the cleaning component 131 is flush with the edge of the frame 10. The controller then controls the drive mechanism 14 to stop operating accordingly. This design not only achieves precise positioning of the cleaning component 131, but also utilizes the visual reference provided by the flush position to bring other beneficial effects to the installation and commissioning of the cleaning equipment 100: Firstly, installers can quickly complete the positioning and installation of the positioning detection component 151 using this visible reference, effectively reducing assembly difficulty and ensuring consistency. Secondly, during routine maintenance, staff can intuitively judge whether there are operational errors by observing the alignment status, thus improving the maintainability of the equipment.

[0194] Please see FIG. 22 and FIG. 21 In one embodiment of the present invention, the positioning detection component 151 includes a position detection element 1511 and a stop 1512. One of the position detection element 1511 and the stop 1512 is disposed on the first connecting member 11, and the other is disposed on the second connecting member 12. When the cleaning member 131 is in the raised position or the first outward expansion position, the stop 1512 triggers the position detection element 1511, causing the position detection element 1511 to generate a first positioning electrical signal or a second positioning electrical signal. The position detection element 1511 may be a limit switch, an optocoupler sensor, etc. In this embodiment, the specific placement and arrangement of the position detection element 1511 and the stop 1512 can be referred to the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0195] In this embodiment, a trigger-based detection scheme employing a stop block 1512 in conjunction with a position detection element 1511 enables precise detection of the cleaning component 131 at key positions such as the raised position and the first outward expansion position. When the cleaning component 131 moves to these positions, the stop block 1512 interacts with the corresponding position detection element 1511, triggering a corresponding position signal to provide clear position feedback to the controller, thereby achieving reliable identification and precise control across multiple position states. This scheme has a simple structure, consisting only of the stop block 1512 and the position detection element 1511, and has the advantages of low cost and small footprint, making it particularly suitable for use in installation environments with limited internal space in the cleaning equipment 100.

[0196] Currently, to improve cleaning effectiveness in complex areas such as edges and corners, cleaning equipment commonly incorporates cleaning components with outward expansion capabilities, relying on built-in drive mechanisms to achieve their telescopic movement. This design allows the cleaning component to extend outward during operation, effectively reaching and cleaning the outer edges of the machine and hard-to-reach corner areas. However, in existing technologies, such drive mechanisms are typically arranged along the height of the equipment, occupying a significant amount of vertical mounting space on the frame. This structural feature directly limits the overall height compression potential of the machine, hindering the achievement of a slim and compact design. Therefore, how to rationally arrange the drive mechanism within a limited space to achieve a slim and lightweight design is a pressing technical problem that needs to be solved.

[0197] To solve the above-mentioned technical problems, the present invention provides a cleaning device 100, which includes: a frame 10, a first connector 11, a second connector 12, a cleaning mechanism 13, and a driving mechanism 14.

[0198] Please see FIG. 21 and FIG. 24 The first connecting member 11 is fixedly connected to the frame 10 and has the sliding cavity 111 as described in the previous embodiment. The second connecting member 12 is installed in the sliding cavity 111 and slides along the length of the sliding cavity 111. The cleaning mechanism 13 includes a cleaning member 131, which is installed on the second connecting member 12 and moves in conjunction with the second connecting member 12, so that the cleaning member 131 has an inward position and an outward position relative to the frame 10. In this embodiment, the specific structure of the first connecting member 11, the second connecting member 12, and the cleaning mechanism 13, and their mutual installation structure can be referred to FIG. 5 and FIG. 6 The relevant descriptions in the embodiments will not be repeated here.

[0199] The drive mechanism 14 includes a first drive member 141 and a first translation component 142. The first drive member 141 is mounted on the first connector 11 and has a rotary output end. The first drive member 141 can be any power source capable of having a rotary output end, such as a motor, a combination of a motor and a reducer, or a hydraulic motor. The first translation component 142 includes a power input end and a power output end. The power input end is connected to the rotary output end, and the power output end is connected to the second connector 12 to drive the second connector 12 to slide when the first drive member 141 is running, thereby causing the cleaning component 131 to move between an inward position and an outward position. The structural description of the first translation component 142 can be found in the relevant descriptions in the foregoing embodiments and will not be repeated here.

[0200] Please see FIG. 24 The first driving member 141 is installed horizontally at one end of the sliding cavity 111 along its length and is located outside the sliding cavity 111. The rotation axis 1411 of the rotating output end and the sliding direction of the second connecting member 12 (e.g.,FIG. 24 (As shown by the X1 axis) is perpendicular to it. The horizontal direction is perpendicular to the height direction of the frame 10.

[0201] It should be noted that in this embodiment, "the rotation axis 1411 of the rotary output end is perpendicular to the sliding direction of the second connecting member 12" means that the two are in a perpendicular or approximately perpendicular positional relationship in a horizontal plane perpendicular to the height direction of the frame 10. This perpendicular relationship allows for angular deviations within the range of conventional manufacturing and assembly tolerances, as long as it can be ensured that the rotation axis 1411 of the rotary output end and the sliding direction of the second connecting member 12 are approximately perpendicular.

[0202] In this embodiment, the first drive member 141 is arranged horizontally, and the rotation axis 1411 of the first drive member 141 is perpendicular to the sliding direction of the second connector 12. This design allows the first drive member 141 to be installed laterally in the horizontal direction of the frame 10, which helps to make full use of the horizontal space of the frame 10, thereby reducing the internal space occupied by the drive mechanism 14 in the height direction of the frame 10. This improvement can support the cleaning equipment 100 to achieve a thinner overall thickness, allowing it to easily enter low areas such as under beds and sofas, effectively expanding the application scenarios and cleaning coverage of the product. In addition, since the first drive member 141 is installed at one end of the sliding cavity 111 in the length direction and is located on the outside of the sliding cavity 111, this layout can avoid the first drive member 141 occupying the space of the first connector 12 in the width direction, which helps to reduce the risk of interference between the first connector 12 and adjacent components such as the cleaning water tank and the suction port in the width direction of the frame 10, and provides more layout possibilities for the compactness of the internal structure and functional integration of the whole machine.

[0203] Please see FIG. 24In one embodiment of the present invention, the first translation component 142 further includes a worm gear 1423, a worm 1424, a lead screw 1421, and a nut 1422. The worm 1424 is connected to the rotary output end of the first driving member 141, and the connection method can be an interference fit between the shaft and the hole or a key and keyway connection, etc. The worm gear 1423 is coaxially connected to the lead screw 1421, and the connection method can be an interference fit between the shaft and the hole or a coupling connection, etc. Specifically, the worm gear 1423 is coaxially connected to one end of the lead screw 1421 in the length direction. The lead screw 1421 is rotatably connected to the first connecting member 11, and the rotatable connection method includes, but is not limited to, a bearing rotatable connection or a bushing rotatable connection, etc. The extension direction of the lead screw 1421 is consistent with the sliding direction of the second connecting member 12. The nut 1422 is threadedly engaged with the lead screw 1421 and connected to the second connecting member 12. The nut 1422 can be fixed to the second connector 12 by clipping, or it can be fixed to the second connector 12 by bolts, or it can be elastically connected to the second connector 12 by elastic elements, as long as it can drive the second connector 12 to slide during the operation of the nut 1422.

[0204] When the first driving member 141 is running, its rotational output end drives the worm gear 1424 to rotate, which in turn drives the worm wheel 1423 to rotate, thereby transmitting the motion to the lead screw 1421 and causing it to rotate. The rotation of the lead screw 1421 is converted into linear motion by the nut 1422, ultimately causing the second connecting member 12 to slide relative to the frame 10.

[0205] In this embodiment, a worm gear transmission mechanism is employed, utilizing its axial reversing function to allow the first driving member 141 to be arranged laterally in the horizontal direction of the frame 10. This layout effectively utilizes the horizontal installation space of the frame 10, thereby reducing the space occupied by the transmission mechanism in the vertical direction. Furthermore, by combining the lead screw and nut transmission structure, the rotational motion of the first driving member 141 can be converted into linear motion. The lead screw and nut structure has a small installation dimension in the vertical direction of the frame 10, which is conducive to achieving a more compact linear transmission layout, thereby further reducing the vertical space occupied by the driving mechanism 14 and further improving the overall structural compactness of the machine in the vertical direction.

[0206] Please see FIG. 16 and 26In one embodiment of the present invention, both the lead screw 1421 and the lead nut 1422 are disposed within the sliding cavity 111, which has an opening 1111 facing the side of the frame 10. The cleaning device 100 also includes a cover plate 112, which covers the opening 1111. Both the worm gear 1423 and the worm 1424 are disposed outside the sliding cavity 111. Specifically, the worm gear 1423 and the worm 1424 can be disposed at different positions, such as above, below, or along the extension direction of the sliding cavity 111. In this embodiment, both the worm 1424 and the worm gear 1423 are disposed outside the sliding cavity 111 along its length direction and close to the first driving member 141.

[0207] To further enhance the protection of the worm gear 1423 and worm 1424, the cover plate 112 extends outward to the outer area of ​​the sliding cavity 111 and covers the worm gear 1423 and worm 1424, effectively shielding the meshing area of ​​the worm gear 1423 and worm 1424.

[0208] It should be noted that the specific structural arrangement of the sliding cavity 111, the second connecting member 12, the lead screw 1421 and the lead screw nut 1422 involved in this embodiment can be referred to the relevant description in the previous embodiment, and will not be repeated here.

[0209] In this embodiment, by arranging the worm gear 1423 and the worm 1424 outside the sliding cavity 111, the space outside the sliding cavity 111 can be effectively utilized, avoiding the worm 1424 and the worm 1424 occupying the internal movement space of the sliding cavity 111. This provides more sufficient travel space for the sliding of the second connecting member 12, and also helps to control the overall size of the sliding cavity 111, thereby contributing to the compact design of the whole machine structure.

[0210] Please see FIG. 16 and FIG. 21In one embodiment of the present invention, along the height direction of the frame 10, the second connecting member 12 slides against the bottom wall of the sliding cavity 111, and the lead screw 1421 and the lead nut 1422 are both disposed on the side of the second connecting member 12 away from the bottom wall of the sliding cavity 111. Along the sliding direction of the second connecting member 12, the projected outlines of the lead screw 1421 and the lead nut 1422 at least partially overlap with the projected outline of the second connecting member 12. Specifically, along the sliding direction of the second connecting member 12, the projected outlines of the lead screw 1421 and the lead nut 1422 can completely overlap with the projected outline of the second connecting member 12, that is, the projected outlines of the lead screw 1421 and the lead nut 1422 do not exceed the projected outline of the second connecting member 12 in the height direction of the frame 10. Alternatively, the projected outlines of the lead screw 1421 and lead nut 1422 may overlap with the projected outline of the second connector 12, meaning that the projected outlines of the lead screw 1421 and lead nut 1422 may extend beyond the projected outline of the second connector 12 in the height direction of the frame 10.

[0211] In this embodiment, the structural layout is optimized by ensuring that the projected contours of the lead screw 1421 and the nut 1422 in the sliding direction of the second connector 12 at least partially overlap with the projected contour of the second connector 12. This design allows the lead screw 1421, the nut 1422, and the second connector 12 to share a portion of the space in the height direction, thereby reducing the overall height of the sliding cavity 111 and consequently reducing the space occupied by the sliding cavity 111 in the overall height direction of the machine. This space optimization can further improve the compactness and thinness of the overall structure.

[0212] Please see FIG. 21 In one embodiment of the present invention, the cleaning mechanism 13 further includes a second driving member 136, which drives the cleaning member 131 to perform cleaning operations. The second driving member 136 can directly drive the cleaning member 131, for example, it can be a motor. Alternatively, it can indirectly drive the cleaning member 131 through other transmission components, such as a combination of a motor and a gear assembly, or a combination of a motor and a worm gear. The first driving member 141 and the second driving member 136 are respectively disposed at both ends of the sliding cavity 111 along its length. The length direction of the sliding cavity 111 is consistent with the sliding direction of the second connecting member 12.

[0213] Specifically, the cleaning mechanism 13 includes a mounting base 134 and a cleaning component 131, which is rotatably mounted on the mounting base 134. A second driving component 136 is mounted on the side of the mounting base 134 opposite to the surface to be cleaned. That is, both the second driving component 136 and the first driving component 141 are located above the mounting base 134.

[0214] In this embodiment, by placing the first driving member 141 and the second driving member 136 at opposite ends of the sliding cavity 111 along its length, this arrangement allows for physical isolation between their respective operating areas. This effectively prevents motion interference or structural collisions between the first driving member 141 and the second driving member 136 during sliding, thereby improving the reliability and safety of the system. Furthermore, this arrangement helps achieve mass balance of the entire mechanism in the direction of motion, reducing additional torque or vibration that may be caused by center of gravity shift. This ensures the cleaning member 131 remains stable during reciprocating motion between the inward and outward positions.

[0215] In one embodiment of the present invention, along the traveling direction of the frame 10 (e.g. FIG. 10 (As shown in the N-axis), the frame 10 includes a front end and a rear end, and the first drive member 141 is disposed on the side of the first connector 11 facing the front end.

[0216] Considering that the rear end of the rack 10 typically needs to accommodate large functional modules such as clean water tanks and wastewater tanks, this area is often space-constrained and structurally limited. In this embodiment, by placing the first drive component 141 on the side of the first connector 11 facing the front end, the relatively spacious installation space near the front end of the rack 10 can be fully utilized, avoiding interference with the densely packed components at the rear end. This layout not only alleviates the local structural limitations caused by the large space occupied by water tanks and other components at the rear end of the rack 10, but also optimizes the internal space allocation of the entire machine, thereby improving the overall structural layout rationality.

[0217] In one embodiment of the present invention, in the retracted position, the cleaning member 131 has a raised position that is detached from the surface to be cleaned and a lowered position that is in contact with the surface to be cleaned. The second connecting member 12 is provided with a lifting surface 125, and the cleaning mechanism 13 has a supporting portion 132 on the side facing away from the surface to be cleaned. During the sliding process of the second connecting member 12 relative to the first connecting member 11, the supporting portion 132 can move along the lifting surface 125 to realize the switching of the cleaning member 131 between the raised position and the lowered position. A structural description of the lifting surface 125 and the supporting portion 132 can be provided later. FIGS. 6-8 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0218] In this embodiment, since the supporting part 132 can move along the lifting surface 125 during the sliding process of the second connecting member 12 relative to the first connecting member 11, the cleaning member 131 can switch between the raised and lowered positions. Therefore, this structure can utilize the horizontal sliding of the second connecting member 12 to achieve the lifting control of the cleaning member 131, without the need for an additional independent lifting actuator, thereby effectively simplifying the overall structure and reducing manufacturing costs. Simultaneously, the cleaning member 131 has two switchable states, raised and lowered, in the retracted position, allowing it to flexibly adjust its working mode according to actual cleaning needs, further expanding the functional diversity and scenario adaptability of the cleaning equipment 100. Furthermore, by setting the mutually cooperating lifting surface 125 and supporting part 132, this structure can achieve the lifting function of the cleaning member 131 simply through the contact and cooperation of the lifting surface 125 and the supporting part 132, offering significant advantages such as simple structure and convenient processing.

[0219] Please see FIG. 14 , FIG. 26 , FIG. 27 and FIG. 28 In one embodiment of the present invention, the second connecting member 12 is provided with a recess 126, which is recessed toward the side near the cleaning member 131. The mounting base 134 of the cleaning mechanism 13 is fixedly connected to an extension 133 on the side opposite to the cleaning member 131. The extension 133 extends upward through the bottom wall of the recess 126 and connects to the abutment 132 located inside the recess 126. Specifically, the bottom wall of the recess 126 is provided with a first sliding groove 1264, and the extension 133 passes through the first sliding groove 1264. The lead screw 1421 extends through the recess 126 along the length direction of the second connecting member 12. The extension 133 is located on the side of the lead screw 1421 facing the bottom wall of the recess 126, and the extension 133 is provided with a clearance groove 1331 for the lead screw 1421 to pass through. Since the extension 133 moves upward relative to the second connector 12 when the cleaning mechanism 13 is in the raised position, the clearance groove 1331 can make the extension 133 avoid the lead screw 1421 in the height direction when the cleaning mechanism 13 is raised.

[0220] Specifically, along the height direction of the frame 10, the extension 133 is disposed below the lead screw 1421, and a clearance groove 1331 is provided on the side of the extension 133 facing the lead screw 1421. The clearance groove 1331 is an approximately arc-shaped cavity structure that adapts to the contour of the lead screw 1421. Of course, in other embodiments, the clearance groove 1331 can also be any groove structure that allows the lead screw 1421 to pass smoothly, such as a rectangular groove or a V-shaped groove.

[0221] In this embodiment, the extension 133 connected to the cleaning mechanism 13 penetrates the bottom wall of the cavity 126 and connects to the abutment 132 located inside the cavity 126. This design extends the mounting and fixing point between the cleaning mechanism 13 and the second connector 12 into the cavity 126, thereby making full use of the spatial depth of the cavity 126 in the height direction. Meanwhile, the lead screw 1421 is disposed within the cavity 126 along the length of the second connector 12, and the extension 133 is located below the lead screw 1421 and has a clearance groove 1331 for the lead screw 1421 to pass through. This structure allows for spatial overlap between the lead screw 1421 and the extension 133 in the height direction, effectively reducing their stacking thickness in the height direction. Therefore, this layout reduces the overall height space occupied at the connection point of the lead screw 1421 and the extension 133, thus providing favorable support for a thinner overall design.

[0222] The cleaning component 131 moves between an inward and outward position by sliding the second connector 12 relative to the first connector 11. During this process, if the cleaning component 131 collides with an obstacle (such as a furniture leg or a wall protrusion), the second connector 12 may be subjected to abnormal external force, causing its installation position to shift or even completely stop sliding. If the first drive component 141 continues to operate even after the second connector 12 has stopped sliding relative to the first connector 11, the transmission system will bear a continuously accumulating reverse load. This can not only cause the motor to stall and abnormal wear of transmission components, but may also cause permanent damage to the drive mechanism 14, seriously affecting the product's reliability and service life.

[0223] Based on this, please refer to FIG. 24 and FIG. 26 The present invention provides a cleaning device 100, which includes: a frame 10, a first connector 11, a second connector 12, a cleaning mechanism 13, a driving mechanism 14, and an elastic member 161.

[0224] The first connecting member 11 is fixedly connected to the frame 10, and the second connecting member 12 is slidably mounted on the first connecting member 11. The cleaning mechanism 13 includes a cleaning component 131, which is mounted on the second connecting member 12 and moves in conjunction with the second connecting member 12, so that the cleaning component 131 has an inward position and an outward position relative to the frame 10. It should be noted that the specific structure and interconnection relationship of the first connecting member 11, the second connecting member 12, and the cleaning mechanism 13 in this embodiment can be referred to FIG. 5 and FIG. 6 The relevant descriptions of the embodiments shown will not be repeated here.

[0225] The drive mechanism 14 includes a first drive member 141 and a first translation component 142. The first drive member 141 is disposed on the first connector 11, and the first translation component 142 has a linear moving end. The first drive member 141 is used to drive the first translation component 142 to move, thereby causing the linear moving end to move along the sliding direction of the second connector 12.

[0226] The first driving component 141 is mounted on the first connecting component 11, and the mounting method includes, but is not limited to, fastener connection such as bolts. Specifically, the first driving component 141 being mounted on the first connecting component 11 means that the fixed end of the first driving component 141 is mounted on the first connecting component 11. The first driving component 141 has a rotating output end that rotates relative to the fixed end. The first driving component 141 can be a drive motor, a hydraulic motor, a combination of a motor and a reducer, etc. Optionally, in this embodiment, the first driving component 141 is a drive motor, and the rotating output end is the output shaft of the drive motor.

[0227] The first translation component 142 includes a power input end and a power output end. The power input end is connected to the rotary output end, and the power output end is the aforementioned linear moving end. The structure of the first translation component 142 can be varied. For example, in one embodiment, the first translation component 142 can adopt a lead screw and nut structure. Its power input end is the lead screw 1421, which is rotatably connected to the first connecting member 11. The lead screw 1421 and the rotary output end are coaxially connected via a coupling. The linear moving end is the nut 1422, which forms a transmission pair with the second connecting member 12 through a threaded engagement. When the drive motor operates, the lead screw 1421 rotates, driving the nut 1422 to slide horizontally relative to the first connecting member 11. In another embodiment, the first translation component 142 is a gear and rack mechanism, where the power input end is a gear fixedly connected to the rotary output end, and the linear moving end is a rack fixedly installed with the second connecting member 12. The gear and rack are kept in a meshing state, and the rotation of the gear drives the rack and the second connecting member 12 to move horizontally in the sliding direction.

[0228] Please see FIG. 15 and FIG. 26An elastic element 161 is disposed between the linear moving end and the second connecting member 12. Specifically, the linear moving end is connected to the second connecting member 12 via the elastic element 161. The elastic element 161 can be a compression spring, a compression sheet, or a structural component made of other elastic materials, etc. This embodiment does not limit the specific type of the elastic element 161. During the operation of the first driving member 141, when the second connecting member 12 slides relative to the first connecting member 11, the linear moving end drives the second connecting member 12 to slide along a first direction via the elastic element 161. When the second connecting member 12 is obstructed and stops sliding, the elastic element 161 can undergo elastic deformation to allow the linear moving end to move relative to the second connecting member 12 along the first direction. It should be noted that the first direction can be the direction in which the cleaning member 131 moves from an inward position to an outward position, or it can be the direction in which the cleaning member 131 moves from an outward position to an inward position.

[0229] Specifically, when the second connector 12 slides normally relative to the first connector 11, the elastic element 161 remains in a pre-compressed state, with sufficient rigidity to transmit the driving force, keeping the system in a near-rigid connection state, thereby ensuring that the second connector 12 slides along the first direction. When the second connector 12 is obstructed and stops sliding, the elastic element 161 undergoes further elastic deformation, allowing the linear moving end to continue moving relative to the second connector 12 along the first direction.

[0230] In this embodiment, by setting an elastic element 161 between the linear moving end and the second connecting member 12, the automatic adaptation of the transmission system between normal driving and overload protection states is realized: during normal sliding, the pre-compressed elastic element 161 forms an approximately rigid connection, ensuring that the power is efficiently and accurately transmitted to the second connecting member 12; when the second connecting member 12 is obstructed, the elastic element 161 provides a buffer stroke through further deformation, converting the driving kinetic energy into elastic potential energy, which not only avoids the overcurrent damage to the first driving member 141 caused by a sudden increase in load torque, but also delays the time for the system to reach the load limit, thus providing sufficient response time for the control system to identify overload and safely stop the machine. In this way, while ensuring the accuracy of motion control, the reliability and service life of the entire transmission mechanism are significantly improved.

[0231] At the same time, when the cleaning component 131 is subjected to such FIG. 26Upon impact in the Y1 direction, due to the elastic element 161, the cleaning mechanism 13 can drive the second connecting member 12 to move in the Y1 direction. At this time, the elastic element 161 deforms and stores elastic potential energy, thereby buffering the impact force on the cleaning mechanism 13 in the Y1 direction. This helps reduce the risk of damage to the cleaning mechanism 13 and prevents the impact force from being transmitted to the drive mechanism 14, thus avoiding its damage. When the impact force on the cleaning member 131 in the Y1 direction disappears, the elastic element 161 can release the stored elastic potential energy, pushing the second connecting member 12 to drive the cleaning mechanism 13 to move in the opposite direction to the Y1 direction, so that the cleaning member 131 returns to the outward expansion position before the impact, thereby ensuring that the cleaning operation can proceed normally. It should be noted that the Y1 direction is the direction opposite to the first direction.

[0232] In one embodiment of the present invention, please refer to FIG. 15 When the linear moving end moves in a second direction opposite to the first direction, it abuts against the second connecting member 12 and pushes the second connecting member 12 to slide in the second direction. Specifically, along the sliding direction of the second connecting member 12, one side of the linear moving end abuts against the second connecting member 12 through an elastic member 161. When the linear moving end moves in the first direction, the driving force on the linear moving end is transmitted to the second connecting member 12 through the elastic member 161, so as to drive the second connecting member 12 to move with the linear moving end. The other side of the linear moving end abuts against the end of the second connecting member 12 without the elastic member 161. When the linear moving end moves in the second direction, the driving force of the linear moving end can be directly transmitted to the second connecting member 12, so as to realize the synchronous operation of the second connecting member 12 with the linear moving end in the second direction.

[0233] In this embodiment, when the linear moving end is running in the second direction, that is, when it is returning in the direction opposite to the first direction, the linear moving end can directly push the second connecting member 12 through rigid contact. This structure can avoid problems such as return gap, elastic hysteresis, or transmission delay that may be caused by the compression deformation of the elastic member 161 during the return process. This rigid transmission mechanism can realize the transmission of power from the linear moving end to the second connecting member 12 without delay, thereby ensuring that the second connecting member 12 and the cleaning member 131 it drives can return to the predetermined position quickly and accurately, improving the reset accuracy of the cleaning member 131 and the real-time response of the return action.

[0234] In one embodiment of the present invention, the first direction is the direction in which the cleaning member 131 moves from the inward position to the outward position, and the second direction is the direction in which the cleaning member 131 moves from the outward position to the inward position.

[0235] By employing a differentiated configuration of elastic transmission in the outward expansion direction (first direction) and rigid transmission in the inward contraction direction (second direction), the cleaning component 131 is prone to collisions with obstacles during its movement from the inward contraction position to the outward expansion position. The elastic component 161 absorbs impact energy through deformation, effectively protecting the first drive component 141 from rigid impacts, thereby improving the operational reliability and service life of the first drive component 141 in complex environments. During the movement of the cleaning component 131 from the outward expansion position to the inward contraction position, the cleaning component 131 has typically moved away from the obstacle area. At this point, the rigid transmission structure completely eliminates problems such as return gap, transmission lag, or inaccurate reset that may be caused by the compression deformation of the elastic component 161, ensuring that the cleaning component 131 can quickly and accurately return to the inward contraction position, providing a stable starting point for the next outward expansion movement, and thus ensuring the repeatability accuracy of the cleaning component 131.

[0236] Please see FIG. 15 and FIG. 24 In one embodiment of the present invention, the first translation component 142 includes a lead screw 1421 and a lead screw nut 1422. The lead screw 1421 is rotatably connected to the first connecting member 11 and connected to the rotary output end of the first driving member 141. The lead screw nut 1422 is threadedly engaged with the lead screw 1421 to form a linear moving end. The lead screw nut 1422 abuts against the second connecting member 12 through an elastic member 161. When the lead screw nut 1422 moves along the first direction, the lead screw nut 1422 can push the second connecting member 12 to slide through the pre-pressure action of the elastic member 161.

[0237] The lead screw and nut transmission structure has high motion conversion accuracy, which can accurately convert the rotational motion of the first driving member 141 into a stable displacement of the linear moving end, ensuring the accuracy of position control of the second connecting member 12 and the cleaning member 131 during expansion or contraction, and avoiding large slippage errors. At the same time, compared with the conventional gear and rack structure, the lead screw and nut transmission structure can also output a larger thrust with a smaller driving torque, thus better meeting the resistance requirements that the cleaning member 131 may encounter during extension and retraction.

[0238] While meeting the buffering performance requirements of the elastic element 161, the specific number and location of the elastic element 161 are not limited in the embodiments of the present invention. However, alternatively, please refer to... FIG. 15 In one embodiment of the present invention, two elastic elements 161 are provided, and the two elastic elements 161 are respectively disposed on both sides of the lead screw 1421 along the width direction of the second connecting member 12. The width direction of the second connecting member 12 is perpendicular to the sliding direction of the second connecting member 12. The two elastic elements 161 can be symmetrically disposed on both sides of the lead screw 1421, or they can be disposed approximately symmetrically on both sides of the lead screw 1421.

[0239] Elastic elements 161 are provided on both sides of the lead screw 1421 along the width direction of the second connector 12, which enables the second connector 12 to be simultaneously subjected to a balanced elastic thrust on both sides in the width direction. This arrangement can effectively improve the motion jamming or component wear problems caused by uneven loading between the linear moving end and the second connector 12, thereby improving the smoothness and reliability of the movement of the lead screw nut 1422 relative to the second connector 12, while enhancing the timeliness and response speed of the buffering effect of the elastic elements 161.

[0240] While the specific structural type of elastic element 161 is not limited to meet the buffering performance requirements, alternatively, please refer to [the relevant documentation / reference]. FIG. 15 In one embodiment of the present invention, the elastic element 161 is a compression spring. The compression direction of the compression spring is consistent with the sliding direction of the second connecting member 12. The two ends of the compression spring are respectively connected to the nut 1422 and the second connecting member 12. Since the compression spring has the characteristics of small axial dimension and strong radial adaptability, the limited space on both sides of the lead screw 1421 can be fully utilized for arrangement, which is beneficial to saving installation space. At the same time, since the compression spring is a standard part, its mechanical properties are stable, its fatigue strength is high, and it is easy to purchase and replace, which is beneficial to ensuring product quality consistency and controlling production costs.

[0241] Please see FIG. 15 In one embodiment of the present invention, the second connector 12 is provided with a mounting groove 123, and the nut 1422 and the elastic member 161 are both accommodated in the mounting groove 123. Along the moving direction of the nut 1422, the mounting groove 123 has a first end wall 1231 and a second end wall 1232 disposed opposite to each other. Specifically, along the sliding direction of the second connector 12, the second connector 12 has a first end 121 and a second end 122 disposed opposite to each other, and the second connector 12 includes the mounting groove 123, which is located between the first end 121 and the second end 122.

[0242] An elastic element 161 is disposed between the first end wall 1231 and the nut 1422, with both ends of the elastic element 161 abutting against one end of the first end wall 1231 and one end of the nut 1422, respectively. The end of the nut 1422 away from the elastic element 161 abuts against the second end wall 1232. Specifically, when the second connecting member 12 slides along the first direction, the end of the nut 1422 facing the elastic element 161 presses against the elastic element 161, pressing the elastic element 161 tightly against the first end wall 1231. When the second connecting member 12 slides along the second direction, the end of the nut 1422 away from the elastic element 161 abuts against the second end wall 1232.

[0243] In this embodiment, by placing the elastic element 161 between the first end wall 1231 and the nut 1422, and by having the other end of the nut 1422 abut against the second end wall 1232, a stable installation of the elastic element 161, the nut 1422, and the second connector 12 is achieved. When the second connector 12 slides along the first direction, the nut 1422 presses against the elastic element 161, keeping the elastic element 161 in abutment against the first end wall 1231. When sliding along the second direction, the nut 1422 directly forms rigid contact with the second end wall 1232. This built-in installation method has a compact structure and avoids occupying additional installation space outside the second connector 12, thereby improving the overall space utilization efficiency and the integration between components.

[0244] Please see FIG. 30 In one embodiment of the present invention, the nut 1422 and / or the second connector 12 are provided with a first guide structure 162, which guides the nut 1422 to move relative to the second connector 12. The specific type of the first guide structure 162 is not limited. For example, in one embodiment, the first guide structure 162 includes a guide groove or guide rib disposed on the inner wall of the mounting groove 123 of the second connector 12; the nut 1422 is provided with a guide protrusion or guide groove at a corresponding position, the guide protrusion cooperating with the guide groove, or the guide groove cooperating with the guide rib, to limit the nut 1422 from large lateral or vertical displacements during movement, thereby guiding it to move smoothly relative to the second connector 12 along a preset path. In another embodiment, the first guide structure 162 includes a slider disposed on the outer periphery of the nut 1422 and a guide rail disposed on the inner wall of the mounting groove 123 of the second connector 12. The slider slides in conjunction with the guide rail to limit the large lateral or vertical displacement of the nut 1422 during movement, thereby guiding it to move smoothly relative to the second connector 12 along a preset path.

[0245] In this embodiment, by providing a first guide structure 162 on the nut 1422 and / or the second connector 12, the deflection phenomenon that may occur during the movement of the nut 1422 is effectively limited, thereby reducing the risk of sliding and jamming during the movement of the nut 1422. This design not only improves the smoothness of the sliding of the nut 1422 relative to the second connector 12, but also provides a reliable structural basis for the timely triggering and stable performance of the buffering effect of the elastic element 161.

[0246] Optionally, please refer to FIG. 29 and FIG. 30In one embodiment of the present invention, the first guide structure includes a guide groove 1621 and a guide block 1622. One of the guide groove 1621 and the guide block 1622 is disposed in the second connector 12, and the other is disposed in the nut 1422. The guide block 1622 is fitted and installed in the guide groove 1621 so that when the nut 1422 moves relative to the second connector 12, it slides along the guide groove 1621.

[0247] In one embodiment, please refer to FIG. 30 and FIG. 31 Guide grooves 1621 are disposed on two opposite sidewalls in the width direction of mounting groove 123. Guide grooves 1621 can be rectangular grooves, trapezoidal grooves, V-shaped grooves, etc. Guide blocks 1622 are correspondingly disposed on two sidewalls in the width direction of nut 1422. Each guide block 1622 corresponds to the guide groove 1621 on the same side, and the guide block 1622 is slidably engaged in the guide groove 1621. When nut 1422 moves relative to second connector 12, guide block 1622 slides along guide groove 1621.

[0248] In another embodiment, guide blocks 1622 are disposed on two opposite sidewalls in the width direction of mounting groove 123, and guide grooves 1621 are correspondingly disposed on two sidewalls in the width direction of nut 1422. This arrangement can also achieve the beneficial effects of the above embodiments.

[0249] In other embodiments, guide grooves 1621 and guide blocks 1622 are respectively provided on two opposite sidewalls in the width direction of the mounting groove 123, and guide blocks 1622 and guide grooves 1621 are respectively provided on two sidewalls in the width direction of the nut 1422. The guide grooves 1621 on the nut 1422 are slidably engaged with the guide blocks 1622 on the mounting groove 123, and the guide blocks 1622 on the nut 1422 are slidably engaged with the guide grooves 1621 on the mounting groove 123. This arrangement can also achieve the beneficial effects of the above embodiments.

[0250] The first guiding structure 162 adopts a combination of guide groove 1621 and guide block 1622. The guide groove 1621 provides a movement trajectory for the guide block 1622, effectively limiting the deflection or vertical movement of the nut 1422 during movement, ensuring that the nut 1422 always slides smoothly relative to the second connector 12 along a preset path. Simultaneously, the combination structure of guide groove 1621 and guide block 1622 is simple in structure, easy to process, and highly efficient in assembly, thus helping to control manufacturing costs and ensure product assembly efficiency.

[0251] Please see FIG. 15 , FIG. 32 and FIG. 33In one embodiment of the present invention, the nut 1422 and / or the second connector 12 are provided with a second guide structure 163. The second guide structure 163 is used to guide the elastic member 161 to undergo elastic deformation along the moving direction of the nut 1422 when the nut 1422 moves. In this embodiment, the specific type of the second guide structure 163 is not limited. For example, in one embodiment, the second guide structure 163 includes a guide post disposed at the end of the nut 1422 facing the elastic member 161, and the elastic member 161 is sleeved on the outside of the guide post. The mounting groove 123 of the second connector 12 has a corresponding guide hole on the first end wall 1231, and the guide post partially extends into the guide hole when the nut 1422 moves. This structure ensures that the elastic member 161 always deforms along the moving direction of the nut 1422 during compression, preventing it from bending or becoming unstable. In another embodiment, the second guide structure 163 includes a guide portion disposed on the nut 1422, which passes through the inner hole of the elastic member 161 and can slide within the guide hole disposed on the end wall of the mounting groove 123.

[0252] By setting the second guide structure 163, the deformation path of the elastic element 161 can be constrained, reducing the probability of bending, skewness, or instability of the elastic element 161 under stress. This ensures that the elastic element 161 can produce a reliable and consistent buffering action under each overload, thereby improving the accuracy and controllability of the overload protection function. At the same time, the second guide structure 163 can guide the elastic element 161 to deform uniformly along a preset direction, thereby reducing local stress concentration caused by uneven loading or bending, effectively mitigating fatigue damage to the elastic element 161, and helping to extend the service life of the elastic element 161.

[0253] Please see FIGS. 31-33 In one embodiment of the present invention, the second guide structure 163 includes a first groove 1631 and a second groove 1632. The first groove 1631 is disposed on the side of the nut 1422 facing the first end wall 1231, and the second groove 1632 is disposed on the side of the first end wall 1231 facing the nut 1422. Both ends of the elastic member 161 are respectively accommodated in the first groove 1631 and the second groove 1632. When the elastic member 161 undergoes elastic deformation, both ends of the elastic member 161 slide along the first groove 1631 and the second groove 1632, respectively. The first groove 1631 and the second groove 1632 can be a cylindrical groove structure, a rectangular groove structure, or a U-shaped groove structure, etc. This embodiment is not limited to these.

[0254] By providing a first slot 1631 and a second slot 1632, the first slot 1631 and the second slot 1632 together form a guide channel, with both ends of the elastic member 161 constrained within the two slots respectively. When the nut 1422 moves relative to the second connector 12 and compresses the elastic member 161, both ends of the elastic member 161 can slide along the first slot 1631 and the second slot 1632 respectively. Therefore, the first slot 1631 and the second slot 1632 can limit the deformation path of the elastic member 161 to be along the moving direction of the nut 1422, thereby improving the radial displacement, bending, or instability of the elastic member 161 during the stress process, ensuring that the elastic member 161 plays a stable and controllable buffering role.

[0255] Please see FIGS. 31-33 In one embodiment of the present invention, the second guide structure 163 includes a first protrusion 1633 disposed on the nut 1422 and a second protrusion 1634 disposed on the first end wall 1231. The first protrusion 1633 and the second protrusion 1634 are disposed opposite to each other, and the two ends of the elastic member 161 are respectively inserted and connected to the first protrusion 1633 and the second protrusion 1634. The specific structure of the first protrusion 1633 and the second protrusion 1634 is not limited, and can be prismatic, cylindrical, etc. Further, when the nut 1422 is provided with a first groove 1631, the first protrusion 1633 is disposed in the first groove 1631. When the first end wall 1231 is provided with a second groove 1632, the second protrusion 1634 is disposed in the second groove 1632.

[0256] By providing opposing first protrusions 1633 and second protrusions 1634, and connecting both ends of the elastic member 161 to the first protrusions 1633 and second protrusions 1634 respectively, an effective radial constraint can be formed on the elastic member 161. This structure can limit large radial movement or large positional displacement of the elastic member 161 during operation, and also prevent the elastic member 161 from accidentally dislodging from its installation position during vibration or reset.

[0257] It should be noted that, in the embodiments of the present invention, the guiding structure formed by the first slot 1631 and the second slot 1632, and the insertion limiting structure formed by the first protrusion 1633 and the second protrusion 1634, can be implemented independently or used in combination. When used in combination, they can simultaneously provide axial sliding guidance and radial displacement constraint for the elastic element 161, thereby improving the stability and reliability of the elastic element 161 in multiple directions and enhancing the uniformity and controllability of the buffering effect. Those skilled in the art can flexibly select or combine the above-mentioned guiding and limiting methods according to specific structural layout and functional requirements to adapt to the guiding effect of the deformation of the elastic element 161 under different working conditions.

[0258] The movement of the cleaning component 131 between its retracted and expanded positions relies on the sliding of the second connector 12 on the first connector 11. During this sliding process, frictional resistance is inevitably generated between the two connectors. If this frictional resistance is too high, it will directly lead to an increase in the drive load, which not only increases energy consumption but also easily causes significant noise during operation, thereby affecting the overall user experience of the equipment.

[0259] To improve the above problems, the present invention provides a cleaning device 100, which includes a frame 10, a first connector 11, a second connector 12, a cleaning mechanism 13, a drive mechanism 14, and a first protrusion structure 171.

[0260] The first connector 11 is fixedly installed on the frame 10 and has a sliding cavity 111. The second connector 12 is installed in the sliding cavity 111 and slides along the sliding cavity 111. The cleaning mechanism 13 includes a cleaning component 131, which is installed on the second connector 12 and moves in conjunction with the second connector 12, so that the cleaning component 131 has an inward position and an outward position relative to the frame 10.

[0261] The drive mechanism 14 is used to drive the second connector 12 to slide within the sliding cavity 111, so that the cleaning component 131 can move between the inward position and the outward position through the sliding of the second connector 12.

[0262] It should be noted that the specific structure and interconnection relationship of the first connector 11, the second connector 12, the cleaning mechanism 13, and the driving mechanism 14 in this embodiment can be referred to FIG. 5 and FIG. 6 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0263] Please see FIG. 32 and FIG. 34 The first protrusion structure 171 is disposed on at least one inner wall of the sliding cavity 111 and / or at least one outer wall of the second connector 12. During the sliding of the second connector 12 along the sliding cavity 111, at least one inner wall of the sliding cavity 111 can abut against at least one outer wall of the second connector 12 through the first protrusion structure 171. The first protrusion structure 171 may be a part of the inner wall of the sliding cavity 111 or the outer wall of the second connector 12, such as a protruding point structure, a protruding strip structure, etc. The first protrusion structure 171 may also be a rolling element structure rotatably mounted on the inner wall of the sliding cavity 111 or the outer wall of the second connector 12.

[0264] In one embodiment, the first protrusion 171 is disposed on at least one inner wall of the sliding cavity 111. For example, it may be disposed on the bottom wall and / or a pair of opposing side walls of the sliding cavity 111, and the outer wall of the second connector 12 abuts against the first protrusion 171.

[0265] In another embodiment, the first protrusion structure 171 is provided only on at least one outer wall of the second connector 12. Specifically, the first protrusion structure 171 may be provided on the outer surface (e.g., the bottom wall and / or side wall of the sliding cavity 111) on which the second connector 12 slides relative to the inner wall of the sliding cavity 111. When the second connector 12 slides in the sliding cavity 111, the first protrusion structure 171 provided on the outer wall of the second connector 12 abuts against the corresponding inner wall of the sliding cavity 111.

[0266] In other embodiments, multiple first protrusion structures 171 are provided, some of which are provided on the inner wall of the sliding cavity 111 and some of which are provided on the outer wall of the second connector 12. When the second connector 12 slides in the sliding cavity 111, the first protrusion structure 171 provided on the outer wall of the second connector 12 abuts against the corresponding inner wall of the sliding cavity 111, and the first protrusion structure 171 provided on the inner wall of the sliding cavity 111 abuts against the corresponding outer wall of the second connector 12.

[0267] By providing a first protrusion structure 171 between the sliding cavity 111 on the second connector 12 and the first connector 11, the large-area contact that might have occurred between the outer wall of the second connector 12 and the inner wall of the sliding cavity 111 can be transformed into local surface contact (including multiple spaced local surface contacts or point contacts), thereby optimizing the stress distribution and friction state at the contact interface. Under the same load conditions, this structure can reduce the frictional resistance generated during the sliding of the second connector 12, thereby reducing the driving load on the drive mechanism 14 and lowering the operating energy consumption of the drive mechanism 14. At the same time, the reduction in frictional resistance can also suppress vibration and noise problems caused by high frictional resistance, improving the quietness performance of the cleaning device 100 and the user experience. In addition, the first protrusion structure 171, through reasonable layout, can enhance the operational stability of the second connector 12 relative to the sliding cavity 111 while reducing friction, thus helping to ensure the smooth operation of the cleaning component 131 between the inward and outward positions and reducing the occurrence of sliding jamming.

[0268] Please see FIG. 32 , FIG. 34 and FIG. 35In one embodiment of the present invention, the second connecting member 12 includes a first bottom wall 1262 and two first side walls 1261, the two first side walls 1261 being respectively connected to both sides of the first bottom wall 1262 in the width direction. The extending direction of the two first side walls 1261 is consistent with the sliding direction of the second connecting member 12. Multiple first protrusion structures 171 are provided, some of which are provided on the two first side walls 1261, and others are provided on the first bottom wall 1262. The sliding cavity 111 includes a second bottom wall 1114 and two second side walls 1113, the two second side walls 1113 being respectively connected to both sides of the second bottom wall 1114 in the width direction. The extending direction of the two second side walls 1113 is consistent with the sliding direction of the second connecting member 12.

[0269] During the sliding process of the second connector 12 along the sliding cavity 111, the second bottom wall 1114 abuts against the first protrusion structure 171 located on the first bottom wall 1262, and the second side wall 1113 abuts against the first protrusion structure 171 located on the first side wall 1261.

[0270] Of course, in another embodiment, the first protrusion 171 may only be provided on the outer walls of the two first sidewalls 1261. During the sliding of the second connector 12 along the sliding cavity 111, the second sidewall 1113 abuts against the first protrusion 171 located on the first sidewall 1261. In other embodiments, the first protrusion 171 may only be provided on the outer wall of the first bottom wall 1262. During the sliding of the second connector 12 along the sliding cavity 111, the second bottom wall 1114 abuts against the first protrusion 171 located on the first bottom wall 1262.

[0271] In this embodiment, by setting the first protruding structure 171 on the first bottom wall 1262 and / or the first side wall 1261 of the second connector 12, the maintenance and assembly of the first protruding structure 171 are facilitated. Specifically, in terms of maintenance, when the first protruding structure 171 needs to be replaced or repaired due to long-term wear, the independent second connector 12 can be operated directly without disassembling the fixed sliding cavity 111, thus reducing the later maintenance cost and time of the first protruding structure 171. In terms of assembly, this structure allows operators to intuitively observe the position and status of the first protruding structure 171, facilitating rapid alignment and installation in an open space, avoiding delicate operations inside the narrow sliding cavity 111, thereby improving assembly efficiency.

[0272] Please see FIG. 35In one embodiment of the present invention, the first protrusion structure 171 is rotatably connected to the outer wall of the second connector 12. When the second connector 12 slides along the sliding cavity 111, the first protrusion structure 171 can roll along the inner wall of the sliding cavity 111. Since the first protrusion structure 171 is rotatably connected to the outer wall of the second connector 12, when the second connector 12 slides in the sliding cavity 111, the first protrusion structure 171 can roll along the inner wall of the sliding cavity 111, thereby converting the sliding friction between the sliding interfaces into rolling friction. This change in friction type can significantly reduce the frictional resistance during the sliding process of the second connector 12, thereby reducing the operating noise and driving energy consumption of the cleaning equipment 100.

[0273] It should be noted that in different embodiments of the present invention, the first protrusion structure 171 may have different implementations, and its installation method on the second connector 12 will also vary accordingly. In one embodiment, the first protrusion structure 171 is a roller. Specifically, a mounting shaft is provided on the outer wall of the second connector 12, and the roller is rotatably mounted on the mounting shaft through a bearing or bushing. When the second connector 12 slides in the sliding cavity 111, the roller can roll along the inner wall of the sliding cavity 111. In another embodiment, the first protrusion structure 171 is a ball. Specifically, a bowl-shaped seat is provided on the outer wall of the second connector 12, and the ball is partially housed in the bowl-shaped seat and can rotate freely, with its spherical portion protruding from the outer wall surface of the second connector 12. During sliding, the ball can roll along the inner wall of the sliding cavity 111.

[0274] Please see FIG. 36 and FIG. 37 In one embodiment of the present invention, the first protrusion structure 171 includes a first rolling element 1711 and a first mounting shaft 1712. The first rolling element 1711 is rotatably mounted on the first mounting shaft 1712, and the first mounting shaft 1712 is fixedly mounted on the second connector 12.

[0275] The first rolling element 1711 can be a roller, a cylinder, or a bearing ring, etc. The outer surface of the first rolling element 1711 can be designed as a cylindrical, spherical, or arc-shaped surface as needed to adapt to different inner wall contours and force requirements of the sliding cavity 111. The fixing method between the first mounting shaft 1712 and the second connecting member 12 includes, but is not limited to, press-fit fixing, threaded fastening, or snap-fit ​​installation. In actual products, the appropriate method can be flexibly selected based on the specific structure and manufacturing process of the second connecting member 12. To further optimize friction performance, in some embodiments, a rolling bearing or a sliding bearing can be provided between the first rolling element 1711 and the first mounting shaft 1712, or a wear-resistant coating or a low-friction material layer can be added to the outer surface of the first rolling element 1711.

[0276] This embodiment utilizes a combined structure of a first mounting shaft 1712 and a first rolling element 1711. On one hand, the first mounting shaft 1712 provides a clear mounting reference and positioning support for the first rolling element 1711. During assembly, simply fitting the first rolling element 1711 onto the first mounting shaft 1712 quickly completes the positioning, effectively avoiding alignment deviations that may occur when multiple independent rolling elements are installed separately, thus improving assembly efficiency and accuracy. On the other hand, when the first rolling element 1711 needs replacement due to long-term wear, only the worn first rolling element 1711 needs to be replaced individually, without replacing the entire second connecting piece 12 or the first mounting shaft 1712. Therefore, this reduces the maintenance costs of the first protruding structure 171 during long-term use.

[0277] Please see FIG. 36 and FIG. 37 In one embodiment of the present invention, a first groove 1713 is provided on the outer wall of the first sidewall 1261 and / or the first bottom wall 1262. A first mounting shaft 1712 is fixedly mounted on the wall of the first groove 1713. A first rolling element 1711 is accommodated in the first groove 1713 and at least partially protrudes to the outside of the first groove 1713 to roll along the inner wall of the sliding cavity 111. Specifically, when the first protrusion structure 171 is provided on the first sidewall 1261, the first sidewall 1261 is correspondingly provided with the first groove 1713 to accommodate the first rolling element 1711 provided on the first sidewall 1261. When the first protrusion structure 171 is provided on the first bottom wall 1262, the first sidewall 1261 is correspondingly provided with the first groove 1713 to accommodate the first rolling element 1711 provided on the first bottom wall 1262. The specific structure of the first groove 1713 is not limited. For example, it can be a rectangular groove, a U-shaped groove, etc., as long as it can accommodate the first rolling element 1711 and enable the first rolling element 1711 to rotate normally within the first groove 1713.

[0278] In this embodiment, by providing the first groove 1713, an effective installation and accommodating space is provided for the first mounting shaft 1712 and the first rolling element 1711, allowing the first rolling element 1711 to be embedded inside the wall of the second connector 12. This layout can reduce the installation dimensions occupied by the first protrusion structure 171 in the width direction of the sliding cavity 111, thereby facilitating a compact structural design.

[0279] In one embodiment of the present invention, a mounting hole 1714 is provided on the first sidewall 1261 and / or the first bottom wall 1262, and a first mounting shaft 1712 is fixedly installed in the mounting hole 1714. The first mounting shaft 1712 has a ribbed structure 17121 on its outer peripheral surface at a position corresponding to the mounting hole 1714, or the mounting hole 1714 has a ribbed structure 17121 on its hole wall. Specifically, when the first protrusion 171 is provided on the first sidewall 1261, the mounting hole 1714 is provided on the first sidewall 1261. When the first protrusion 171 is provided on the first bottom wall 1262, the mounting hole 1714 is provided on the first bottom wall 1262.

[0280] The specific forming method and shape of the prism structure 17121 can be selected in various ways. For example, the prism structure 17121 can be a straight-line knurling extending along the axial direction, forming uniformly distributed axial stripes on the shaft surface or hole wall through a rolling process. The prism structure 17121 can also be a mesh knurling composed of intersecting diagonal lines, forming a uniformly distributed diamond-shaped raised pattern. The prism structure 17121 can also be a randomly distributed concave-convex texture formed by sandblasting, etching, or sintering.

[0281] In one embodiment, the first mounting shaft 1712 has a ribbed structure 17121 on its outer peripheral surface that mates with the mounting hole 1714, and the wall of the mounting hole 1714 is a smooth surface. This ribbed structure 17121 increases the surface roughness and coefficient of friction of the shaft, allowing the first mounting shaft 1712 to form an interference fit after being pressed into the mounting hole 1714, thereby achieving a reliable fixed connection. In another embodiment, the mounting hole 1714 has a ribbed structure 17121 on its wall, and the outer peripheral surface of the first mounting shaft 1712 is a smooth surface. This design, through the compression and interlocking effect between the ribbed structure 17121 on the hole wall and the shaft surface, also achieves a firm fixation of the first mounting shaft 1712 in the mounting hole 1714.

[0282] By providing a ribbed structure 17121 on the outer peripheral surface of the first mounting shaft 1712 at the position corresponding to the mounting hole 1714 or on the hole wall of the mounting hole 1714, the bonding strength between the first mounting shaft 1712 and the mounting hole 1714 can be enhanced, effectively resisting the rotational torque and axial force generated during use, thereby improving the stability of the fixed connection between the first mounting shaft 1712 and the mounting hole 1714.

[0283] Provided that the second connecting member 12 slides smoothly relative to the sliding cavity 111, the present invention does not limit the specific outer contour surface shape of the first rolling element 1711. For example, the first rolling element 1711 may adopt a cylindrical outer contour surface with a uniform diameter or an approximately drum-shaped outer contour surface with inconsistent diameters.

[0284] Optionally, please refer toFIG. 37 In one embodiment of the present invention, the outer contour surface of the first rolling element 1711 is a convex, continuous, smooth curved surface. Along the axial direction of the first rolling element 1711, the outer diameter of the middle part of the first rolling element 1711 is larger than the outer diameter of both ends of the first rolling element 1711. Specifically, along the axial direction of the first rolling element 1711, the outer diameter of the middle part of the first rolling element 1711 is larger than the outer diameter of both ends of the first rolling element 1711, forming a drum-shaped contour structure. This drum-shaped contour design allows the first rolling element 1711 to form a central contact or approximately point contact with the inner wall of the sliding cavity 111. This not only helps to further reduce rolling friction resistance, but also allows for adaptive adjustment of the contact position when the second connecting member 12 shows slight misalignment, thereby effectively improving the smoothness and stability of the sliding process and further reducing the risk of jamming.

[0285] Please see FIG. 14 and FIG. 36 In one embodiment of the present invention, the second connector 12 is provided with a cavity 126, and two first sidewalls 1261 form two sidewalls of the cavity 126 in the width direction. The width direction of the cavity 126 is perpendicular to the sliding direction of the second connector 12. A thickened portion 1263 is provided on the inner wall of each of the two first sidewalls 1261. The thickened portion 1263 can be used to enhance the structural strength of the first sidewall 1261. The thickened portion 1263 can be a protrusion structure partially provided along the inner wall surface of the first sidewall 1261, or a wall structure that is thickened overall along the first sidewall 1261. A first groove 1713 is provided on each of the two first sidewalls 1261 to accommodate the first rolling element 1711. Along the width direction of the cavity 126, from the outer side to the inner side of the first sidewall 1261, the first groove 1713 penetrates the first sidewall 1261 and extends into the interior of the thickened portion 1263.

[0286] In this embodiment, the thickened portion 1263 increases the local wall thickness of the first sidewall 1261, giving the first groove 1713 a greater depth. This allows it to accommodate a larger diameter first rolling element 1711, reducing the limitation imposed by the thickness of the first sidewall 1261 on the size of the rolling element. It also provides more stable mounting support for the first mounting shaft 1712. Furthermore, the thickened portion 1263 located on the inner wall of the cavity 126 effectively enhances the local strength of the first sidewall 1261 without increasing the external profile dimensions. Therefore, this structure can also function as a built-in reinforcing rib, thereby improving the overall stiffness and load-bearing capacity of the second connector 12 in the width direction.

[0287] Please see FIG. 35 and FIG. 36In one embodiment of the present invention, the first protrusion structure 171 includes a first protrusion unit 1715 and a second protrusion unit 1716. Each of the two first sidewalls 1261 is provided with a first protrusion unit 1715, and the positions of the first protrusion units 1715 on the two first sidewalls 1261 are symmetrical. The number of first protrusion units 1715 provided on the first sidewall 1261 is not limited; for example, there can be two or more. Optionally, in this embodiment, each first sidewall 1261 is provided with two first protrusion units 1715, and the two first protrusion units 1715 are respectively located at both ends of the length direction of the first sidewall 1261. A plurality of sets of second protrusion units 1716 are provided on the first bottom wall 1262, symmetrically arranged along the width direction of the second connector 12. The number of second protrusion units 1716 provided on the first bottom wall 1262 is also not limited; for example, there can be two, four, or more. Optionally, in this embodiment, four second protruding units 1716 are provided on the first bottom wall 1262, and the four second protruding units 1716 are symmetrically arranged along the width direction of the second connector 12.

[0288] By symmetrically arranging first protruding units 1715 on the two first sidewalls 1261, the lateral forces borne by the second connector 12 in the width direction can be effectively balanced, avoiding unilateral wear or sliding jamming caused by uneven force distribution. Simultaneously, symmetrically arranging multiple sets of second protruding units 1716 on the first bottom wall 1262 ensures uniform distribution of the vertical load, preventing localized stress concentration. This symmetrical layout structure in multiple directions improves the overall stability of the second connector 12 during sliding.

[0289] To meet the requirements of aesthetics, dust prevention, and internal protection, a cover plate 112 is usually provided on the first connecting member 11 to cover the opening 1111 of its sliding cavity 111. However, due to space limitations, the gap between the second connecting member 12 moving within the sliding cavity 111 and the inner surface of the cover plate 112 is usually small. During the operation of the cleaning equipment 100, the second connecting member 12 and its connected components (such as the linear moving end of the drive mechanism) are prone to unexpected shaking due to factors such as vibration of the entire machine or collisions during the operation of the cleaning component 131. This causes the component to come into contact with or even rub against the upper cover plate 112 during its telescopic movement. Long-term interference and friction can cause a series of problems: not only will it increase the operating load of the drive mechanism 14, leading to increased motor energy consumption or premature component wear, but it will also cause wear on the surface of the second connecting member 12 and / or the cover plate 112, forming scratches or even generating abrasive debris. These problems not only affect the smoothness of movement and cleaning effect, but also reduce the structural reliability and service life of the entire machine.

[0290] To solve the above problems, the present invention provides a cleaning device 100, which includes a frame 10, a first connector 11, a cover plate 112, a second connector 12, a cleaning mechanism 13, a driving mechanism 14, and a second protruding structure 172.

[0291] The first connecting member 11 is fixedly connected to the frame 10 and has a sliding cavity 111. The sliding cavity 111 has an opening 1111 on the side opposite to the cleaning mechanism 13. The cover plate 112 is fixedly connected to the first connecting member 11 and the frame 10 and covers the opening 1111 of the sliding cavity 111. The cover plate 112 is fixed to the first connecting member 11 by bolts or other fasteners. The first connecting member 11 can be directly fixedly connected to the frame 10 or indirectly fixedly connected to the frame 10 through the cover plate 112.

[0292] The second connecting member 12 is disposed within the sliding cavity 111 and slides along the sliding cavity 111. The cleaning mechanism 13 includes a cleaning component 131, which is mounted on the second connecting member 12 and moves in conjunction with the second connecting member 12, so that the cleaning component 131 has an inward retracted position and an outward expanding position relative to the frame 10. It should be noted that the specific structural descriptions of the first connecting member 11, the second connecting member 12, and the cleaning mechanism 13 can be found in [reference needed]. FIG. 5 and FIG. 6 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0293] The drive mechanism 14 includes a first drive member 141 and a first translation component 142. The first drive member 141 is disposed on the first connecting member 11, and the first translation component 142 has a linear moving end connected to the second connecting member 12. The first drive member 141 may be a motor, a combination of a motor and a reducer, etc., and the first translation component 142 may be a combination of a lead screw and nut, a gear and rack combination, etc. The first drive member 141 has a rotary output end, and the power output end of the first translation component 142 is connected to the rotary output end, forming the linear moving end. The first drive member 141 is used to drive the linear moving end to move the second connecting member 12, thereby enabling the cleaning component 131 to move between the inward position and the outward position. In this embodiment, the outward position may include only one outward position or multiple outward positions, such as the first outward position, the second outward position, or the third outward position mentioned in the previous embodiment.

[0294] Please see FIG. 29 , FIG. 30 and FIG. 31 The second protrusion structure 172 is disposed on the surface of the second connector 12 facing the cover plate 112 and / or on the surface of the linear moving end facing the cover plate 112, and the second connector 12 and / or the linear moving end can abut against the cover plate 112 through the second protrusion structure 172.

[0295] Specifically, in one embodiment, the second protrusion 172 is disposed on the surface of the second connector 12 facing the cover plate 112, and the second connector 12 can abut against the surface of the cover plate 112 facing the sliding cavity 111 via the second protrusion 172. In another embodiment, the second protrusion 172 is disposed on the surface of the linear moving end facing the cover plate 112, and the linear moving end can abut against the surface of the cover plate 112 facing the sliding cavity 111 via the second protrusion 172. In other embodiments, multiple second protrusions 172 may be provided, with some disposed on the surface of the second connector 12 facing the cover plate 112 and others disposed on the surface of the linear moving end facing the cover plate 112.

[0296] The second protrusion structure 172 can be a protruding point structure, a protruding strip structure, etc., fixedly connected to the second connecting member 12 or the linear moving end. The first protrusion structure 171 can also be a rolling element structure, etc., rotatably mounted on the second connecting member 12 or the linear moving end.

[0297] It should be noted that when the second connector 12 and the linear moving end are operating normally along the sliding cavity 111, the second protruding structure 172 and the cover plate 112 are usually in a non-contact state, that is, the second protruding structure 172 does not abut against the cover plate 112. Only when the second connector 12 or the linear moving end experiences abnormal fluctuations in the height direction due to shaking will the second protruding structure 172 abut against the cover plate 112 to limit further movement of the second connector 12 or the linear moving end in the height direction.

[0298] In this embodiment, by setting a second protruding structure 172 and arranging it on the surface of the second connecting member 12 and / or the linear moving end facing the cover plate 112, the large-area surface contact friction that is prone to occur during shaking is transformed into local point contact or line contact. When unexpected shaking occurs, the top of the second protruding structure 172 abuts against the inner surface of the cover plate 112, thereby significantly reducing the frictional resistance between the cover plate 112 and the second connecting member 12 or the linear moving end, and reducing the wear of the surfaces of each component. The reduction in frictional resistance also correspondingly reduces the operating load of the drive mechanism 14, avoiding the increase in motor energy consumption and premature wear of components caused by friction, and ensuring the long-term stable operation of the drive system. At the same time, the second protruding structure 172 also serves as a limiting reference, which can effectively limit the abnormal movement and shaking of the second connecting member 12 and / or the linear moving end in the sliding cavity 111 along the height direction (i.e., perpendicular to the sliding direction). This limiting function makes the movement trajectory of the second connector 12 more stable during the sliding process, reduces the probability of jamming due to swaying or jumping, and further improves the reliability of equipment operation.

[0299] Please see FIG. 26 andFIG. 35 In one embodiment of the present invention, an elastic element 161 is further provided between the linear moving end and the second connecting member 12. During the operation of the first driving member 141, when the second connecting member 12 slides relative to the first connecting member 11, the linear moving end drives the second connecting member 12 to slide along the first direction through the elastic element 161. When the second connecting member 12 is obstructed and stops sliding, the elastic element 161 can undergo elastic deformation to allow the linear moving end to move relative to the second connecting member 12 along the first direction. The second protruding structure 172 is provided on the surface of the linear moving end facing the cover plate 112.

[0300] The elastic element 161 can be a compression spring, a compression sheet, or a structural component made of other elastic materials, etc. This embodiment does not limit the specific type of the elastic element 161. During the operation of the first driving member 141, when the second connecting member 12 slides relative to the first connecting member 11, the linear moving end drives the second connecting member 12 to slide along a first direction via the elastic element 161. When the second connecting member 12 is obstructed and stops sliding, the elastic element 161 can undergo elastic deformation to allow the linear moving end to move relative to the second connecting member 12 along the first direction. It should be noted that the first direction can be the direction in which the cleaning member 131 moves from an inward position to an outward position, or it can be the direction in which the cleaning member 131 moves from an outward position to an inward position.

[0301] Specifically, when the second connector 12 slides normally relative to the first connector 11, the elastic element 161 remains in a pre-compressed state, with sufficient rigidity to transmit the driving force, keeping the system in a near-rigid connection state, thereby ensuring that the second connector 12 slides along the first direction. When the second connector 12 is obstructed and stops sliding, the elastic element 161 undergoes further elastic deformation, allowing the linear moving end to continue moving relative to the second connector 12 along the first direction.

[0302] In this embodiment, the second protrusion structure 172 is only provided on the surface of the linear moving end facing the cover plate 112. In other embodiments, the second protrusion structure 172 may be provided on the surface of the linear moving end facing the cover plate 112, and the second connector 12 may also be provided on the surface of the second connector 12 facing the cover plate 112.

[0303] In this embodiment, a second protruding structure 172 is provided on the side of the linear moving end facing the cover plate 112. This design serves two purposes: First, when the second connecting member 12 slides within the sliding cavity 111 and experiences significant shaking, the top of the second protruding structure 172 will partially abut against the inner surface of the cover plate 112, thereby transforming potential large-area friction into controllable local contact, significantly reducing frictional resistance and alleviating wear on the surfaces of various components. Second, during the movement of the linear moving end relative to the second connecting member 12, this structure not only reduces the frictional resistance generated during their relative movement but also effectively limits the displacement of the linear moving end in the height direction. By maintaining the stability of the relative motion trajectory, it provides reliable spatial constraints for the normal compression and rebound of the elastic member 161, ultimately ensuring the stable operation of the elastic buffer function.

[0304] Please see FIG. 26 In one embodiment of the present invention, the first translation component 142 includes a lead screw 1421 and a lead screw nut 1422. The lead screw 1421 is rotatably connected to the first connecting member 11 and connected to the rotary output end of the first driving member 141. The lead screw nut 1422 is threadedly engaged with the lead screw 1421 to form a linear moving end. An elastic member 161 is disposed between the lead screw nut 1422 and the second connecting member 12. The specific arrangement structure of the lead screw 1421 and the lead screw nut 1422 on the first connecting member 11 and the connection structure between them and the first driving member 141 can be referred to the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0305] Because the lead screw and nut transmission structure itself features smooth movement and high transmission accuracy, it can effectively reduce equipment vibration caused by transmission instability or thrust fluctuations compared to a gear and rack transmission structure. This helps to reduce the probability of abnormal shaking of the linear moving end during sliding. Furthermore, it effectively reduces the possibility of unexpected contact between the linear moving end and the cover plate 112, fundamentally reducing wear, noise, and operating resistance caused by contact friction. Ultimately, this helps to improve the transmission efficiency of the first translation component 142 and extend the service life of related operating parts.

[0306] Please see FIG. 32 In one embodiment of the present invention, the nut 1422 is provided with a threaded hole 14221 through which the lead screw 1421 passes and forms a threaded engagement. A second protrusion structure 172 is provided on both sides of the threaded hole 14221. Specifically, the second protrusion structure 172 is provided on the wall of the nut 1422 facing the cover plate 112. There may be two or more second protrusion structures 172. Optionally, in this embodiment, two second protrusion structures 172 are provided, symmetrically arranged on both sides of the threaded hole 14221 along the width direction of the sliding cavity 111.

[0307] Because a second protrusion structure 172 is provided on both sides of the lead screw hole 14221, this arrangement provides stable double-sided support during the operation of the lead screw nut 1422. When radial backlash or uneven force occurs in the lead screw 1421 transmission, this structure can effectively suppress the wobble tendency of the lead screw nut 1422, preventing a decrease in transmission accuracy due to unilateral tilting, thereby ensuring that the lead screw 1421 and the lead screw nut 1422 can maintain a better meshing state.

[0308] Please see FIG. 30 and FIG. 32 In one embodiment of the present invention, the second protruding structure 172 is rotatably mounted on the nut 1422. During the operation of the nut 1422, the second protruding structure 172 can roll along the surface of the cover plate 112 toward the sliding cavity 111. Specifically, when the nut 1422 shakes and comes into contact with the upper cover plate 112 during operation, the second protruding structure 172 will roll into contact with the surface of the cover plate 112 toward the sliding cavity 111.

[0309] Since the second protrusion structure 172 is rotatably connected to the nut 1422, when the nut 1422 contacts the cover plate 112, the second protrusion structure 172 can roll along the surface of the cover plate 112 toward the sliding cavity 111, thereby converting the sliding friction between the sliding interfaces into rolling friction. This change in friction type can effectively reduce the frictional resistance generated during the contact between the nut 1422 and the cover plate 112.

[0310] It should be noted that the second protrusion structure 172 may have different implementations in different embodiments of the present invention, and its installation method on the nut 1422 will also vary accordingly. In one embodiment, the second protrusion structure 172 is a roller. Specifically, the nut 1422 is provided with a mounting shaft, and the roller is rotatably mounted on the mounting shaft through a bearing or bushing. When the nut 1422 contacts and moves relative to the cover plate 112, the roller can roll along the surface of the cover plate 112 toward the sliding cavity 111, thereby converting sliding friction into rolling friction. In another embodiment, the second protrusion structure 172 is a ball. Specifically, the nut 1422 is provided with a bowl-shaped seat, and the ball is partially housed in the bowl-shaped seat and can rotate freely, with its spherical portion protruding from the outer wall surface of the nut 1422. During the contact and relative movement between the nut 1422 and the cover plate 112, the ball can roll along the surface of the cover plate 112 toward the sliding cavity 111.

[0311] Please see FIG. 30 In one embodiment of the present invention, the second protrusion structure 172 includes a second rolling element 1721 and a second mounting shaft 1722. The second rolling element 1721 is rotatably mounted on the second mounting shaft 1722, and the second mounting shaft 1722 is fixedly mounted on the nut 1422.

[0312] The second rolling element 1721 can be a roller, a cylinder, or a bearing. The outer surface of the second rolling element 1721 can be designed as a cylindrical, spherical, or arc-shaped surface to adapt to different inner surface shapes and stress requirements of the cover plate 112. Optionally, in this embodiment, the second rolling element 1721 is a slewing bearing. Slewing bearings are standard parts with a wide range of models and specifications, thus facilitating design selection and procurement. The fixing method between the second mounting shaft 1722 and the nut 1422 includes, but is not limited to, press-fit fixing, threaded fastening, or snap-fit ​​installation. In actual products, the appropriate method can be flexibly selected based on the specific structure and manufacturing process of the nut 1422. To further optimize friction performance, in some embodiments, a rolling bearing or a sliding bearing can be provided between the second rolling element 1721 and the second mounting shaft 1722, or a wear-resistant coating or a low-friction material layer can be added to the outer surface of the second rolling element 1721.

[0313] In this embodiment, by setting up a combined structure of the second mounting shaft 1722 and the second rolling element 1721, on the one hand, the second mounting shaft 1722 provides a clear mounting reference and positioning support for the second rolling element 1721. During assembly, simply fitting the second rolling element 1721 onto the second mounting shaft 1722 quickly completes the positioning, effectively avoiding alignment deviations that may occur when multiple independent rolling elements are installed separately, thus improving assembly efficiency and accuracy. On the other hand, when the second rolling element 1721 needs to be replaced due to long-term wear, only the worn second rolling element 1721 needs to be replaced individually, without replacing the entire nut 1422 or the second mounting shaft 1722. Therefore, this reduces the maintenance cost of the second protruding structure 172 during long-term use.

[0314] Please see FIG. 30 and FIG. 31 In one embodiment of the present invention, the nut 1422 is provided with a second groove 173, the second mounting shaft 1722 is fixedly mounted on the wall of the second groove 173, and the second rolling element 1721 is accommodated in the second groove 173 and at least partially protrudes to the outside of the second groove 173 to contact the surface of the cover plate 112 facing the sliding cavity 111. The specific structure of the second groove 173 is not limited. For example, it can be a rectangular groove, a U-shaped groove, etc., as long as it can accommodate the second rolling element 1721 and enable the second rolling element 1721 to rotate normally within the second groove 173.

[0315] In this embodiment, by providing the second groove 173, an effective installation and accommodating space is provided for the second mounting shaft 1722 and the second rolling element 1721, allowing the second rolling element 1721 to be embedded into the wall of the nut 1422 in the height direction. This layout reduces the installation dimensions occupied by the second protrusion structure 172 in the height direction of the nut 1422, thereby facilitating a compact design of the installation structure between the nut 1422 and the second connector 12.

[0316] Based on the provision of a second protruding structure 172 on the surface of the second connector 12 facing the cover plate 112 or on the surface of the nut 1422 facing the cover plate 112, further, please refer to FIG. 32 and FIG. 34 In one embodiment of the present invention, the cleaning device 100 further includes a first protrusion structure 171, which is disposed on at least one inner wall of the sliding cavity 111 and / or at least one outer wall of the second connector 12. At least one inner wall of the sliding cavity 111 can abut against at least one outer wall of the second connector 12 through the first protrusion structure 171.

[0317] The specific location and arrangement of the first protrusion structure 171 on the inner wall of the sliding cavity 111 or the outer wall of the second connector 12 can be referred to FIG. 35 and FIG. 36 The relevant descriptions of the embodiments shown will not be repeated here.

[0318] By providing a first protrusion structure 171 between the sliding cavity 111 on the second connector 12 and the first connector 11, the large-area contact that might have occurred between the outer wall of the second connector 12 and the inner wall of the sliding cavity 111 can be transformed into local surface contact (including multiple spaced local surface contacts or point contacts), thereby optimizing the stress distribution and friction state at the contact interface. Under the same load conditions, this structure can reduce the frictional resistance generated during the sliding of the second connector 12, thereby reducing the driving load of the drive mechanism 14 and lowering the operating energy consumption of the drive mechanism 14. At the same time, the reduction in frictional resistance can also suppress vibration and noise problems caused by high friction, improving the quietness performance and user experience of the cleaning device 100. In addition, the first protrusion structure 171, through reasonable layout, can enhance the operational stability of the second connector 12 relative to the sliding cavity 111 while reducing friction, thus helping to ensure the smooth operation of the cleaning component 131 between the inward and outward positions and reducing the occurrence of sliding jamming.

[0319] Please see FIGS. 34-36In one embodiment of the present invention, the second connecting member 12 includes a first bottom wall 1262 and two first side walls 1261, the two first side walls 1261 being respectively connected to both sides of the first bottom wall 1262 in the width direction. The extending direction of the two first side walls 1261 is consistent with the sliding direction of the second connecting member 12. Multiple first protrusion structures 171 are provided, some of which are provided on the two first side walls 1261, and others are provided on the first bottom wall 1262. The sliding cavity 111 includes a second bottom wall 1114 and two second side walls 1113, the two second side walls 1113 being respectively connected to both sides of the second bottom wall 1114 in the width direction. The extending direction of the two second side walls 1113 is consistent with the sliding direction of the second connecting member 12.

[0320] During the sliding process of the second connector 12 along the sliding cavity 111, the second bottom wall 1114 abuts against the first protrusion structure 171 located on the first bottom wall 1262, and the second side wall 1113 abuts against the first protrusion structure 171 located on the first side wall 1261.

[0321] Of course, in another embodiment, the first protrusion 171 may only be provided on the outer walls of the two first sidewalls 1261. During the sliding of the second connector 12 along the sliding cavity 111, the second sidewall 1113 abuts against the first protrusion 171 located on the first sidewall 1261. In other embodiments, the first protrusion 171 may only be provided on the outer wall of the first bottom wall 1262. During the sliding of the second connector 12 along the sliding cavity 111, the second bottom wall 1114 abuts against the first protrusion 171 located on the first bottom wall 1262.

[0322] In this embodiment, by setting the first protruding structure 171 on the first bottom wall 1262 and / or the first side wall 1261 of the second connector 12, the maintenance and assembly of the first protruding structure 171 are facilitated. Specifically, in terms of maintenance, when the first protruding structure 171 needs to be replaced or repaired due to long-term wear, the independent second connector 12 can be operated directly without disassembling the fixed sliding cavity 111, thus reducing the later maintenance cost and time of the first protruding structure 171. In terms of assembly, this structure allows operators to intuitively observe the position and status of the protruding structure, facilitating rapid alignment and installation in an open space, avoiding delicate operations inside the narrow sliding cavity 111, thereby improving assembly efficiency.

[0323] Please see FIG. 36 and FIG. 37In one embodiment of the present invention, the first protruding structure 171 is rotatably connected to the outer wall of the second connecting member 12. When the second connecting member 12 slides along the sliding cavity 111, the first protruding structure 171 can roll along the inner wall of the sliding cavity 111. Since the first protruding structure 171 is rotatably connected to the outer wall of the second connecting member 12, when the second connecting member 12 slides in the sliding cavity 111, the first protruding structure 171 can roll along the inner wall of the sliding cavity 111, thereby converting the sliding friction between the sliding interfaces into rolling friction. This change in friction type can significantly reduce the frictional resistance during the sliding process of the second connecting member 12, thereby reducing the operating noise and driving energy consumption of the cleaning device 100. The specific rotation method of the first protruding structure 171 on the outer wall of the second connecting member 12 can be referred to the relevant description in the foregoing embodiments, and will not be repeated here.

[0324] With the widespread application of intelligent cleaning devices 100 in home environments, users' expectations for their cleaning effects are increasing. Home floor environments are complex, with diverse types of dirt, ranging from surface dust and hair to deep-seated particles in carpets and even adhesive stains, each with varying adhesion and cleaning difficulty. Different types of dirt require different cleaning pressures: for light dirt such as surface dust and hair, only a small amount of downward pressure is needed for effective removal; while for deep-seated dirt in carpets or adhesive stains on the floor, greater downward pressure is required to ensure cleaning effectiveness. Currently, most cleaning devices 100 on the market use a single downward pressure mechanism 13. If the cleaning component 131 uses a large downward pressure to handle heavy dirt scenarios, it will cause unnecessary power consumption of the drive motor during daily light dirt cleaning, significantly shortening the device's battery life and potentially accelerating wear and tear on the cleaning component 131 or even damaging hard floor surfaces. Conversely, using a smaller downward pressure, while beneficial for energy saving and extending battery life, results in poor cleaning performance when facing heavy dirt, failing to meet users' deep cleaning needs.

[0325] Based on this, the present invention provides a cleaning device 100 to solve the technical problem that the cleaning component 131 in the prior art has a single ground pressure, which cannot adapt to the requirements of different cleaning scenarios, thus making it difficult to balance cleaning effect, energy efficiency and ground protection.

[0326] The present invention provides a cleaning device 100 comprising: a frame 10, a first connector 11, a second connector 12, a cleaning mechanism 13, and a driving mechanism 14.

[0327] The first connector 11 is fixedly connected to the frame 10. The second connector 12 is slidably mounted on the first connector 11. The cleaning mechanism 13 includes a cleaning component 131 that can be elastically deformed. The cleaning component 131 is a mop assembly, which can be a roller mop assembly, etc. Exemplarily, in this embodiment, the cleaning component 131 is a roller mop assembly. The material of the cleaning component 131 can be rubber, sponge, fiber composite material (such as non-woven fabric), etc. The cleaning mechanism 13 is mounted on the second connector 12 and moves in conjunction with the second connector 12.

[0328] It should be noted that the specific structure and interconnection relationship of the first connector 11, the second connector 12, and the cleaning mechanism 13 in this embodiment can be referred to FIG. 5 and FIG. 6 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0329] The cleaning component 131 has an inwardly recessed position relative to the frame 10. In the inwardly recessed position, the cleaning component 131 has a raised position and a lowered position. In the raised position, as... FIG. 19 As shown, the cleaning component 131 is lifted away from the surface to be cleaned, and at the falling position, as... FIG. 18 As shown, the cleaning component 131 is in contact with the surface to be cleaned. The drive mechanism 14 is used to drive the cleaning component 131 between a raised position and a lowered position during the sliding of the second connector 12 relative to the first connector 11.

[0330] Please see FIG. 24 The drive mechanism 14 includes a first drive member 141 and a first translation component 142. The first drive member 141 is mounted on the first connector 11 and has a rotary output end. The first drive member 141 can be any power source capable of having a rotary output end, such as a motor, a combination of a motor and a reducer, or a hydraulic motor. The first translation component 142 includes a power input end and a power output end. The power input end is connected to the rotary output end, and the power output end is connected to the second connector 12 to drive the second connector 12 to slide when the first drive member 141 is running, thereby causing the cleaning component 131 to move between an inward position and an outward position. The structural description of the first translation component 142 can be found in the relevant description in the above embodiments, and will not be repeated here.

[0331] Optionally, please refer to FIG. 24 and FIG. 26In this embodiment, the first translation component 142 includes a lead screw 1421 and a lead screw nut 1422. The lead screw 1421 is rotatably connected to the first connecting member 11 and connected to the rotational output end of the first driving member 141. The lead screw nut 1422 is threadedly engaged with the lead screw 1421 and connected to the second connecting member 12. When the first driving member 141 is running, it drives the lead screw 1421 to rotate, which in turn causes the lead screw nut 1422 to move horizontally. The lead screw nut 1422 then causes the second connecting member 12 to slide relative to the first connecting member 11, thereby driving the cleaning member 131 to switch between a raised position and a lowered position.

[0332] The cleaning mechanism 13 has multiple drop positions arranged sequentially along its height, allowing the cleaning component 131 to deform differently under pressure from the surface to be cleaned. It should be noted that the deformation of the cleaning component 131 refers to its elastic deformation. The elastic deformation of the cleaning component 131 is related to the cleaning pressure applied to the surface; the greater the deformation, the greater the cleaning pressure applied.

[0333] This invention, by setting multiple descending positions of the cleaning mechanism 13 sequentially along the height direction, allows the cleaning component 131 to select different working heights according to the degree of dirt on the floor. When the cleaning mechanism 13 is at different height positions, the amount of elastic deformation generated by the cleaning component 131 in contact with the surface to be cleaned also varies, thereby allowing the cleaning component 131 to provide a variety of different cleaning pressures. Specifically, when dealing with light dirt such as floor dust or hair, the cleaning mechanism 13 can be at a higher position. At this time, the amount of deformation of the cleaning component 131 is smaller, and the cleaning pressure on the floor is also lower. This ensures cleaning effectiveness while reducing energy consumption, thus extending the runtime of the cleaning equipment 100. When dealing with deep dirt or sticky stains on carpets, the cleaning mechanism 13 can switch to a lower position. At this time, the amount of deformation of the cleaning component 131 increases, and the cleaning pressure on the floor by the cleaning component 131 also increases accordingly, thereby ensuring a deep cleaning effect. In the above manner, the cleaning equipment 100 provided by the present invention can improve the situation where a single cleaning pressure cannot meet the cleaning needs of multiple scenarios, while also avoiding energy waste and component wear caused by excessive pressure in lightly polluted scenarios, and ensuring the cleaning effect in heavily polluted scenarios. Therefore, it can better achieve a balance between cleaning effect, energy consumption and equipment and ground protection.

[0334] Please see FIG. 14 and FIG. 39 , FIG. 41 and FIG. 43In one embodiment of the present invention, the second connecting member 12 is provided with a lifting surface 125, and the lifting surface 125 is provided with a plurality of platform positions corresponding one-to-one with the falling position. The cleaning mechanism 13 is provided with a supporting part 132 on the side opposite to the surface to be cleaned. When the second connecting member 12 slides, the supporting part 132 moves along the lifting surface 125 and can selectively stop at any platform position, so as to realize the switching of the cleaning member 131 between the lifting position and the falling position.

[0335] Specifically, please refer to FIG. 26 and FIG. 27 The abutment portion 132 is disposed on the side of the mounting base 134 of the cleaning mechanism 13 opposite to the cleaning component 131. Along the height direction of the frame 10, the lifting surface 125 is supported below the abutment portion 132, and the abutment portion 132 is pressed against the lifting surface 125 by the gravity of the cleaning mechanism 13. When the second connecting member 12 slides relative to the first connecting member 11, the abutment portion 132 can move along the lifting surface 125 to drive the cleaning component 131 to switch between the raised position and the lowered position.

[0336] The lifting surface 125 can be an inclined surface, an arc surface, or a combination of inclined and arc surfaces. The supporting part 132 can be a structure such as an inclined block, an arc block, or a pin connected to the cleaning mechanism 13. When the supporting part 132 moves along the lifting surface 125, the contact between the supporting part 132 and the lifting surface 125 can be rolling or sliding; this embodiment is not limited to either.

[0337] The method of forming the platform position on the lifting surface 125 is not limited. For example, multiple stepped surfaces can be provided on the lifting surface 125, with each stepped surface forming a platform position. Alternatively, multiple recessed areas, such as arc-shaped grooves, V-shaped grooves, or rectangular grooves, can be machined on the lifting surface 125. Each recessed area forms a platform position.

[0338] In this embodiment, the cleaning pressure of the cleaning component 131 on the ground is adjusted through the cooperation of the lifting surface 125 and the supporting part 132. Specifically, when the cleaning pressure needs to be adjusted, the drive mechanism 14 drives the second connecting member 12 to slide relative to the first connecting member 11, causing the supporting part 132 to move along the lifting surface 125, so that the supporting part 132 transitions from the current platform position to the next target platform position and achieves stable stopping. During this process, the cleaning mechanism 13 is always linked with the second connecting member 12. There is no need to set up a separate lifting drive mechanism. The switching of the cleaning component 131 between different falling positions can be completed automatically and reliably simply by sliding the second connecting member 12, thereby realizing the adjustment of the cleaning pressure of the cleaning component 131 on the ground.

[0339] Please see FIGS. 39-43In one embodiment of the present invention, the lifting surface 125 includes an inclined section 1253 and a flat section 1254 connected to each other. Along the height direction of the cleaning mechanism 13, the flat section 1254 is disposed on the side of the inclined section 1253 near the cleaning component 131, forming a first platform position 1251. A step portion 1255 is formed at the connection between the inclined section 1253 and the flat section 1254, forming a second platform position 1252, which is disposed above the first platform position 1251. The step portion 1255 can be a beveled surface structure, a right-angled surface structure, or other structural shapes, as long as it can provide stable support for the supporting part 132 when it stops.

[0340] In this embodiment, a step 1255 is provided at the connection between the inclined section 1253 and the flat section 1254, forming a second platform position 1252 at an intermediate height. This design is simple and requires no additional parts; it can be achieved by making local modifications to the junction of the inclined and flat surfaces in the existing structure. Therefore, it does not cause significant changes to the original production process and design structure, which is beneficial for controlling production costs.

[0341] In one embodiment of the present invention, when the cleaning component 131 needs to move from the raised position to the lowered position, the second connecting component 12 moves along the first direction (e.g., FIG. 38 (As shown in the X2 axis direction) Slide, the supporting part 132 moves downward along the lifting surface 125 under the gravity of the cleaning mechanism 13 and can stop sequentially at the second platform position 1252 and the first platform position 1251.

[0342] It should be noted that throughout the entire process of the second connector 12 sliding along the first direction, the horizontal position of the cleaning mechanism 13 relative to the frame 10 remains essentially unchanged. This characteristic ensures that the horizontal working position of the cleaning component 131 does not shift when its height is adjusted in the vertical direction, thereby guaranteeing the stability of the cleaning operation and the consistency of the coverage area.

[0343] Specifically, when the cleaning component 131 requires a smaller ground cleaning pressure, the drive mechanism 14 is activated, driving the second connecting component 12 to slide along the first direction. Under the gravity of the cleaning mechanism 13, the supporting portion 132 slides downwards along the lifting surface 125 to the second platform position 1252, as... FIG. 40 As shown, the drive mechanism 14 is stopped to perform operations under lower cleaning pressure. When the cleaning component 131 requires higher ground cleaning pressure, the drive mechanism 14 is restarted, and it continues to drive the second connecting component 12 to slide along the first direction. The supporting portion 132 moves from the second platform position 1252 to the first platform position 1251 under the gravity of the cleaning mechanism 13, as shown. FIG. 42As shown, the drive mechanism 14 is stopped at this time to perform operations under higher cleaning pressure.

[0344] In this embodiment, during the entire process of the cleaning component 131 switching from the raised position to the lowered position, it is only necessary to control the second connecting component 12 to continuously slide along the first direction. The supporting part 132 can then automatically move down along the lifting surface 125 under the action of gravity and accurately position itself sequentially at the second platform position 1252 and the first platform position 1251. This process relies entirely on the weight of the mechanical structure and the lifting surface 125 with its specific contour to achieve the position switching, without the need for an additional lifting drive mechanism 14 or human intervention. Therefore, the overall structure can be simplified, and the complexity of the lifting control of the cleaning mechanism 13 can be reduced.

[0345] In one embodiment of the present invention, when the cleaning member 131 needs to be moved from the falling position to the lifting position, the second connecting member 12 moves along a second direction opposite to the first direction (e.g., ...). FIG. 10 (As shown in X3) Slide. The frame 10 forms a stop on the cleaning mechanism 13 in the second direction, so that the supporting part 132 moves upward along the lifting surface 125 under the action of the stopping force, so as to move from the first platform position 1251 to the second platform position 1252, and can continue to rise until the cleaning part 131 is in the raised position.

[0346] It should be noted that during the entire process of the cleaning component 131 moving from the falling position to the lifting position, only the second connecting member 12 slides along the second direction to drive the cleaning mechanism 13 to rise in the height direction. However, since the frame 10 forms a stop for the cleaning mechanism 13 in the second direction, as... FIG. 10 As shown. The cleaning mechanism 13 remains fixed in the horizontal direction relative to the frame 10, and its height is changed only by the relative movement of the supporting part 132 and the lifting surface 125. This design ensures that the horizontal position of the cleaning component 131 remains basically stable during lifting, thus ensuring the consistency of the cleaning coverage.

[0347] Specifically, when the holding part 132 needs to switch from the first platform position 1251 (higher cleaning pressure position) to the second platform position 1252 (lower cleaning pressure position), the drive mechanism 14 drives the second connecting member 12 to slide along the second direction. During the sliding process, the frame 10 forms a stop on the cleaning mechanism 13 in the second direction, causing the holding part 132 to move upward along the lifting surface 125 under the action of the stop force until it accurately reaches the second platform position 1252. At this time, the drive mechanism 14 stops, and the cleaning part 131 enters the working state of lower cleaning pressure. When it is necessary to fully lift the cleaning part 131, the drive mechanism 14 continues to drive the second connecting member 12 to slide along the second direction, and the frame 10 continues to provide the stop action. Under the cooperation of the stop force, the holding part 132 continues to move upward along the lifting surface 125 from the second platform position 1252, finally causing the cleaning part 131 to return to the raised position and disengage from the surface to be cleaned.

[0348] It should be noted that, in this embodiment, the way the frame 10 blocks the cleaning mechanism 13 in the second direction is not limited. For example, a protruding structure may be provided on the side of the frame 10 facing the cleaning mechanism 13, and the protruding structure may abut against the mounting base 134 of the cleaning mechanism 13 in the second direction to provide a blocking effect when the cleaning mechanism 13 moves in the second direction. Alternatively, at least a portion of the wall of the frame 10 facing the cleaning mechanism 13 may abut against the mounting base 134 of the cleaning mechanism 13 to provide a blocking effect when the cleaning mechanism 13 moves in the second direction.

[0349] Optionally, in this embodiment, please refer to FIG. 3 , FIG. 10 and FIG. 44 The frame 10 has a receiving cavity 101 on the side facing the surface to be cleaned, and the first connector 11, the second connector 12, and the cleaning mechanism 13 are all housed within this receiving cavity 101. Along the sliding direction of the second connector 12, the receiving cavity 101 includes an inner sidewall 1011, and the end of the mounting base 134 of the cleaning mechanism 13 facing the inner sidewall 1011 includes an end wall 1341. When the cleaning component 131 is in the retracted position, when the second connector 12 slides in the second direction, the inner sidewall 1011 can abut against the end wall 1341 of the mounting base 134, thereby forming a mechanical stop on the cleaning mechanism 13 in the second direction. This design achieves the stopping function of the cleaning mechanism 13 through the structure of the frame 10 itself, without the need for additional parts, which not only simplifies the overall structure but also ensures the reliability and stability of the stopping effect.

[0350] In this embodiment, during the entire lifting process of the cleaning component 131, only the second connecting member 12 needs to be driven to slide along the second direction, without the need for a separate lifting drive device for the cleaning mechanism 13. Therefore, this solution can achieve the complex lifting function of the cleaning component 131 through a simple mechanical cooperation between the supporting part 132 and the lifting surface 125, thereby reducing the complexity of the mechanism and manufacturing costs. At the same time, since the frame 10 can form a stop in the second direction for the cleaning mechanism 13, the output of the drive mechanism 14 can be effectively converted into a lifting force in the height direction of the cleaning mechanism 13 through this stopping force, thereby achieving the lifting of the cleaning component 131.

[0351] Please see FIG. 14 In one embodiment of the present invention, the second connecting member 12 includes a recessed cavity 126 facing the cleaning member 131. A thickened portion 1263 is provided on the inner wall of the cavity 126, and a lifting surface 125 is formed on the thickened portion 1263. Specifically, the thickened portion 1263 is provided on the inner wall of the cavity 126 in the width direction. In one embodiment, the thickened portion 1263 may be provided only on one inner wall in the width direction of the cavity 126, that is, the lifting surface 125 may be provided only on one inner wall of the cavity 126. In another embodiment, the thickened portion 1263 may be provided on both inner walls in the width direction of the cavity 126, that is, the lifting surface 125 may be provided on both sides in the width direction of the cavity 126. The thickened portion 1263 may be a protrusion structure partially provided along the inner wall of the cavity 126, or a wall structure that is thickened along the inner wall of the cavity 126 as a whole.

[0352] Please see FIG. 7 The bottom wall of the cavity 126 is provided with a first sliding groove 1264. The cleaning mechanism 13 is fixedly connected to an extension 133. Specifically, the mounting base 134 is fixedly connected to the extension 133 on the side opposite to the cleaning component 131. The extension 133 is slidably mounted in the first sliding groove 1264 and connected to the abutment 132 located inside the cavity 126.

[0353] In this embodiment, by providing a thickened portion 1263 inside the cavity 126, the local mechanical strength of the second connector 12 in the main stress area can be improved, and a stable and reliable forming base can be provided for the lifting surface 125, thereby helping to ensure the support strength of the lifting surface 125. At the same time, by integrating the lifting surface 125 into the thickened portion 1263 inside the cavity 126, the internal space of the cavity 126 can be fully utilized without occupying additional external installation space of the second connector 12, thus improving the compactness of the structural design.

[0354] Please see FIG. 14In one embodiment of the present invention, the length direction of the cavity 126 is consistent with the sliding direction of the second connector 12. The cavity 126 has thickened portions 1263 on both opposite sidewalls in the width direction, and each thickened portion 1263 has a lifting surface 125. For ease of description, the two opposite sidewalls of the cavity 126 in the width direction are both labeled as first sidewalls 1261. That is, each first sidewall 1261 has a corresponding lifting surface 125. The extension 133 is correspondingly equipped with two abutting portions 132, which are respectively disposed on both sides of the extension 133 in the width direction. Each abutting portion 132 cooperates with a lifting surface 125.

[0355] By providing thickened portions 1263 and lifting surfaces 125 on both opposite sidewalls of the cavity 126 in the width direction, and cooperating with two corresponding abutment portions 132, the lifting force on the cleaning mechanism 13 during lifting can be evenly distributed on both sides of the cavity 126 in the width direction. This structure can improve the uneven wear, jamming, or unstable movement that may be caused by unilateral force, ensuring the smooth lifting operation of the cleaning mechanism 13.

[0356] To further improve the smoothness of the operation of the cleaning mechanism 13 relative to the rack 10, please refer to... FIGS. 6-8 In one embodiment of the present invention, two extensions 133 are provided at intervals along the length of the cleaning mechanism 13 on the mounting base 134. Each extension 133 is provided with two abutment portions 132. Correspondingly, two lifting surfaces 125 are provided on each first sidewall 1261 of the second connector 12, and the two lifting surfaces 125 are respectively located at both ends of the length of the first sidewall 1261. One lifting surface 125 corresponds to one abutment portion 132. With this arrangement, two lifting positions can be formed in the length of the cleaning mechanism 13, and each lifting position is supported on both sides in the width direction by the cooperation of the two lifting surfaces 125 and the two abutment portions 132. With the above structure, the stability of the cleaning mechanism 13 relative to the frame 10 can be ensured, the probability of shaking or deviation of the cleaning component 131 during operation can be reduced, and the cleaning component 131 can be accurately reached in each working position can be ensured.

[0357] Please see FIG. 9In one embodiment of the present invention, the supporting portion 132 is rotatably connected to the extension portion 133 so as to form a rolling contact with the lifting surface 125 when moving along the lifting surface 125. Specifically, in this embodiment, the supporting portion 132 is a bushing. The extension portion 133 is fixedly mounted with an extension shaft 1332, sleeved on the extension shaft 1332, and is rotatable relative to the extension shaft 1332. Thus, when the supporting portion 132 moves along the lifting surface 125, a rolling contact is formed with the lifting surface 125. Of course, in other embodiments, the supporting portion 132 can also be a bearing, with a mounting shaft provided on the extension portion 133, and the bearing rotatably mounted on the mounting shaft. This can also achieve a rolling contact between the supporting portion 132 and the lifting surface 125.

[0358] By creating a rolling contact between the supporting part 132 and the lifting surface 125, the frictional resistance generated during their relative movement can be significantly reduced. This improvement effectively reduces the operating load of the drive mechanism 14, improves the mechanical efficiency of the entire transmission system, and helps reduce equipment energy consumption, thereby extending the operating time of the cleaning equipment 100.

[0359] Please see FIG. 14 and FIG. 39 In one embodiment of the present invention, a groove 128 is provided on the thickened portion 1263. The groove 128 includes a first groove wall 1281 and a second groove wall 1282 connected to each other. The first groove wall 1281 forms a lifting surface 125, and the second groove wall 1282 is disposed above the first groove wall 1281 to limit the movement trajectory of the supporting portion 132 on the lifting surface 125. It should be noted that when the supporting portion 132 moves normally along the lifting surface 125, the side of the supporting portion 132 facing the second groove wall 1282 will not contact the second groove wall 1282. Only when the supporting portion 132 experiences displacement fluctuation in the height direction relative to the lifting surface 125 will it be possible to contact the second groove wall 1282.

[0360] In this embodiment, the restricted movement channel formed by the first groove wall 1281 and the second groove wall 1282 can effectively limit abnormal vertical jumping of the supporting part 132 during movement, ensuring that it always moves stably along the preset trajectory, thereby improving the positioning accuracy and repeatability of the lifting movement of the cleaning mechanism 13. At the same time, the second groove wall 1282, as an upper physical barrier, can effectively prevent the supporting part 132 from accidentally detaching from the lifting surface 125 when the cleaning equipment 100 moves or is subjected to vibration, further enhancing the operational reliability of the cleaning equipment 100 in complex operating environments.

[0361] Please see FIG. 14 and FIG. 39In one embodiment of the present invention, a hollow area 1265 is provided on the side wall of the cavity 126. The hollow area 1265 is configured to laterally expose the mating area of ​​the supporting part 132 and the lifting surface 125 in the width direction of the cavity 126.

[0362] By providing a perforated area 1265 on the sidewall of the cavity 126, the mating area between the supporting part 132 and the lifting surface 125 is laterally exposed in the width direction. This design brings significant convenience to the debugging and maintenance of the equipment. Specifically, the perforated area 1265 can serve as a direct observation window during debugging, allowing operators to visually monitor the actual operating status of the supporting part 132 on the lifting surface 125, including its movement trajectory, contact condition, and positioning accuracy. This visual debugging mechanism not only improves debugging efficiency but also quickly identifies and eliminates potential problems such as assembly deviations and motion interference, ensuring that the lifting mechanism reaches its optimal working condition.

[0363] Please see FIG. 14 , FIG. 15 and FIG. 46 In one embodiment of the present invention, the second connecting member 12 is provided with a first stop portion 1271 and a second stop portion 1272. The first stop portion 1271 and the second stop portion 1272 are disposed opposite to each other along the length direction of the second connecting member 12. The first stop portion 1271 is used to abut against the extension portion 133 or the abutment portion 132 to limit the extreme position of the lifting of the cleaning member 131. The second stop portion 1272 is used to abut against the extension portion 133 or the abutment portion 132 to limit the extreme position of the falling of the cleaning member 131. The first stop portion 1271 and the second stop portion 1272 can be a groove or protrusion structure integrally formed on the second connecting member 12, or a stop block structure installed on the second connecting member 12 by fasteners such as bolts.

[0364] By setting the first stop 1271 and the second stop 1272, the highest and lowest working positions of the cleaning component 131 can be limited respectively, thereby ensuring that the cleaning mechanism 13 always operates within the designed safe range, reducing overtravel accidents caused by program control errors or sensor failures, and thus ensuring the safety of equipment operation.

[0365] Optionally, in this embodiment, the first stop 1271 is formed by the wall inside the cavity 126, and it is located on the running trajectory of the extension 133. When the holding part 132 moves upward along the lifting surface 125 to its limit position, the extension 133 abuts against the wall, thereby limiting the maximum lifting height of the cleaning component 131. The second stop 1272 is formed by the end wall of the cavity 126 on one side in the length direction, and it is also located on the running trajectory of the extension 133. When the holding part 132 moves downward along the lifting surface 125 to its limit position, the extension 133 abuts against the end wall, thereby limiting the maximum falling depth of the cleaning component 131. This double stop structure achieves the motion limiting function through the structural features of the cavity 126 itself, without the need for additional parts, ensuring the reliable operation of the cleaning mechanism 13 within a safe range, and demonstrating the integration of the structural design.

[0366] Please see FIG. 34 and FIG. 35 In one embodiment of the present invention, the first connector 11 is provided with a sliding cavity 111, and the second connector 12 is slidably installed in the sliding cavity 111. The second connector 12 is provided with a first protrusion structure 171 on both sides of the sliding cavity 111 in the width direction. The first protrusion structure 171 abuts against the inner surface of the corresponding side wall of the sliding cavity 111.

[0367] The specific form of the first protrusion structure 171 and its arrangement on the second connector 12 can have various embodiments. In one embodiment, the first protrusion structure 171 can be directly fixed to the outer wall of the second connector 12, and the specific form of the first protrusion structure 171 includes, but is not limited to, protrusion points or protrusion strips. In another embodiment, the first protrusion structure 171 can also be rotatably mounted on the outer wall of the second connector 12, for example, using a rolling element structure such as a roller or bearing. Optionally, in this embodiment, the first protrusion structure 171 directly adopts the technical solution described in detail in the foregoing embodiments, that is, a rolling structure formed by the cooperation of the first rolling element 1711 and the first mounting shaft 1712. Its installation position, number, and connection method can be referred to FIG. 35 The description of the illustrated embodiments will not be repeated here.

[0368] By providing a first protrusion structure 171 between the second connector 12 and the sliding cavity 111, the potentially large-area contact between the outer wall of the second connector 12 and the inner wall of the sliding cavity 111 can be transformed into local surface contact (including multiple spaced local surface contacts or point contacts), thereby optimizing the stress distribution and friction state at the contact interface. Under the same load conditions, this structure can reduce the frictional resistance generated during the sliding of the second connector 12, thereby reducing the driving load of the drive mechanism 14 and lowering the operating energy consumption of the drive mechanism 14. Simultaneously, the reduction in frictional resistance can also suppress vibration and noise problems caused by high friction, improving the quietness of the cleaning device 100 and the user experience. Furthermore, through reasonable arrangement, the first protrusion structure 171, while reducing friction, can also enhance the operational stability of the second connector 12 relative to the sliding cavity 111, thus helping to ensure the smooth operation of the cleaning component 131 between the inward and outward positions and reducing the occurrence of sliding jamming.

[0369] Of course, in another embodiment, please refer to FIG. 34 and FIG. 35 A first protrusion structure 171 can also be provided between the bottom wall of the sliding cavity 111 and the second connector 12, which can further reduce the frictional resistance generated by the second connector 12 during its movement along the sliding cavity 111.

[0370] In existing cleaning equipment 100, to adapt to different cleaning scenarios, designs have been implemented that adjust the extension distance of the cleaning component 131 by setting multiple outward expansion positions to change its cleaning coverage. However, these different outward expansion positions typically correspond to a single cleaning pressure, resulting in the cleaning intensity not being effectively matched to the actual degree of contamination. If a higher pressure is set to handle heavily soiled scenarios, problems such as excessive energy consumption, shortened battery life, and accelerated component wear may occur when dealing with everyday light stains (such as hair and dust), and it may even damage the floor material. Conversely, if a lower pressure is set for cleaning, although it is beneficial for energy saving and component protection, it cannot meet the deep cleaning needs of stubborn stains.

[0371] Based on this, the present invention provides a cleaning device 100, which includes: a frame 10, a first connector 11, a second connector 12, a cleaning mechanism 13, and a driving mechanism 14.

[0372] The first connecting member 11 is fixedly installed on the frame 10, and the second connecting member 12 is slidably installed on the first connecting member 11. The cleaning mechanism 13 includes a cleaning member 131 that can be elastically deformed. The cleaning member 131 is a mop assembly, which can be a roller mop assembly, a roller-type mop assembly, etc. Exemplarily, in this embodiment, the cleaning member 131 is a roller mop assembly. The material of the cleaning member 131 can be rubber, sponge, fiber composite material (such as non-woven fabric), etc. The cleaning mechanism 13 is installed on the second connecting member 12 and moves in conjunction with the second connecting member 12 so that the cleaning member 131 has an inward position and an outward position relative to the frame 10.

[0373] It should be noted that the specific structure and interconnection relationship of the first connector 11, the second connector 12, and the cleaning mechanism 13 in this embodiment can be referred to FIG. 5 and FIG. 6 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0374] In the retracted position, the cleaning component 131 contacts or detaches from the surface to be cleaned; in the expanded position, the cleaning component 131 contacts the surface to be cleaned. Specifically, as shown... FIG. 18 and FIG. 19 As shown, in the retracted position, the cleaning component 131 includes a raised position and a lowered position. In the raised position, the cleaning component 131 is detached from the surface to be cleaned. In the lowered position, the cleaning component 131 is in contact with the surface to be cleaned.

[0375] The drive mechanism 14 is used to drive the second connector 12 to slide relative to the first connector 11, so as to drive the cleaning component 131 to move between the outward expansion position and the inward contraction position.

[0376] Please see FIG. 21 and FIG. 24 The drive mechanism 14 includes a first drive member 141 and a first translation component 142. The first drive member 141 is mounted on the first connector 11 and has a rotary output end. The first drive member 141 can be any power source capable of having a rotary output end, such as a motor, a combination of a motor and a reducer, or a hydraulic motor. The first translation component 142 includes a power input end and a power output end. The power input end is connected to the rotary output end, and the power output end is connected to the second connector 12 to drive the second connector 12 to slide when the first drive member 141 is running, thereby causing the cleaning component 131 to move between an inward position and an outward position. The structural description of the first translation component 142 can be found in the relevant description in the above embodiments, and will not be repeated here.

[0377] Optionally, in this embodiment, the first translation component 142 includes a lead screw 1421 and a lead screw nut 1422. The lead screw 1421 is rotatably connected to the first connecting member 11 and connected to the rotary output end of the first driving member 141. The lead screw nut 1422 is threadedly engaged with the lead screw 1421 and connected to the second connecting member 12. When the first driving member 141 is running, it drives the lead screw 1421 to rotate, which in turn drives the lead screw nut 1422 to move horizontally. The lead screw nut 1422 then drives the second connecting member 12 to slide relative to the first connecting member 11, thereby driving the cleaning member 131 to move between the inward and outward positions.

[0378] The expansion location includes at least the first expansion location (e.g. FIG. 11 and FIG. 47 (as shown) and the second outward expansion position (as shown) FIG. 12 and FIG. 48 As shown), along the sliding direction of the second connector 12, the first outward expansion position is located in the inward contraction position (as shown). FIG. 10 and FIG. 18 , FIG. 19 (As shown) and between the second extended position. The mounting height of the cleaning mechanism 13 relative to the frame 10 at the first extended position is different from the mounting height relative to the frame 10 at the second extended position.

[0379] In this embodiment, the first outward expansion position and the second outward expansion position can be the same as those in the previous embodiments, or they can be different. The key is to ensure that the second outward expansion position is located between the inward expansion position and the first outward expansion position.

[0380] For example, in this embodiment, the first outward expansion position and the second outward expansion position are consistent with the first outward expansion position and the second outward expansion position in the previous embodiment. That is, in the first outward expansion position, the edge of the cleaning member 131 is flush with the edge of the frame 10. In the second outward expansion position, the edge of the cleaning member 131 at least partially extends beyond the edge of the frame 10. Specifically, the distance L1 by which the edge of the cleaning member 131 extends beyond the edge of the frame 10 is 20 mm. Of course, in other embodiments, the distance L1 by which the edge of the cleaning member 131 extends beyond the edge of the frame 10 can also be other values.

[0381] In this embodiment, the installation height of the cleaning mechanism 13 relative to the frame 10 at the first extended position is different from its installation height relative to the frame 10 at the second extended position. Specifically, the installation height of the cleaning mechanism 13 at the first extended position may be greater than or less than its installation height at the second extended position.

[0382] Because the cleaning mechanism 13 is installed at a different height relative to the frame 10, the amount of extrusion deformation generated at different installation heights is also different when the cleaning component 131 comes into contact with the surface to be cleaned, which causes the cleaning pressure applied by the cleaning component 131 to the surface to be cleaned to vary.

[0383] When the installation height of the cleaning mechanism 13 at the first expansion position is greater than that at the second expansion position, it indicates that the amount of extrusion deformation generated by the cleaning component 131 when it contacts the surface to be cleaned at the first expansion position is small, and the corresponding cleaning pressure is low. However, at the second expansion position, due to the reduced installation height, the amount of extrusion deformation of the cleaning component 131 will be relatively large, thereby generating a greater cleaning pressure than at the first expansion position.

[0384] When the installation height of the cleaning mechanism 13 at the first expansion position is less than that at the second expansion position, it indicates that the cleaning component 131 has a larger amount of compression deformation at the first expansion position due to the lower installation height, and the corresponding cleaning pressure is larger; while at the second expansion position, due to the increased installation height, the amount of compression deformation of the cleaning component 131 decreases, and the corresponding cleaning pressure also decreases.

[0385] In this embodiment, by allowing the cleaning mechanism 13 to have different installation heights at different expansion positions, the technical problem of multiple expansion positions corresponding to a single cleaning pressure in the prior art can be solved. Specifically, by setting differentiated installation heights at different expansion positions, the cleaning component 131 can generate different amounts of compression deformation when it contacts the surface to be cleaned at different expansion positions, thereby forming a corresponding cleaning pressure. This design can also achieve coordinated matching between expansion positions and cleaning pressure: when the cleaning component 131 is in different expansion positions, its cleaning pressure can be automatically adjusted with the change of installation height. In this way, a smaller cleaning pressure can be matched when dealing with daily light dirt, avoiding excessive energy consumption, component wear, and floor damage. When dealing with stubborn stains, a larger cleaning pressure can be selected to ensure a deep cleaning effect.

[0386] In one embodiment of the present invention, as FIG. 11 As shown, in the first extended position, the edge of the cleaning component 131 is flush with the edge of the frame 10. In the second extended position, the edge of the cleaning component 131 extends at least partially beyond the edge of the frame 10. The mounting height of the cleaning mechanism 13 relative to the frame 10 in the first extended position is greater than the mounting height relative to the frame 10 in the second extended position.

[0387] Since the cleaning component 131 is prone to warping deformation due to impact or its own weight when it extends outside the frame 10 at the second outward position, in this embodiment, by reducing the installation height of the cleaning component 13 at the second outward position relative to the frame 10, the cleaning component 131 can obtain greater downward pressure. This downward pressure can offset part of the warping tendency of the cleaning component 13, so as to maintain stable contact between the cleaning component 131 and the ground, and ensure the uniformity and reliability of the cleaning effect of the cleaning component 131 at the second outward position.

[0388] In one embodiment of the present invention, in the retracted position, the cleaning member 131 has a raised position and a lowered position. In the raised position, the cleaning member 131 is lifted away from the surface to be cleaned; in the lowered position, the cleaning member 131 contacts the surface to be cleaned. There are multiple lowered positions, such as... FIG. 40 and FIG. 42 As shown, the installation height of the cleaning mechanism 13 relative to the frame 10 is not equal at multiple drop positions. There can be two or more drop positions. At multiple drop positions, the cleaning component 131 can maintain contact with the surface to be cleaned, that is, normal cleaning operations can be performed at all of them.

[0389] In this embodiment, by setting multiple drop positions with different installation heights at the retracted position, the cleaning component 131 can generate different amounts of elastic deformation when it contacts the surface to be cleaned at each drop position, thereby creating differentiated cleaning pressure. This design allows for adjustable cleaning pressure at the retracted position. When dealing with light dirt, a higher installation position can be selected for energy-saving cleaning with less deformation and lower cleaning pressure. When dealing with heavy dirt, a lower installation position can be selected to increase the cleaning pressure by increasing the deformation, ensuring a deep cleaning effect. This solves the technical problem that the cleaning device 100 has a single pressure when cleaning at the retracted position and cannot adapt to the needs of multiple scenarios.

[0390] Please see FIGS. 40-42 In one embodiment of the present invention, the falling position includes a first falling position (e.g., FIG. 42 and FIG. 43 (as shown) and the second landing position (as shown) FIG. 40 and FIG. 41 As shown, the installation height of the cleaning mechanism 13 relative to the frame 10 at the first falling position is lower than its installation height relative to the frame 10 at the second falling position, and equal to its installation height relative to the frame 10 at the first expanding position. During the process of the cleaning component 131 moving from the inward position to the first expanding position, it sequentially passes through the second falling position, the first falling position, and the first expanding position.

[0391] In this embodiment, by setting the installation height of the cleaning mechanism 13 at the first falling position and the first expanding position to be the same, the cleaning component 131 maintains a constant installation height from the first falling position during the process of switching from the inward state to the first expanding position. With this setting, the cleaning mechanism 13 does not need to adjust its height synchronously when expanding horizontally, effectively reducing the vibration and shaking that may be caused by the compound motion, thereby making the expanding action more stable and reliable.

[0392] Please see FIG. 39 and FIG. 43 In one embodiment of the present invention, the second connecting member 12 is provided with a lifting surface 125, and the lifting surface 125 is provided with multiple platform positions. A supporting part 132 is installed on the side of the cleaning mechanism 13 away from the surface to be cleaned. When the cleaning member 131 runs between the first outward expansion position and the second outward expansion position, the supporting part 132 can move along the lifting surface 125 and can selectively stop at any platform position, so as to realize the adjustment of the installation height of the cleaning mechanism 13 relative to the frame 10.

[0393] It should be noted that, in this embodiment, the specific structural description between the lifting surface 125 and the supporting part 132 can be referred to the relevant description in the foregoing embodiment, and will not be repeated here.

[0394] The method of forming the platform position on the lifting surface 125 is not limited. For example, multiple stepped surfaces can be provided on the lifting surface 125, with each stepped surface forming a platform position. Alternatively, multiple recessed areas, such as arc-shaped grooves, V-shaped grooves, or rectangular grooves, can be machined on the lifting surface 125. Each recessed area forms a platform position.

[0395] In this embodiment, the cleaning pressure of the cleaning component 131 on the ground is adjusted through the cooperation of the lifting surface 125 and the supporting part 132. Specifically, when the cleaning pressure needs to be adjusted, the drive mechanism 14 drives the second connecting member 12 to slide relative to the first connecting member 11, causing the supporting part 132 to move along the lifting surface 125, so that the supporting part 132 transitions from the current platform position to the next target platform position and achieves stable stopping. During this process, the cleaning mechanism 13 is always linked with the second connecting member 12, without the need for its own lifting drive mechanism 14. The switching between different falling positions of the cleaning component 131 can be completed automatically and reliably simply by sliding the second connecting member 12, thereby realizing the adjustment of the cleaning pressure of the cleaning component 131 on the ground.

[0396] Please see FIG. 39 and FIG. 43In one embodiment of the present invention, the lifting surface 125 includes an inclined section 1253 and a flat section 1254 connected to each other. Along the height direction of the cleaning mechanism 13, the flat section 1254 is connected to one end of the inclined section 1253 near the cleaning member 131, forming a first platform position 1251. A step portion 1255 is formed at the connection between the inclined section 1253 and the flat section 1254, forming a second platform position 1252, and the second platform position 1252 is disposed above the first platform position 1251. The step portion 1255 can be a beveled surface structure, a right-angled surface structure, or other structural shapes, as long as it can provide stable support for the supporting part 132 when it is stopped. In the first outward expansion position, the supporting part 132 rests on one of the first platform position 1251 and the second platform position 1252, and in the second outward expansion position, the supporting part 132 rests on the other.

[0397] In one embodiment, such as FIG. 43 As shown, in the first outward expansion position, the supporting part 132 rests on the first platform position 1251; in the second outward expansion position, as... FIG. 41 As shown, the supporting part 132 is stationary on the second platform position 1252. At this time, the cleaning pressure of the cleaning part 131 in the first outward expansion position is greater than the cleaning pressure in the second outward expansion position.

[0398] In another embodiment, when in the first outward expansion position, the abutment part 132 rests on the second platform position 1252, and when in the second outward expansion position, the abutment part 132 rests on the first platform position 1251. At this time, the cleaning pressure of the cleaning member 131 in the first outward expansion position is less than the cleaning pressure in the second outward expansion position.

[0399] Specifically, in this embodiment, the second connector 12 is provided with the cavity 126 in the aforementioned embodiment, and a first stop portion 1271 is provided at one end of the cavity 126. Lifting surfaces 125 are respectively provided on the two sidewalls in the width direction of the recess. The cleaning mechanism 13 includes a mounting base 134 and a cleaning component 131, which is mounted on the mounting base 134. An extension portion 133 is provided on the side of the mounting base 134 opposite to the cleaning component 131. A first sliding groove 1264 is provided on the bottom wall of the cavity 126. A second sliding groove 1112 is provided at the bottom of the sliding cavity 111. One end of the extension portion 133 is fixedly connected to the mounting base 134, and the other end passes through the second sliding groove 1112 and the first sliding groove 1264 in sequence, connecting to the abutment portion 132 located within the cavity 126. When the cleaning component moves between multiple outward expansion positions, the second connector 12 drives the extension portion 133 to slide in the second sliding groove 1112.

[0400] The process of cleaning component 131 moving from the retracted position to the expanded position is as follows:

[0401] From the rising position to the falling position: Please refer to FIGS. 38-43 When the cleaning component 131 needs to move from the raised position to the lowered position, the drive mechanism 14 is activated, driving the second connecting component 12 to slide along the first direction. Under the gravity of the cleaning mechanism 13, the supporting part 132 moves downward along the lifting surface 125, successively stopping at the second platform position 1252 and the first platform position 1251, corresponding to the cleaning component 131 sequentially reaching the second lowered position and the first lowered position. Please refer to [link / reference]. FIG. 45 and FIG. 46 When in the first falling position, the extension 133 and the second stop 1272 in the cavity 126 form a stop along the first direction. At this time, the second connector 12 continues to move along the first direction, which can drive the extension 133 and the cleaning mechanism 13 to move from the inward position to the outward position.

[0402] From the initial landing position to the outward expansion position:

[0403] When it is necessary for the supporting part 132 to stay at the first platform position 1251 in the first outward expansion position, the drive mechanism 14 drives the second connecting member 12 to run in the first direction, and the second connecting member 12 drives the cleaning mechanism 13 to move as a whole until the cleaning member 131 reaches the first outward expansion position.

[0404] When it is necessary for the supporting part 132 to stop at the second platform position 1252 in the first outward expansion position, after the cleaning part 131 reaches the first outward expansion position, the drive mechanism 14 reverses its direction, driving the second connecting part 12 to retract in a second direction opposite to the first direction. During the retraction process, the friction between the cleaning part 131 and the ground prevents the supporting part 132 from moving horizontally, forcing it to move up from the first platform position 1251 to the second platform position 1252 along the lifting surface 125 and stay stably there.

[0405] Switching between the first and second outward expansion positions:

[0406] Switching from the first expansion position (second platform position 1252) to the second expansion position (first platform position 1251):

[0407] Drive mechanism 14 drives second connector 12 to run in the first direction. In the initial stage, the holding part 132 moves from the second platform position 1252 to the first platform position 1251 under the gravity of cleaning mechanism 13; when the extension part 133 abuts against the second stop part 1272 (as shown in the image), the second connecting part 1272 moves (as shown in the image). FIG. 46 As shown), the second connector 12 drives the cleaning mechanism 13 to move along the first direction until the cleaning component 131 reaches the second outward expansion position.

[0408] Switching from the first expansion position (first platform position 1251) to the second expansion position (second platform position 1252):

[0409] The drive mechanism 14 drives the second connecting member 12 to continue running in the first direction until the cleaning member 131 reaches the second outward expansion position. Then, the drive mechanism 14 drives the second connecting member 12 to retract in the second direction. During the retraction process, the friction between the cleaning member 131 and the ground prevents the supporting part 132 from moving horizontally, forcing it to move up from the first platform position 1251 to the second platform position 1252 along the lifting surface 125 and stay stably there.

[0410] The process of cleaning component 131 moving from the outward expansion position to the inward retraction position is as follows:

[0411] When the second outward expansion position (first platform position 1251) moves towards the first outward expansion position:

[0412] The drive mechanism 14 drives the second connector 12 to move in the second direction until the cleaning component 131 reaches the first outward expansion position. For details, please refer to... FIG. 43 When the supporting part 132 is located at the first platform position 1251, a transition surface 1256 is formed between the step part 1255 and the flat section 1254. This transition surface 1256 can form a stop in the second direction with the supporting part 132. When the second connecting member 12 runs in the second direction, under the action of the stop force, the second connecting member 12 can drive the supporting part 132 and the entire cleaning mechanism 13 to move together in the second direction until it retracts to the first outward expansion position.

[0413] When the second outward expansion position (second platform position 1252) moves towards the first outward expansion position:

[0414] like FIG. 41 As shown, the drive mechanism 14 drives the second connecting member 12 to first run a certain distance along the first direction. During this process, the supporting part 132 moves down from the second platform position 1252 to the first platform position 1251 under the action of gravity. FIG. 43 As shown, when the supporting part 132 moves to the first platform position 1251, the supporting part 132 abuts against the transition surface 1256. Then, the drive mechanism 14 drives the second connecting member 12 along the second direction (e.g., FIG. 43 As shown in X3, when the second connector 12 drives the cleaning mechanism 13 to move together in the second direction until the cleaning component 131 reaches the first outward expansion position.

[0415] When the cleaning component 131 moves from the first outward expansion position to the first falling position of the inward retraction position:

[0416] The drive mechanism 14 drives the second connecting member 12 to continue running in the second direction until the cleaning member 131 reaches the first falling position at the retracted position, such as... FIG. 43 As shown. At this time, the supporting part 132 remains in the first platform position 1251. At this time, the cleaning mechanism 13 and the frame 10 stop each other in the second direction, as shown.FIG. 44 As shown. It should be noted that the specific description of the stop structure between the cleaning mechanism 13 and the frame 10 can be found in the relevant description in the foregoing embodiments, and will not be repeated here.

[0417] Cleaning component 131 moves from the first falling position at the retracted position to the raised position:

[0418] The drive mechanism 14 drives the second connecting member 12 to continue running in the second direction. During the sliding process, the frame 10 forms a stop on the cleaning mechanism 13 in the second direction, causing the supporting part 132 to move upward along the lifting surface 125 under the action of the stopping force until it accurately reaches the second platform position 1252. FIG. 41 As shown, the cleaning component 131 is currently in the second falling position. At this time, the drive mechanism 14 drives the second connecting member 12 to continue running in the second direction, and the frame 10 continues to provide a stopping effect until the cleaning component 131 reaches the raised position, as shown. FIG. 38 and FIG. 39 As shown.

[0419] Please see FIG. 14 In one embodiment of the present invention, the second connecting member 12 includes a recessed cavity 126 facing the cleaning member 131. A thickened portion 1263 is provided on the inner wall of the cavity 126, and a lifting surface 125 is formed on the thickened portion 1263. A first sliding groove 1264 is provided on the bottom wall of the cavity 126. An extension portion 133 is fixedly connected to the cleaning mechanism 13. The extension portion 133 is slidably installed in the first sliding groove 1264 and connected to a supporting portion 132 located inside the cavity 126. In this embodiment, the specific structural description of the thickened portion 1263 on the cavity 126 can be found in the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0420] In this embodiment, by providing a thickened portion 1263 inside the cavity 126, the local mechanical strength of the second connector 12 in the main stress area can be improved, and a stable and reliable forming base can be provided for the lifting surface 125, thereby helping to ensure the support strength of the lifting surface 125. At the same time, by integrating the lifting surface 125 into the thickened portion 1263 inside the cavity 126, the internal space of the cavity 126 can be fully utilized without occupying additional external installation space of the second connector 12, thus improving the compactness of the structural design.

[0421] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A cleaning device, characterized in that, include: frame; The first connector is fixedly installed on the frame; The second connector is slidably connected to the first connector; A cleaning mechanism, including a cleaning component, wherein the cleaning component is a mop assembly; The cleaning component mechanism is mounted on the second connector and moves in conjunction with the second connector, so that the cleaning component has an inward position and multiple outward positions relative to the frame; A driving mechanism is used to drive the second connector to slide relative to the first connector, so as to drive the cleaning component to move between the inward position and the outward position through the sliding of the second connector; The plurality of outward expansion positions include at least a first outward expansion position, a second outward expansion position, and a third outward expansion position; in the first outward expansion position, the edge of the cleaning component is flush with the edge of the frame; in the second outward expansion position and the third outward expansion position, the edge of the cleaning component extends beyond the edge of the frame; and in the third outward expansion position, the distance by which the edge of the cleaning component extends beyond the edge of the frame is greater than the distance by which the edge of the cleaning component extends beyond the edge of the frame in the second outward expansion position.

2. The cleaning equipment according to claim 1, characterized in that, Along the width direction of the frame, at the second outward expansion position, the edge of the cleaning component extends 20mm beyond the edge of the frame; the width direction of the frame is perpendicular to the walking direction of the cleaning equipment.

3. The cleaning equipment according to claim 1, characterized in that, Along the width direction of the frame, at the third outward expansion position, the edge of the cleaning component extends 40mm beyond the edge of the frame; the width direction of the frame is perpendicular to the walking direction of the cleaning equipment.

4. The cleaning equipment according to claim 1, characterized in that, Along the sliding direction of the second connector, the second connector has multiple preset positions, and the multiple preset positions correspond one-to-one with the multiple expansion positions; the cleaning device also includes a gear adjustment mechanism, which is used to control the operation of the drive mechanism so that the second connector can selectively stop at any of the preset positions, thereby causing the cleaning component to stop at the corresponding expansion position.

5. The cleaning equipment according to claim 4, characterized in that, The drive mechanism includes: The first driving component is mounted on the first connecting component and has a rotating output end; the first driving component is a drive motor. The first translation component includes a power input end and a power output end. The power input end is connected to the rotation output end, and the power output end is connected to the second connector to drive the second connector to move between multiple preset positions. The gear adjustment mechanism includes an encoder and a controller. The encoder is electrically connected to the first drive component. The controller can control the operation of the first drive component according to the electrical signal fed back by the encoder, so as to control the sliding distance of the second connector, so that the second connector can be selectively stopped at any of the preset positions.

6. The cleaning equipment according to claim 5, characterized in that, The first translation component includes a lead screw and a lead screw nut. The lead screw is rotatably disposed on the first connector and connected to the rotary output end. The lead screw nut is threadedly engaged with the lead screw and connected to the second connector. The first driving member drives the lead screw to rotate, thereby causing the lead screw nut to move horizontally, and in turn driving the second connector to slide horizontally.

7. The cleaning equipment according to claim 5, characterized in that, The gear adjustment mechanism further includes a position detection component. When the position detection component is located at the first connector and / or at least one of the extended positions, the controller can control the drive mechanism to stop operating based on the position electrical signal emitted by the position detection component.

8. The cleaning equipment according to claim 7, characterized in that, In the retracted position, the cleaning component has a raised position and a lowered position. In the raised position, the cleaning component is lifted away from the surface to be cleaned, and in the lowered position, the cleaning component is in contact with the surface to be cleaned. When the cleaning component is in the raised position, the positioning detection component generates a first positioning electrical signal, and the controller controls the drive mechanism to stop operating according to the first positioning electrical signal.

9. The cleaning equipment according to claim 8, characterized in that, When the cleaning component moves to the first outward expansion position, the positioning detection component generates a second positioning electrical signal, and the controller controls the drive mechanism to stop operating according to the second positioning electrical signal.

10. The cleaning equipment according to claim 9, characterized in that, The positioning detection component includes a position detection element and a stop. One of the position detection element and the stop is disposed on the first connector, and the other is disposed on the second connector. When the cleaning component is in the raised position or the first outward expansion position, the stop triggers the position detection element and causes the position detection element to generate a first positioning electrical signal or a second positioning electrical signal.

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