Cleaning accessory, cleaning actuator and cleaning equipment

Abstract

The invention provides a cleaning accessory, a cleaning actuator and cleaning equipment, and belongs to the field of cleaning equipment. The cleaning accessory comprises a mechanical arm and a cleaning head, the mechanical arm is movably installed on the cleaning actuator, and the mechanical arm has freedom degrees in the horizontal direction and the vertical direction; the cleaning head is arranged on the mechanical arm, can move along with the mechanical arm and is used for cleaning the lateral cleaning surface; the mechanical arm is configured to move the cleaning head to the height corresponding to the lateral cleaning face in the vertical direction based on the height of the lateral cleaning face in the vertical direction, and at least part of the cleaning head extends out of the cleaning actuator in the horizontal direction. Therefore, the cleaning head can clean the lateral cleaning surface while the cleaning actuator cleans the main cleaning surface. According to the cleaning accessory, the cleaning actuator and the cleaning equipment, synchronous cleaning of the main cleaning face and the lateral cleaning face can be achieved on the premise that the basic use mode of the cleaning actuator is not changed.

Description

Technical Field

[0001] This disclosure belongs to the field of cleaning equipment technology, specifically relating to a cleaning accessory, a cleaning actuator, and a cleaning device. Background Technology

[0002] In existing vacuum cleaner products, cleaning actuators such as floor brushes are typically used as floor cleaning components, primarily for removing dust, debris, and other dirt from floors, tiles, or carpets. The structure and airflow channels of these cleaning actuators are mostly designed around the goal of close-to-the-ground suction. This involves using suction ports, roller brushes, or scrapers to lift dirt near the ground and draw it into the actuator's airflow under negative pressure, thus cleaning the floor area. Summary of the Invention

[0003] In actual home environments, baseboards are usually installed at the junction of walls and floors. The surface of baseboards, especially the top surface, is prone to accumulating fine dust. This area is continuous along the wall and is a high-frequency point for indoor cleaning. Because baseboards are located above the floor and close to the wall edge, traditional cleaning actuators are generally based on the floor in terms of geometry and movement. They mainly move along the floor and have the suction port facing the floor during cleaning, making it difficult for the cleaning actuators to effectively contact, scrape, or suck up and cover the surface of the baseboards during operation.

[0004] Furthermore, the spatial characteristics of the baseboard area dictate that removing dirt there not only relies on negative pressure suction but also often requires effective agitation or scraping near the baseboard surface to overcome dust adhesion and retention on the top surface and corners of the baseboard. Existing floor brushes generally lack the structure to adjust the cleaning position vertically and extend horizontally to the outside of the brush to approach the wall area, thus limiting the cleaning range to the width of the brush body and its path along the floor.

[0005] When a user pushes the floor brush along the wall, although the brush's sidewall may be close to the baseboard, the cleaning airflow and cleaning components often fail to reach the top or side surfaces of the baseboard due to design constraints such as housing clearance, structural safety gaps, and the need to avoid collisions with the wall. This results in dust remaining in that area. Users often need to manually wipe or use other cleaning tools to complete the dust removal in the baseboard area, affecting the continuity and convenience of the cleaning process.

[0006] Based on the above analysis, the purpose of this disclosure is to provide a cleaning accessory, a cleaning actuator, and a cleaning device that enables the cleaning actuator to simultaneously cover side cleaning surfaces such as baseboards while cleaning the main cleaning surface.

[0007] To achieve the above objectives, the technical solution provided in this disclosure is as follows:

[0008] In a first aspect, this disclosure provides a cleaning attachment for a cleaning actuator configured to clean a main cleaning surface. The cleaning attachment includes a robotic arm and a cleaning head. The robotic arm is movably mounted on the cleaning actuator and has degrees of freedom in both the horizontal and vertical directions. The cleaning head is disposed on the robotic arm and can move with it. The cleaning head is used to clean lateral cleaning surfaces. The robotic arm is configured to move the cleaning head vertically to a height corresponding to the lateral cleaning surface based on the vertical height of the lateral cleaning surface relative to the main cleaning surface, and to extend at least partially horizontally beyond the outside of the cleaning actuator, so that the cleaning head can clean the lateral cleaning surface while the cleaning actuator is cleaning the main cleaning surface. By providing vertical and horizontal position adjustment capabilities through the robotic arm, the cleaning head can cover the lateral cleaning surfaces while the cleaning actuator is cleaning the main cleaning surfaces such as floors and carpets. This expands the cleaning range from the main cleaning surfaces such as floors and carpets to lateral areas such as baseboards, reducing the manual cleaning burden on lateral cleaning surfaces such as baseboards.

[0009] In one or more embodiments, the robotic arm includes a first lever arm and a second lever arm. A first end of the first lever arm is rotatably connected to the cleaning actuator, and a first end of the second lever arm is rotatably connected to a second end of the first lever arm. The cleaning head is disposed at the second end of the second lever arm. When the first lever arm rotates relative to the cleaning actuator, the position of the second end of the first lever arm in the horizontal and vertical directions can be changed. The rotatable connection structure between the first and second lever arms allows the spatial position of the cleaning head to be adjusted in conjunction with the rotation of the first lever arm.

[0010] In one or more embodiments, the robotic arm includes a retracted state suitable for non-working scenarios and an extended state suitable for working scenarios. The robotic arm is configured to switch between the retracted and extended states as the first lever arm rotates. In the retracted state, both the first and second lever arms are housed within the cleaning actuator and stacked horizontally. In the extended state, the first lever arm forms a preset angle with the horizontal direction, and the second lever arm tends to extend horizontally. By setting the retracted and extended states, the robotic arm can be housed within the cleaning actuator in non-working scenarios and can be extended in working scenarios to achieve an effective cleaning posture.

[0011] In one or more embodiments, the robotic arm further includes a link for maintaining the second lever arm in a horizontally extended state in the deployed state. One end of the link is rotatably connected to the cleaning actuator, and the other end is rotatably connected to the second lever arm. The link provides attitude constraints to the second lever arm, ensuring it remains horizontally extended in the deployed state. This stabilizes the height and attitude of the cleaning head, improves the consistency of contact when cleaning lateral surfaces such as kickboards, and reduces attitude drift.

[0012] In one or more embodiments, the connection point between the connecting rod and the second lever arm is located between the first and second ends of the second lever arm. The distance from the connection point of the connecting rod to the second lever arm to the second end of the second lever arm is L1, and the distance from the connection point of the connecting rod to the cleaning actuator to the outer wall of the cleaning actuator is L2, where L1 > L2. This geometric relationship of L1 > L2 allows the second end of the second lever arm to extend outside the cleaning actuator while the connecting rod remains inside the cleaning actuator, reducing the risk of collision interference from exposed connecting rods and improving the reliability of wall-mounted travel.

[0013] In one or more embodiments, the distance from the connection point of the link to the second lever arm to the connection point of the first lever arm and the second lever arm is L3, and the distance from the connection point of the link to the cleaning actuator to the connection point of the first lever arm and the cleaning actuator is L4, where L4 < L3, and L4 is less than the length of the link and the length of the first lever arm. The length relationship between L3 and L4 makes the segment corresponding to L4 the shortest link in the four-bar linkage and serves as the frame, thereby forming a double rocker mechanism that limits the swing range of the first lever arm and the link.

[0014] In one or more embodiments, the maximum rotation angle of the first lever arm relative to the cleaning actuator is no greater than 90°, and the maximum included angle between the second lever arm and the first lever arm is no greater than 90°. Limiting the maximum rotation angle of the first lever arm and the maximum included angle of the second lever arm to no greater than 90° makes the movement boundary of the robotic arm controllable and avoids internal interference and loss of control of the cleaning head posture caused by excessive swinging.

[0015] In one or more embodiments, the robotic arm further includes a drive member for driving the first lever arm to rotate relative to the cleaning actuator, the drive member being mounted on the cleaning actuator and connected to the first lever arm. The drive member enables controlled rotation of the first lever arm, allowing the robotic arm to automatically and repeatedly extend and retract, reducing reliance on user operation and improving motion consistency.

[0016] In one or more embodiments, the driving component includes a motor and a reduction gear set, wherein the input gear of the reduction gear set is connected to the output shaft of the motor, and the output gear of the reduction gear set is connected to the first lever arm. By using a motor and a reduction gear set for power matching, the rotational speed is reduced and the torque is amplified, improving drive reliability and reducing the risk of stalling, while also making the deployment / retraction process smoother.

[0017] In one or more embodiments, the cleaning accessory further includes a first limit sensor and a second limit sensor signalably connected to the drive mechanism. The first limit sensor outputs a limit signal to stop the drive mechanism when the robotic arm switches to the retracted state, and the second limit sensor outputs a limit signal to stop the drive mechanism when the robotic arm switches to the extended state. By setting the first and second limit sensors to detect and output stop signals when the robotic arm is retracted and extended, respectively, over-drive is prevented, and positioning accuracy and operational safety are improved.

[0018] In one or more embodiments, the cleaning head includes a suction port and bristles for scraping a lateral cleaning surface. The suction port is connected to the air duct of the cleaning actuator via a pipe, and the bristles surround the outer periphery of the suction port. The bristles surrounding the suction port and connecting to the air duct enable coordinated scraping of dust and negative pressure suction, improving the efficiency of desorption and collection of dust adhering to baseboards and other surfaces, and reducing secondary dust generation.

[0019] Secondly, this disclosure provides a cleaning actuator, which includes a housing and the aforementioned cleaning attachment disposed within the housing. The housing has a clearance groove for the cleaning head of the cleaning attachment to extend to the outside of the housing. The cleaning attachment is integrated into the housing and the clearance groove is provided so that the cleaning head can smoothly extend to the outside of the housing without being obstructed, while also providing storage and protection when not in operation.

[0020] In one or more embodiments, the housing is equipped with a photoelectric sensor for detecting the lateral cleaning surface, and the side wall of the housing is provided with a light-transmitting window through which light emitted by the photoelectric sensor passes. When the photoelectric sensor detects that the housing is close to the lateral cleaning surface, it generates a sensing signal to put the cleaning attachment into working mode; when the photoelectric sensor detects that the housing is away from the lateral cleaning surface, it generates a sensing signal to put the cleaning attachment into standby mode. By detecting the state of being close to / away from the lateral cleaning surface through the photoelectric sensor and the light-transmitting window and outputting a mode switching signal, the cleaning attachment can be automatically deployed and automatically retracted, improving the scene adaptability and ease of use of the cleaning process.

[0021] Thirdly, this disclosure provides a cleaning device including a main unit and a cleaning actuator detachably connected to the main unit. The main unit is used to provide negative pressure to the air duct of the cleaning actuator. The main unit provides negative pressure to the air duct of the cleaning actuator and is detachably connected to the cleaning actuator, allowing the cleaning actuator and cleaning accessories to share the suction source of the main unit, ensuring the suction capacity of the cleaning head and improving maintenance convenience.

[0022] The cleaning attachments, cleaning actuators, and cleaning equipment disclosed herein, by setting up a robotic arm with horizontal and vertical degrees of freedom and configuring a cleaning head at the end of the robotic arm, enable the cleaning head to achieve vertical height matching with the lateral cleaning surface, while at least partially extending to the outside of the cleaning actuator in the horizontal direction. Thus, during the movement of the cleaning actuator to clean the main cleaning surface such as floors and carpets, the cleaning range is extended from the main cleaning surface to the lateral cleaning surface area. Therefore, without changing the basic usage of the cleaning actuator, the cleaning of the main cleaning surface and the lateral cleaning surface can be carried out simultaneously, improving the cleaning coverage and reducing the user's burden of additional manual wiping or tool replacement. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the working scenario of the cleaning actuator in one embodiment of this disclosure;

[0025] Figure 2 This is a schematic diagram of the cleaning actuator in a non-working scenario according to one embodiment of the present disclosure;

[0026] Figure 3 This is an exploded view of a cleaning actuator in one embodiment of the present disclosure;

[0027] Figure 4 This is a schematic diagram of the cleaning accessory in its retracted state according to an embodiment of the present disclosure;

[0028] Figure 5 This is a partial structural diagram of the cleaning attachment in its unfolded state according to an embodiment of this disclosure.

[0029] Explanation of key figure labels:

[0030] 10-Cleaning attachment, 1-Robotic arm, 11-First lever arm, 12-Second lever arm, 13-Linkage, 14-Driver, 15-Motor, 16-Reduction gear set, 161-Input gear, 162-Output gear, 2-Cleaning head, 21-Suction port, 22-Bristles, 31-First limit sensor, 32-Second limit sensor, 4-Air duct, 5-Housing, 51-Leaning groove, 52-Light-transmitting window, 6-Photoelectric sensor, 7-Pipe, 8-Baseboard. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0032] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0033] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. In the embodiments shown in this disclosure, directional representations such as up, down, left, right, front, and back are relative and are used to explain the relative structure and movement of different components in this disclosure. These representations are appropriate when the components are in the positions shown in the figures. However, if the description of the component positions changes, then these representations are considered to change accordingly.

[0034] To facilitate understanding of the technical solutions disclosed herein, the technical terms that may appear in this disclosure will first be explained in detail.

[0035] Main cleaning surface: This refers to the surface (such as floor or carpet surfaces) that the main cleaning mechanism of the cleaning actuator (e.g., the roller brush, suction nozzle, and scraper) primarily faces and covers during cleaning operations under normal operating conditions. The main cleaning surface typically corresponds to the direction of travel of the cleaning actuator, allowing it to continuously perform suction, brushing, or scraping cleaning on the main cleaning surface during its movement. The main cleaning surface can be a horizontal surface, an inclined surface, or a partially curved surface, as long as it is the surface that the cleaning actuator primarily faces during routine operations.

[0036] Lateral cleaning surfaces refer to surfaces that are at least partially lateral to the main cleaning surface in space, and are difficult for conventional cleaning mechanisms to directly cover when the cleaning actuator cleans the main cleaning surface. Lateral cleaning surfaces are typically located in the lateral areas of the cleaning actuator's outline (such as walls, baseboard surfaces, furniture surfaces, etc.). With the main cleaning surface as a reference, the lateral cleaning surface is not located within the main cleaning surface and is laterally offset relative to the main cleaning direction of the cleaning actuator. Lateral cleaning surfaces usually have a vertical height difference or orientation difference relative to the main cleaning surface, making them difficult for the main cleaning mechanism of the cleaning actuator to directly act upon.

[0037] The structure and airflow organization of existing vacuum cleaner floor brushes and other cleaning actuators are usually designed around floor cleaning. The cleaning area is limited to the vicinity of the main cleaning surface such as the floor. The positional relationship between the cleaning components and the suction port is also centered on floor suction. When using floor brushes, the movement is mostly along the floor. A certain safety gap is often left between the outer edge of the brush and the wall to avoid collision and scratch.

[0038] During product use and structural analysis, the inventors discovered that the above design logic has inherent shortcomings when dealing with lateral cleaning surfaces located at the junction of walls and floors, such as baseboards: the surface of baseboards, especially the top surface, is prone to accumulating fine dust. However, this area is neither within the floor brush's coverage area nor close to the wall edge, and it has a certain height difference. This makes it difficult for traditional floor brushes to effectively reach and clean baseboards without changing the way they travel or adding extra user operations. Consequently, floor cleaning and baseboard cleaning are disconnected in terms of user experience, forcing users to use additional tools for supplementary cleaning, which affects the continuity and convenience of the cleaning process.

[0039] Based on the analysis of the above problems, the overall implementation idea of ​​the technical solution provided in this disclosure is as follows: The cleaning of lateral surfaces such as baseboards is transformed from an independent action outside the cleaning operation of the cleaning actuator into a parallel action during the cleaning process of the cleaning actuator. The cleaning action point of the cleaning actuator is expanded from the main cleaning surface such as the floor and carpet to a three-dimensional space to the side of the cleaning actuator, and the effective cleaning positional relationship between this cleaning action point and the baseboard is maintained during the movement of the cleaning actuator. To this end, this disclosure designs a cleaning attachment that can be dynamically adjusted according to working conditions. This attachment can enter an effective cleaning position when it is necessary to clean lateral surfaces such as baseboards, walls, and furniture surfaces, and return to a state that does not affect the normal use of the cleaning actuator when it is not needed, thus taking into account both the cleaning of lateral surfaces such as baseboards and the daily cleaning of main cleaning surfaces such as the floor.

[0040] Specifically, this disclosure introduces a movable mechanism to enable the cleaning actuator of the cleaning attachment to have a vertical height matching capability, adapting to the height difference between the lateral cleaning surface and the main cleaning surface, as well as changes in the scene. On the other hand, it enables the cleaning actuator to extend laterally towards the cleaning actuator, overcoming the limitations of the cleaning actuator's outer boundary and the safety gap between the wall and the wall, thus ensuring that the lateral cleaning surfaces, such as the area near the wall, are still covered even when the cleaning actuator is close to the main cleaning surface. Furthermore, through the overall planning of the relationship between the extension direction of the cleaning actuator and the direction of travel of the cleaning actuator, the cleaning actuator can maintain a relatively stable close proximity and following motion while traveling along the wall, preventing the cleaning effect from being interrupted due to changes in the travel posture, thereby ensuring that the cleaning actions on the main cleaning surface and the lateral cleaning surfaces can be completed collaboratively during the same travel process.

[0041] Based on the above overall implementation approach, this disclosure further proposes a switchable solution for cleaning attachments in working and non-working states. That is, without changing the user's basic operating habits, the cleaning attachments can automatically enter the working position when dust needs to be cleaned on the side cleaning surfaces such as baseboards, and automatically exit the working position after leaving the side cleaning surface area such as baseboards. This reduces the user's additional operating burden and reduces the collision risk and space occupation caused by exposed cleaning attachments.

[0042] Thus, this disclosure expands the cleaning boundary of traditional cleaning actuators, maintaining the high efficiency of the cleaning actuators in cleaning main surfaces such as the floor, while simultaneously covering lateral cleaning surfaces such as baseboards during wall cleaning, thereby improving the overall cleaning coverage and the continuity of the cleaning process.

[0043] Please refer to Figures 1 to 3 As shown, a cleaning actuator in one embodiment of the present disclosure includes a housing 5 and a cleaning attachment 10 disposed within the housing 5. The housing 5 has a clearance groove 51 for the cleaning head 2 of the cleaning attachment 10 to extend to the outside of the housing 5.

[0044] The housing 5 serves as the supporting component of the cleaning actuator, used for the installation, positioning, and housing of the cleaning attachment 10. This allows the cleaning attachment 10 to be covered and protected by the housing 5 when not in operation, and to match the overall shape of the cleaning actuator, thereby preventing the cleaning attachment 10 from being exposed and causing collision interference or occupying extra space.

[0045] The cleaning head 2 in the cleaning accessory 10 is installed on the movable structure of the cleaning accessory 10 and can move with the movable structure. When the cleaning accessory 10 enters the working state, the cleaning head 2 needs to move from the inside of the housing 5 to the outside of the housing 5 to contact the lateral cleaning surface. Therefore, the housing 5 is provided with a clearance groove 51 at the position corresponding to the movement path of the cleaning head 2. The clearance groove 51 penetrates the wall of the housing 5 and forms a channel space for the cleaning head 2 to pass through the housing 5, so that the cleaning head 2 can extend to the outside of the housing 5 in a predetermined direction without being blocked by the wall of the housing 5.

[0046] The preferred position and opening size of the clearance groove 51 are such that when the cleaning head 2 extends to the outside of the housing 5, part of the structure of the cleaning accessory 10 is still surrounded and protected by the housing 5. This not only helps to reduce the impact of accidental collisions on the cleaning head 2 when the cleaning actuator moves close to the edge of the wall or furniture, but also provides protection for the cleaning head 2 when it retracts into the housing 5.

[0047] Thus, the housing 5 and the cleaning attachment 10 establish a structural synergy relationship through the clearance groove 51, which takes into account both storage protection and working extension. This allows the cleaning head 2 to reliably extend from the inside of the housing 5 to the outside of the housing 5 without changing the main structure and function of the cleaning actuator. This, in turn, supports the cleaning attachment 10 to simultaneously clean the lateral cleaning surfaces during the cleaning process of the main cleaning surface of the cleaning actuator.

[0048] In one exemplary embodiment, please refer to Figures 1 to 5 As shown, the cleaning attachment 10 includes a robotic arm 1 and a cleaning head 2. The robotic arm 1 is movably mounted on the cleaning actuator, and the robotic arm 1 has a horizontal orientation relative to the main cleaning surface. Figure 1 (middle x direction) and vertical direction ( Figure 1 The robot arm 1 has a degree of freedom in the y-direction; the cleaning head 2 is mounted on the robot arm 1 and can move with the robot arm 1. The cleaning head 2 is used to clean the lateral cleaning surface. The robot arm 1 is configured to move the cleaning head 2 vertically to a height corresponding to the lateral cleaning surface based on the vertical height of the lateral cleaning surface relative to the main cleaning surface, and to extend the cleaning head 2 at least partially to the outside of the cleaning actuator in the horizontal direction, so that the cleaning head 2 can clean the lateral cleaning surface while the cleaning actuator cleans the main cleaning surface.

[0049] It should be noted that when the cleaning actuator is in its normal operating position, the main cleaning surface corresponds to a reference height used to characterize its vertical reference. This reference height can be the vertical height of the local tangent plane of the main cleaning surface at the current cleaning position of the cleaning actuator, or the vertical height of a reference point on the main cleaning surface that is in contact with / adjacent to the cleaning actuator. The height of the lateral cleaning surface relative to the main cleaning surface in the vertical direction can be defined as follows: for the target area to be cleaned on the lateral cleaning surface, take the characteristic point or characteristic line of the target area (such as the geometric center point of the target area, a representative point on the boundary line, or the center height of the target height band in the vertical direction of the target area) as the lateral reference height, and subtract it from the reference height of the main cleaning surface to obtain the height of the lateral cleaning surface relative to the main cleaning surface in the vertical direction.

[0050] The robotic arm 1 is movably mounted on the cleaning actuator, enabling the robotic arm 1 to move relative to the cleaning actuator. The structure of the robotic arm 1 gives it degrees of freedom in the horizontal and vertical directions, thus providing a basis for the cleaning head 2 to adjust its position in space.

[0051] The cleaning head 2 is mounted on the robotic arm 1 and moves in a follow-up relationship with the robotic arm 1. When the robotic arm 1 moves, the cleaning head 2 moves synchronously, so that the cleaning head 2 can be driven to the target position close to the side cleaning surface. The side cleaning surface can be the surface of the baseboard 8, especially the top surface of the baseboard 8, which is located above the main cleaning surface and close to the edge of the wall.

[0052] The robotic arm 1 is configured to move the cleaning head 2 vertically to a height corresponding to the lateral cleaning surface. In order to overcome the limitation of the cleaning coverage range by the safety gap between the outer boundary of the cleaning actuator housing 5 and the wall, the robotic arm 1 is further configured to drive the cleaning head 2 to extend at least partially to the outside of the cleaning actuator in the horizontal direction, so that the working position of the cleaning head 2 crosses the lateral contour of the housing 5 and enters the lateral area where the baseboard 8 is located. Thus, while the cleaning actuator is cleaning the main cleaning surface on the ground, the cleaning head 2 can simultaneously clean the lateral cleaning surfaces such as the baseboard 8.

[0053] The extension direction of the cleaning head 2 relative to the cleaning actuator is preferably perpendicular to the moving direction of the cleaning actuator when cleaning the main cleaning surface. This allows the cleaning head 2 to form a spatial relationship that is laterally close to the baseboard 8 when the cleaning actuator moves along the wall. This enables the cleaning head 2 to continuously scrape or suck up along the baseboard 8 as the cleaning actuator moves, reducing cleaning interruptions caused by misalignment between the cleaning head 2 and the baseboard 8 due to changes in the direction of travel. It also allows the cleaning path of the main cleaning surface and the cleaning path of the baseboard 8 to be completed in the same movement.

[0054] Through the above structural relationship and motion configuration, the robotic arm 1 undertakes the function of adjusting the position of the cleaning head 2, and the cleaning head 2 undertakes the actual cleaning function of the lateral cleaning surface. The two work together to allow the cleaning attachment 10 to expand the cleaning coverage without changing the basic usage of the cleaning actuator, thereby reducing the burden on the user to handle the dust on the skirting board 8.

[0055] In one exemplary embodiment, please refer to Figure 4 and Figure 5 As shown, the robotic arm 1 includes a first lever arm 11 and a second lever arm 12. The first end of the first lever arm 11 is rotatably connected to the cleaning actuator, and the first end of the second lever arm 12 is rotatably connected to the second end of the first lever arm 11. The cleaning head 2 is disposed at the second end of the second lever arm 12. When the first lever arm 11 rotates relative to the cleaning actuator, it can change the position of the second end of the first lever arm 11 in the horizontal and vertical directions.

[0056] The first end of the first lever arm 11 is rotatably connected to the cleaning actuator, allowing the first lever arm 11 to swing relative to the cleaning actuator around the rotatable connection, thereby forming the first rotational degree of freedom of the robotic arm 1. The first end of the second lever arm 12 is rotatably connected to the second end of the first lever arm 11, allowing the second lever arm 12 to swing relative to the first lever arm 11 around the second end of the first lever arm 11, thereby forming the second rotational degree of freedom of the robotic arm 1.

[0057] The cleaning head 2 is positioned at the second end of the second lever arm 12, creating a follow-up relationship between the cleaning head 2 and the second lever arm 12. Changes in the position and attitude of the second lever arm 12 are directly reflected in the spatial position of the cleaning head 2, thus making the cleaning head 2 the end effector of the robotic arm 1. Through the aforementioned rotational connection, the first lever arm 11 and the second lever arm 12 form a deployable two-section swing arm structure in space. This structure allows for position adjustment of the end effector cleaning head 2 within the installation space of the cleaning actuator, enabling both vertical height changes and lateral extension or retraction in the horizontal direction, providing a basis for lateral cleaning surface coverage.

[0058] During operation, when the first lever arm 11 rotates (oscillates) relative to the cleaning actuator, the spatial position of the second end of the first lever arm 11 relative to the cleaning actuator will change accordingly. Since the first end of the first lever arm 11 is connected to the cleaning actuator, the second end of the first lever arm 11 can be regarded as a moving point formed by rotating around the first end. The trajectory of this moving point has the characteristic of simultaneously changing its horizontal and vertical positions, thereby enabling the second end of the first lever arm 11 to generate linked displacement in both the horizontal and vertical directions.

[0059] The first end of the second lever arm 12 is rotatably connected to the second end of the first lever arm 11. Therefore, changes in the position of the second end of the first lever arm 11 will cause the second lever arm 12 to undergo a combined translational and rotational motion, which in turn will cause the cleaning head 2, located at the second end of the second lever arm 12, to move synchronously. Thus, the rotation of the first lever arm 11 relative to the cleaning actuator not only provides the drive input but also forms the basis for the robotic arm 1 to achieve vertical height matching and horizontal lateral extension, enabling the cleaning head 2 to be guided to a position corresponding to the lateral cleaning surface without changing the ground-hugging travel mode of the cleaning actuator.

[0060] Compared to a single-segment swing arm, a two-segment swing arm, by adding a rotational connection point, achieves a larger end-effector reachable working range. This allows the cleaning head 2 to be raised to a target height above the main cleaning surface, and also to extend outwards from the cleaning actuator when needed to cover lateral cleaning surfaces near wall edges, etc. Simultaneously, the two-segment structure makes the position adjustment of the end-effector cleaning head 2 more flexible. The rotation of the first lever arm 11 can roughly change the overall height and extension tendency of the cleaning head 2, while the rotation of the second lever arm 12 relative to the first lever arm 11 can further compensate for posture and position, making it easier for the cleaning head 2 to approach lateral cleaning surfaces and maintain effective contact or effective working distance.

[0061] For areas with height differences and continuous distribution along the wall, such as the surface of the skirting board 8, especially the top surface of the skirting board 8, the cleaning head 2 needs to match the height of the lateral cleaning surface in the vertical direction, and at the same time cross the safety gap between the outer boundary of the cleaning actuator and the wall in the horizontal direction. The two-stage swing arm structure can meet the above motion requirements in terms of structure.

[0062] In one exemplary embodiment, please refer to Figure 4 and Figure 5 As shown, the robotic arm 1 includes a retracted state suitable for non-working scenarios and an extended state suitable for working scenarios. The robotic arm 1 is configured to switch between the retracted state and the extended state as the first lever arm 11 rotates. In the retracted state, both the first lever arm 11 and the second lever arm 12 are housed in the cleaning actuator and stacked horizontally. In the extended state, the first lever arm 11 forms a preset angle with the horizontal direction, and the second lever arm 12 tends to extend horizontally or approximately horizontally.

[0063] In the retracted state, both the first lever arm 11 and the second lever arm 12 are housed inside the cleaning actuator and stacked horizontally, forming a compact storage structure within the actuator. By confining the first lever arm 11 and the second lever arm 12 within the cleaning actuator and maintaining their horizontal stacking, the robotic arm 1 does not protrude beyond the actuator's outline when not in operation. This reduces the risk of collision and interference when the actuator passes through narrow areas such as table legs, chair legs, and corners. It also prevents the cleaning head 2 and its connecting structure from being exposed and subjected to impact or dust accumulation, thus improving the overall maneuverability and aesthetics of the cleaning actuator.

[0064] In the extended state, the first lever arm 11 forms a preset angle relative to the horizontal direction, which can be set in the range of 30~90°. The second lever arm 12 tends to maintain horizontal extension in the extended state. The side cleaning surface, such as the top surface of the baseboard 8, is usually located above the main cleaning surface and has a certain height. When the first lever arm 11 is raised from the horizontal direction to the preset angle, the second end of the first lever arm 11 generates a lifting component in the vertical direction, so that the second lever arm 12 and the cleaning head 2 obtain a corresponding height base, thereby allowing the cleaning head 2 to be guided to a vertical height that better matches the side cleaning surface.

[0065] For lateral cleaning surfaces such as baseboards 8, which are continuously distributed along the wall direction, the cleaning actuator usually moves along the direction of travel when cleaning the main cleaning surface. The second lever arm 12, which maintains horizontal extension, enables the cleaning head 2 to form a stable lateral extension posture in space, making it easier for the cleaning head 2 to get close to the surface of the baseboard 8 and continuously sweep along the direction of the baseboard 8 during the movement of the cleaning actuator. This improves the continuity and consistency of the cleaning process. The horizontally extended second lever arm 12 can reduce the ineffective swing and attitude drift of the cleaning head 2 in the vertical direction, reduce the probability of the cleaning head 2 detaching from the lateral cleaning surface or being excessively pressed, and help control contact resistance and noise while ensuring cleaning effect.

[0066] In one exemplary embodiment, please refer to Figure 1 and Figure 5 As shown, the robotic arm 1 also includes a link 13 for keeping the second lever arm 12 in the extended state to be horizontally extended (or approximately horizontally extended). One end of the link 13 is rotatably connected to the cleaning actuator, and the other end is rotatably connected to the second lever arm 12.

[0067] A first rotational connection point is formed between the connecting rod 13 and the cleaning actuator, and a second rotational connection point is formed between the connecting rod 13 and the second lever arm 12, allowing the connecting rod 13 to swing relative to the cleaning actuator and the second lever arm 12 respectively and transmit constraint relationships. Through this double-ended rotatable connection structure, the connecting rod 13, the second lever arm 12, and the cleaning actuator together constitute a motion constraint relationship. When the first lever arm 11 drives the second lever arm 12 into the extended state, the connecting rod 13 rotates accordingly at the rotational connection point of the cleaning actuator, and applies a constraint to the second lever arm 12 through the rotational connection point with the second lever arm 12, so that the second lever arm 12 tends to maintain horizontal extension in the extended state and does not significantly tilt upward or downward with the swing of the first lever arm 11, thereby changing the posture change of the second lever arm 12 from free swing to restricted swing.

[0068] Without the constraint of link 13, the posture of the second lever arm 12 is mainly determined by the rotational trajectory of the first lever arm 11 and the rotational degree of freedom of the second lever arm 12 itself. After being fully extended, the second lever arm 12 is prone to posture drift due to gravity, inertia, frictional resistance, or external forces generated by the contact between the cleaning head 2 and the lateral cleaning surface. This causes the cleaning head 2 to deviate in the vertical direction, resulting in an unstable contact relationship with the lateral cleaning surface, especially the top surface of the baseboard 8. This leads to situations where the cleaning head 2 is sometimes lifted off and sometimes excessively pressed, affecting the consistency of the cleaning effect and increasing resistance and noise. Through the geometric constraint of link 13 on the second lever arm 12 in the extended state, the second lever arm 12 can obtain a more defined horizontal posture reference, allowing the cleaning head 2 to maintain a relatively constant height and posture when extended laterally in the horizontal direction. This is more suitable for continuous sweeping or suction along the baseboard 8 direction, reducing misalignment caused by posture changes.

[0069] Specifically, please refer to Figure 3 and Figure 5 As shown, the connection point between the connecting rod 13 and the second lever arm 12 is located between the first end and the second end of the second lever arm 12. The distance from the connection point between the connecting rod 13 and the second lever arm 12 to the second end of the second lever arm 12 is L1, and the distance from the connection point between the connecting rod 13 and the cleaning actuator to the outer wall of the cleaning actuator is L2, where L1 > L2.

[0070] The connection between the connecting rod 13 and the second lever arm 12 is arranged between the first end and the second end of the second lever arm 12, so that the constraint effect of the connecting rod 13 on the second lever arm 12 is not applied to the end of the second lever arm 12, but to the middle position of the second lever arm 12. This ensures that the attitude of the second lever arm 12 is controlled, while reserving sufficient outward stroke for the second end of the second lever arm 12.

[0071] The distance from the connection point of link 13 and the second lever arm 12 to the second end of the second lever arm 12 is defined as L1, and the distance from the connection point of link 13 and the cleaning actuator to the outer wall of the cleaning actuator is defined as L2, with L1 > L2. Since the second end of the second lever arm 12 needs to extend outward toward the outside of the cleaning actuator in the unfolded state to drive the cleaning head 2 into the lateral area where the lateral cleaning surface is located, and link 13, as a component used to constrain the posture of the second lever arm 12, if it extends outward toward the outside of the cleaning actuator in the unfolded state, it is easy to collide and interfere with the wall, furniture edge or other external objects, which may affect the smoothness of the unfolding action of the robotic arm 1, and may also cause problems such as deformation of link 13 under force, wear at the connection point, or even stall of the drive component 14. Therefore, while ensuring that the second end of the second lever arm 12 extends outward, the range of motion of link 13 should be limited to the inside of the cleaning actuator as much as possible.

[0072] Under the constraint that L1 > L2, when the robotic arm 1 switches from the retracted state to the extended state, the second lever arm 12, driven by the first lever arm 11, tends to extend outward towards the outside of the cleaning actuator. The connecting rod 13 applies a geometric constraint to the second lever arm 12 and swings accordingly. Since the distance L1 from the connection point of the connecting rod 13 and the second lever arm 12 to the second end of the second lever arm 12 is greater than the distance L2 from the connection point of the connecting rod 13 and the cleaning actuator to the outer wall of the cleaning actuator, the connection point of the connecting rod 13 and the second lever arm 12 has a more inward position relative to the second end of the second lever arm 12, allowing the second end of the second lever arm 12 to achieve a larger outward displacement.

[0073] In other words, when the rotation angle of the connecting rod 13 relative to the cleaning actuator is less than 90°, the second end of the second lever arm 12 can still cross the outer boundary of the cleaning actuator and extend to the outside of the cleaning actuator, thereby achieving the lateral positioning of the cleaning head 2; at the same time, the connecting rod 13 can still remain inside the cleaning actuator within this rotation angle range, and the connecting rod 13 will not protrude outward relative to the outer wall of the cleaning actuator, thus structurally preventing the connecting rod 13 from extending to the outside of the cleaning actuator in the unfolded state and colliding with external objects.

[0074] Through the coordination of the above-mentioned connection positions, the outward extension function of the second end of the second lever arm 12 and the built-in obstacle avoidance function of the connecting rod 13 are simultaneously satisfied. The second end of the second lever arm 12 extends to the outside of the cleaning actuator, allowing the cleaning head 2 to reach the area near the surface of the baseboard 8, especially the top surface of the baseboard 8, thereby expanding the cleaning coverage of the cleaning actuator; the connecting rod 13 remains entirely inside the cleaning actuator, which gives the robotic arm 1 better passability when moving along the wall or working near the edge of furniture, reduces the risk of jamming and impact caused by the exposed connecting rod 13, and reduces fatigue damage to the connecting rod 13 and its connection points caused by external collisions.

[0075] Further, please refer to Figure 5 As shown, the distance from the connection point of the connecting rod 13 and the second lever arm 12 to the connection point of the first lever arm 11 and the second lever arm 12 is L3, and the distance from the connection point of the connecting rod 13 and the cleaning actuator to the connection point of the first lever arm 11 and the cleaning actuator is L4, where L4 < L3, and L4 is less than the length of the connecting rod 13 and the length of the first lever arm 11.

[0076] Link 13 is rotatably connected to the second lever arm 12 to form a connection point; link 13 is rotatably connected to the cleaning actuator to form another connection point; the first lever arm 11 and the second lever arm 12 are rotatably connected to form a connection point; the first lever arm 11 is rotatably connected to the cleaning actuator to form a connection point. These four connection points can collectively constitute a four-bar linkage under planar motion conditions (see...). Figure 5The four revolute joints (the dashed quadrilateral in the middle) create a motion constraint relationship between the first lever arm 11, the second lever arm 12, the connecting rod 13, and the cleaning actuator.

[0077] To ensure the four-bar linkage has a defined motion boundary and avoids excessive oscillation during its extension and retraction, the distance from the connection point of link 13 and the second lever arm 12 to the connection point of the first lever arm 11 and the second lever arm 12 is defined as L3, and the distance from the connection point of link 13 and the cleaning actuator to the connection point of the first lever arm 11 and the cleaning actuator is defined as L4. L4 is limited to be less than L3, and further limited to be less than the lengths of link 13 and the first lever arm 11, making L4 the shortest relative length in the four-bar linkage system. Through this length relationship setting, the link segment corresponding to L4 is equivalent to the shortest link in the four-bar linkage, thus giving the four-bar linkage a double-rocker characteristic with the shortest link as the frame during movement, thereby constraining the oscillation range of the first lever arm 11 and link 13.

[0078] The internal space of the cleaning actuator is limited. If the swing range of the robotic arm 1 is too large during the transition from the retracted state to the extended state, two types of problems may occur: First, the first lever arm 11 and the connecting rod 13 may touch the inner wall of the cleaning actuator or other components due to excessive swing, causing jamming or wear; Second, the mechanism may enter a position close to the dead point or past the center, causing the driving component 14 to experience a sharp increase in force at the end position, resulting in fluctuations in the driving load, inconsistent extension, or even failure to reliably reset.

[0079] Designing the link segment corresponding to L4 as the shortest link in a four-bar linkage restricts the reachable posture of the mechanism to a narrower range, suppressing the tendency for large swings between the first lever arm 11 and link 13, and ensuring a stable motion path during deployment and retraction. This is particularly relevant in applications where the second lever arm 12 needs to maintain horizontal extension after the robotic arm 1 is deployed, and the cleaning head 2 needs to extend stably to the outside of the cleaning actuator. The constraint of the shortest link in the four-bar linkage makes the relative motion relationship between link 13 and the first lever arm 11 more predictable, thus providing a more reliable structural constraint basis for maintaining the posture of the second lever arm 12.

[0080] Preferably, in order to enable the robotic arm 1 to be controllably deployed within the limited space inside the cleaning actuator and to avoid interference caused by excessive range of motion, the maximum rotation angle of the first lever arm 11 relative to the cleaning actuator is limited to no more than 90°, so that the swing range of the first lever arm 11 is kept within the range from being contained in the horizontal direction to being raised in a near vertical direction.

[0081] To prevent the second lever arm 12 from over-extension relative to the first lever arm 11, which could lead to loss of posture control and spatial interference, the maximum angle between the second lever arm 12 and the first lever arm 11 is limited to no more than 90°. This ensures that the second lever arm 12 maintains a limited range of relative posture changes during deployment. This upper limit of the angle allows the second lever arm 12 to meet horizontal extension or outward extension requirements while avoiding the problem of the second lever arm 12 flipping in the opposite direction, which could cause the cleaning head 2 to deviate from the height range of the lateral cleaning surface.

[0082] Furthermore, when the first lever arm 11 rotates to its maximum rotation angle, the second lever arm 12 forms its maximum included angle with the first lever arm 11. By aligning the maximum rotation angle of the first lever arm 11 with the maximum included angle of the second lever arm 12 at the same unfolding boundary, the robotic arm 1 can simultaneously satisfy the swinging position of the first lever arm 11 and the posture position of the second lever arm 12 when it is fully unfolded. This ensures that the height, extension amount, and posture of the cleaning head 2 are consistent each time it is unfolded, facilitating drive control and limit detection, and also facilitating stable reset along the opposite path during retraction.

[0083] In one exemplary embodiment, please refer to Figure 3 and Figure 4 As shown, the robotic arm 1 also includes a drive unit 14 for driving the first lever arm 11 to rotate relative to the cleaning actuator. The drive unit 14 is mounted on the cleaning actuator and connected to the first lever arm 11. The drive unit 14 is used to drive the first lever arm 11 to rotate relative to the cleaning actuator, so that the first lever arm 11 can swing within a predetermined angle range, thereby driving the robotic arm 1 to switch between a retracted state and an extended state, and further driving the cleaning head 2 to move to a position corresponding to the lateral cleaning surface.

[0084] The drive component 14 is mounted on the cleaning actuator, forming a stable assembly reference and load-bearing relationship between the drive component 14 and the cleaning actuator. The output force of the drive component 14 is transmitted to the first lever arm 11 through the connection between the drive component 14 and the first lever arm 11, causing the first lever arm 11 to rotate around the rotational connection axis between it and the cleaning actuator. Since the first lever arm 11 is the main swing component of the robotic arm 1, its rotation determines the spatial position change of the second lever arm 12 and the cleaning head 2. The connection between the drive component 14 and the first lever arm 11 not only provides power input but also structurally defines the force transmission path.

[0085] The drive unit 14 can be electric or pneumatic to adapt to the requirements of different product platforms regarding size, cost, response speed, and control precision. In the electric drive form, the drive unit 14 can achieve controllable start / stop and adjustable output through electrical signals, making it easier for the rotation angle and speed of the first lever arm 11 to be linked with the working mode of the cleaning equipment. This allows the robotic arm 1 to quickly extend when it detects proximity to the lateral cleaning surface and retract promptly when it moves away from the lateral cleaning surface. It also facilitates the implementation of functions such as soft start, soft stop, or overload protection through control strategies.

[0086] In the pneumatic drive mode, the drive unit 14 can provide drive output by utilizing air pressure difference or cylinder extension and retraction, which is suitable for use in scenarios that require greater instantaneous thrust or have specific requirements for electrical safety. Furthermore, the pneumatic drive structure has a certain degree of buffering characteristics, which helps to reduce impact when in position.

[0087] Specifically, please refer to Figure 4 As shown, the drive unit 14 includes a motor 15 and a reduction gear set 16. The input gear 161 of the reduction gear set 16 is connected to the output shaft of the motor 15, and the output gear 162 of the reduction gear set 16 is connected to the first lever arm 11.

[0088] The motor 15 is installed inside the cleaning actuator as a power output source. The output shaft of the motor 15 is used to output torque to drive the robotic arm 1. A reduction gear set 16 is disposed between the motor 15 and the first lever arm 11. The input gear 161 of the reduction gear set 16 is connected to the output shaft of the motor 15, so that the rotation of the output shaft of the motor 15 can be transmitted to the input gear 161 and enter the transmission link of the reduction gear set 16. The output gear 162 of the reduction gear set 16 is connected to the first lever arm 11, so that the rotation of the output gear 162 can be converted into the rotation of the first lever arm 11 relative to the cleaning actuator, thereby realizing the driving of the swing of the first lever arm 11.

[0089] Through the transmission cooperation of input gear 161 and output gear 162, a power transmission path is formed between motor 15, reduction gear set 16 and first lever arm 11, so that the output of motor 15 is reduced in speed and amplified in torque by reduction gear set 16 and then acts on first lever arm 11, thereby driving the robotic arm 1 to complete the unfolding and retraction actions.

[0090] During the deployment process, the robotic arm 1 not only needs to overcome the gravitational torque of the first lever arm 11 and the second lever arm 12, but also the mechanical resistance caused by the constraint of the connecting rod 13. If the motor 15 directly drives the first lever arm 11, the motor 15 often needs to operate at a large output torque, which can easily lead to an increase in the size of the motor 15, increased energy consumption, or an increased risk of stalling. The reduction gear set 16 reduces the speed and amplifies the torque through the gear ratio, enabling the motor 15 to output power within a more suitable operating speed range. At the same time, it provides a higher driving torque at the output end to meet the swinging requirements of the first lever arm 11, thereby improving the reliability of the robotic arm 1's movements while maintaining the compactness of the drive system.

[0091] The reduction gear set 16 can also smooth the rotation speed of the first lever arm 11, making the swing process of the first lever arm 11 more controllable, avoiding the impact, noise or impact on the stability of the cleaning actuator caused by the rapid extension of the cleaning head 2 due to excessive speed, and is conducive to achieving a smooth stop when in position with the limit structure.

[0092] In one exemplary embodiment, please refer to Figure 3 As shown, the cleaning accessory 10 also includes a first limit sensor 31 and a second limit sensor 32 that are signal-connected to the drive unit 14. The first limit sensor 31 is used to output a limit signal that stops the drive unit 14 from driving when the robotic arm 1 switches to the retracted state, and the second limit sensor 32 is used to output a limit signal that stops the drive unit 14 from driving when the robotic arm 1 switches to the extended state.

[0093] The first limit sensor 31 is used to output a limit signal when the robotic arm 1 switches to the retracted state. The limit signal is configured to trigger the drive component 14 to stop driving, so that the drive output is terminated in time after the robotic arm 1 completes retraction and enters the storage position, so as to avoid the drive component 14 continuing to apply force after retracting into the position, which would cause the first lever arm 11, the second lever arm 12 to have overpressure contact, meshing wear or stall with the internal structure of the cleaning actuator.

[0094] The second limit sensor 32 is used to output a limit signal when the robotic arm 1 switches to the extended state. The limit signal is also configured to trigger the drive component 14 to stop driving, thereby terminating the drive output after the robotic arm 1 is extended to the position, avoiding problems such as mechanism impact, noise, increased gear meshing stress, or interference between the connecting rod 13 and the housing 5 caused by the continuous driving of the robotic arm 1 at the extended limit position.

[0095] By setting corresponding limit sensors in the retracted and extended states, the robotic arm 1 has a clear positioning determination and drive stop mechanism, enabling the robotic arm 1 to form a repeatable termination position in each state switch, thereby improving the consistency between the extension amount and the storage position of the cleaning head 2.

[0096] The first limit sensor 31 and the second limit sensor 32 can be in the form of Hall sensors, photoelectric sensors, or microswitches, to adapt to different structural arrangements and reliability requirements. When using Hall sensors, the first limit sensor 31 and the second limit sensor 32 can be respectively configured with corresponding magnetic triggers. When the robotic arm 1 reaches a predetermined position in the retracted or extended state, the trigger enters the sensing range of the Hall sensor, thereby outputting a limit signal. The non-contact detection method of the Hall sensor can reduce wear and improve durability.

[0097] When using photoelectric sensors, the first limit sensor 31 and the second limit sensor 32 can achieve position detection through a light-shielding plate or a reflective element. When the robotic arm 1 reaches its position, the shading or reflection state changes and a limit signal is output. This is suitable for scenarios requiring a small triggering force or a compact spatial arrangement. When using microswitches, the limit signal is output by directly triggering the microswitch through the protrusion after the robotic arm 1 reaches its position.

[0098] In one exemplary embodiment, please refer to Figure 4 As shown, the cleaning head 2 includes a suction port 21 and bristles 22 for scraping the side cleaning surface. The suction port 21 is connected to the air duct 4 of the cleaning actuator through the pipe 7, and the bristles 22 are arranged around the outer periphery of the suction port 21.

[0099] Dust on side cleaning surfaces, such as the baseboard 8 surface, especially the top surface of the baseboard 8, usually exists in the form of a thin layer of adhesion or accumulation. Simply relying on negative pressure suction can easily lead to incomplete suction due to adhesion, electrostatic adsorption, or retention at edges and corners. The bristles 22 are set around the suction port 21 to form a ring of pre-acting scraping area around the suction port 21. When the cleaning head 2 approaches the side cleaning surface, the bristles 22 will first contact the side cleaning surface and scrape and agitate the attached dust, thereby reducing the bonding strength between the dust and the side cleaning surface and lifting the dust, so that the dust changes from an attached state to a suspended or loose state.

[0100] Since the suction port 21 is located in the central area surrounded by the bristles 22, the dust raised by the brush bristles 22 is closer to the suction area of ​​the suction port 21 in space. The suction airflow formed by the suction port 21 under negative pressure can capture the raised dust, reducing the probability that the dust will be diffused into the indoor air or fall back to the side cleaning surface, thereby realizing a synergistic cleaning mechanism of brushing disturbance and negative pressure suction.

[0101] The suction port 21 is connected to the cleaning actuator air duct 4 through the pipe 7, so that the cleaning head 2 and the main air path of the cleaning actuator are connected. The pipe 7, as a connecting channel, can guide the dust-laden airflow sucked in at the suction port 21 into the cleaning actuator air duct 4 and further into the dust collection path of the cleaning equipment host.

[0102] In the working scenario, the robotic arm 1 is in the extended state. The cleaning head 2 is moved by the robotic arm 1 to the vicinity of the side cleaning surface. The bristles 22 come into contact with or are close to the side cleaning surface and move relative to it. The bristles 22 scrape the dust on the side cleaning surface, causing the dust to detach from its attachment point and be lifted up. After being lifted up, the dust enters the airflow zone around the suction port 21. Under the negative pressure of the cleaning actuator air duct 4, the suction port 21 generates a suction airflow. The dust is carried by the suction airflow through the suction port 21 into the pipe 7 and is transported to the cleaning actuator air duct 4, thereby completing the removal of dust from the side cleaning surface.

[0103] In one exemplary embodiment, please refer to Figure 2 and Figure 3 As shown, the housing 5 is equipped with a photoelectric sensor 6 for detecting the baseboard 8 (side cleaning surface), and the side wall of the housing 5 is provided with a light-transmitting window 52 through which the light emitted by the photoelectric sensor 6 passes; when the photoelectric sensor 6 detects that the housing 5 is close to the baseboard 8, it generates a sensing signal for the cleaning accessory 10 to enter the working mode; when the photoelectric sensor 6 detects that the housing 5 is away from the baseboard 8, it generates a sensing signal for the cleaning accessory 10 to enter the standby mode.

[0104] The photoelectric sensor 6 is installed inside the housing 5 and arranged facing the side wall of the housing 5, enabling the photoelectric sensor 6 to perform optical detection of the spatial state of the housing 5 to the side and outward. A light-transmitting window 52 is provided on the side wall of the housing 5. The light-transmitting window 52 is located in the optical path direction of the photoelectric sensor 6 and cooperates with the photoelectric sensor 6. The light-transmitting window 52 provides a transmission channel for the light emitted by the photoelectric sensor 6, allowing the light emitted by the photoelectric sensor 6 to exit from inside the housing 5. The reflected or transmitted light received by the photoelectric sensor 6 can also return to the photoelectric sensor 6 through the light-transmitting window 52, ​​thereby realizing the detection of the relative position of the baseboard 8.

[0105] The photoelectric sensor 6 can achieve a rapid response to proximity without introducing exposed mechanical contacts. The light-transmitting window 52, ​​as the optical interface between the housing 5 and the outside world, can not only ensure the effective transmission of light, but also isolate and protect the photoelectric sensor 6, reducing the impact of dust and water stains entering the housing 5 on the reliability of the photoelectric sensor 6. It is suitable for long-term use in high-dust environments for cleaning actuators.

[0106] The photoelectric sensor 6 is configured to generate a sensing signal when the housing 5 is detected to be close to the baseboard 8. The sensing signal is used to enable the cleaning accessory 10 to enter the working mode, switch the robotic arm 1 from the retracted state to the extended state, so that the cleaning head 2 extends to the outside of the housing 5 and approaches the area of ​​the baseboard 8 to perform cleaning.

[0107] The detection of the housing 5's proximity to the baseboard 8 can be achieved based on changes in the light path state at the light-transmitting window 52. For example, when the side wall of the housing 5 comes into contact with the baseboard 8 or the distance approaches a preset threshold, the light path outside the light-transmitting window 52 is blocked by the baseboard 8 or the reflection conditions change. The photoelectric sensor 6 receives the light intensity change and outputs a corresponding sensing signal. By using proximity to the baseboard 8 as a condition to trigger the entry into the working mode, the cleaning attachment 10 can automatically start in real-world scenarios where the cleaning actuator cleans along the wall. This ensures that the robotic arm 1 only extends when there is a baseboard 8 on the side of the cleaning surface, avoiding unnecessary extension in areas away from the wall that would occupy space or increase the risk of collision. It also reduces the user's burden of manually switching modes.

[0108] The photoelectric sensor 6 is also configured to generate a sensing signal when it detects that the housing 5 is away from the baseboard 8. The sensing signal is used to put the cleaning accessory 10 into standby mode, causing the robotic arm 1 to switch from the extended state to the retracted state and return to its storage position inside the housing 5. When the housing 5 is away from the baseboard 8, the light path at the light-transmitting window 52 is unblocked or the reflection condition is restored. The receiving end of the photoelectric sensor 6 detects the increase in light intensity or the return of the state and outputs a corresponding sensing signal, causing the drive unit 14 to stop extending and execute retraction control, thereby causing the robotic arm 1 to retract and keep the first lever arm 11 and the second lever arm 12 housed inside the housing 5.

[0109] During indoor cleaning, the cleaning actuator frequently moves from the wall area to the center of the room or around furniture. If the robotic arm 1 remains extended, the cleaning head 2 is prone to collisions and interference with external objects such as table legs, chair legs, or wall corners, which may affect the stability of the cleaning actuator as it moves along the ground. By automatically switching between working and standby modes based on the detection results of the photoelectric sensor 6, the cleaning attachment 10 can automatically extend to clean the baseboard 8 when moving along the wall, and automatically retract to restore the normal shape of the cleaning actuator when moving away from the wall, thus achieving a balance between cleaning coverage and safety.

[0110] This disclosure also provides a cleaning device including a main unit and a cleaning actuator detachably connected to the main unit, the main unit being used to provide negative pressure to the air duct of the cleaning actuator.

[0111] The cleaning actuator, acting as the cleaning component close to the area to be cleaned, contacts the main cleaning surface to complete the cleaning action. The main unit, serving as the power and air source, generates negative pressure and provides continuous suction to the cleaning actuator's air duct. The main unit and cleaning actuator are detachably connected, allowing the cleaning actuator to be assembled or disassembled on the main unit according to different cleaning scenarios. This facilitates switching between various cleaning accessories and makes maintenance, cleaning, or replacement of the cleaning actuator easier.

[0112] The main unit can be equipped with a fan to create negative pressure. During operation, the main unit generates an intake airflow, which is then transmitted through the dust extraction air path to the cleaning actuator's duct. This creates an airflow path within the cleaning actuator's duct, pointing from the intake port towards the main unit. Through the cooperation of the main unit and the cleaning actuator, the cleaning actuator directly interacts with the area to be cleaned, performing the functions of suction and guidance of contaminants, while the main unit generates negative pressure and provides suction for the entire air path.

[0113] In summary, the cleaning attachments, cleaning actuators, and cleaning equipment provided in this disclosure, by setting up a robotic arm with horizontal and vertical degrees of freedom and configuring a cleaning head at the end of the robotic arm, enable the cleaning head to achieve vertical height matching with the lateral cleaning surface, while at least partially extending to the outside of the cleaning actuator in the horizontal direction. Thus, during the movement of the cleaning actuator to clean the main cleaning surface such as floors and carpets, the cleaning range is extended from the main cleaning surface to the lateral cleaning surface area. Therefore, without changing the basic usage of the cleaning actuator, the cleaning of the main cleaning surface and the lateral cleaning surface can be carried out simultaneously, improving the cleaning coverage and reducing the user's burden of additional manual wiping or tool replacement.

[0114] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0115] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A cleaning attachment for use in a cleaning actuator, characterized in that, The cleaning actuator is configured to clean the main cleaning surface, and the cleaning attachments include: A robotic arm is movably mounted on the cleaning actuator, the robotic arm having degrees of freedom in the horizontal and vertical directions; A cleaning head is mounted on the robotic arm and can move with the robotic arm; the cleaning head is used to clean the lateral cleaning surface. The robotic arm is configured to move the cleaning head vertically to a height corresponding to the lateral cleaning surface based on the vertical height of the lateral cleaning surface relative to the main cleaning surface, and to extend the cleaning head at least partially to the outside of the cleaning actuator in the horizontal direction, so that the cleaning head can clean the lateral cleaning surface while the cleaning actuator cleans the main cleaning surface.

2. The cleaning accessory according to claim 1, characterized in that, The robotic arm includes a first lever arm and a second lever arm. The first end of the first lever arm is rotatably connected to the cleaning actuator, and the first end of the second lever arm is rotatably connected to the second end of the first lever arm. The cleaning head is disposed at the second end of the second lever arm. When the first lever arm rotates relative to the cleaning actuator, it can change the position of the second end of the first lever arm in the horizontal and vertical directions.

3. The cleaning accessory according to claim 2, characterized in that, The robotic arm includes a retracted state suitable for non-working scenarios and an extended state suitable for working scenarios. The robotic arm is configured to switch between the retracted and extended states as the first lever arm rotates; wherein... In the retracted state, both the first lever arm and the second lever arm are housed within the cleaning actuator and stacked horizontally. In the unfolded state, the first lever arm forms a preset angle with the horizontal direction, and the second lever arm tends to extend horizontally.

4. The cleaning accessory according to claim 3, characterized in that, The robotic arm also includes a link for causing the second lever arm to extend horizontally in the deployed state, one end of the link being rotatably connected to the cleaning actuator and the other end being rotatably connected to the second lever arm.

5. The cleaning accessory according to claim 4, characterized in that, The connection point between the connecting rod and the second lever arm is located between the first end and the second end of the second lever arm. The distance from the connection point between the connecting rod and the second lever arm to the second end of the second lever arm is L1. The distance from the connection point between the connecting rod and the cleaning actuator to the outer wall of the cleaning actuator is L2, where L1 > L2.

6. The cleaning accessory according to claim 4, characterized in that, The distance from the connection point of the connecting rod and the second lever arm to the connection point of the first lever arm and the second lever arm is L3, and the distance from the connection point of the connecting rod and the cleaning actuator to the connection point of the first lever arm and the cleaning actuator is L4, where L4 < L3, and L4 is less than the length of the connecting rod and the length of the first lever arm.

7. The cleaning accessory according to claim 2, characterized in that, The maximum rotation angle of the first lever arm relative to the cleaning actuator is no greater than 90°, and the maximum included angle between the second lever arm and the first lever arm is no greater than 90°.

8. The cleaning accessory according to claim 2, characterized in that, The robotic arm further includes a drive component for driving the first lever arm to rotate relative to the cleaning actuator, the drive component being mounted on the cleaning actuator and connected to the first lever arm.

9. The cleaning accessory according to claim 8, characterized in that, The driving component includes a motor and a reduction gear set. The input gear of the reduction gear set is connected to the output shaft of the motor, and the output gear of the reduction gear set is connected to the first lever arm.

10. The cleaning accessory according to claim 8, characterized in that, The cleaning accessory also includes a first limit sensor and a second limit sensor connected to the drive component. The first limit sensor is used to output a limit signal to stop the drive component when the robotic arm switches to the retracted state, and the second limit sensor is used to output a limit signal to stop the drive component when the robotic arm switches to the extended state.

11. The cleaning accessory according to claim 1, characterized in that, The cleaning head includes a suction port and bristles for scraping the side cleaning surface. The suction port is connected to the air duct of the cleaning actuator through a pipe, and the bristles surround the outer periphery of the suction port.

12. A cleaning actuator, characterized in that, The device includes a housing and a cleaning attachment as described in any one of claims 1 to 11 disposed within the housing, the housing having a clearance groove for the cleaning head of the cleaning attachment to extend to the outside of the housing.

13. The cleaning actuator according to claim 12, characterized in that, The housing is equipped with a photoelectric sensor for detecting the lateral clean surface, and the side wall of the housing is provided with a light-transmitting window for the light emitted by the photoelectric sensor to pass through. When the photoelectric sensor detects that the housing is close to the lateral cleaning surface, it generates a sensing signal to enable the cleaning accessory to enter the working mode; When the photoelectric sensor detects that the housing is away from the lateral cleaning surface, it generates a sensing signal to put the cleaning accessory into standby mode.

14. A cleaning device, characterized in that, The device includes a main unit and a cleaning actuator as described in claim 12 or 13, which is detachably connected to the main unit, the main unit being used to provide negative pressure to the air duct of the cleaning actuator.

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