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 comprises a first swing arm assembly and a second swing arm assembly moving along with the first swing arm assembly, and the two swing arm assemblies have freedom degrees in the horizontal direction and the vertical direction; the cleaning head is arranged on the second swing arm assembly and used for cleaning a lateral cleaning face located in the lateral direction of the cleaning actuator. When the lateral cleaning surface is detected, the first swing arm assembly can move the second swing arm assembly to a preset position; and after the cleaning head is in place, the second swing arm assembly can adjust the vertical height of the cleaning head according to the height of the lateral cleaning surface and make the cleaning head laterally extend out of the cleaning actuator, so that synchronous cleaning of the main cleaning surface and the lateral cleaning surface is achieved. According to the cleaning accessory, the cleaning actuator and the cleaning equipment provided by the invention, the lateral cleaning surface in the lateral direction of the cleaning actuator can be synchronously cleaned while the main cleaning surface is cleaned by the cleaning actuator.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of cleaning equipment, and particularly relates to a cleaning accessory, a cleaning actuator and a cleaning equipment. BACKGROUND

[0002] The dust collector generally realizes suction and brushing of the main cleaning surface such as the ground and the carpet surface through the cooperation of the main machine and the cleaning actuator such as the floor brush. The existing cleaning actuator is generally provided with a dirt suction port, a rolling brush and a flow guide air duct, so that the negative pressure airflow forms an effective suction flow field near the main cleaning surface, and the rolling brush disturbs and collects the particles attached to the main cleaning surface, thereby realizing the daily cleaning of the flat area such as the wooden floor, the ceramic tile and the carpet. SUMMARY

[0003] In addition to the ground, there are a large number of lateral interfaces adjacent to the ground in the indoor environment, such as the skirting board arranged along the wall. The surface, especially the top surface and the wall corner transition, is easy to accumulate dust, lint and fine particles during use. Since the skirting board is usually continuously distributed along the periphery of the room, has a long length and is easy to fall dust close to the wall, if it cannot be processed during daily dust collection, it will often form a obvious dust accumulation belt, affecting the neat appearance of the living environment.

[0004] The cleaning actuator such as the floor brush in the prior art is mainly designed for ground cleaning, and the action area of the dirt suction port and the rolling brush is mainly located at the bottom of the cleaning actuator. The airflow inlet and the brushing contact surface are basically arranged towards the main cleaning surface such as the ground, so that the suction range and the brushing range are both concentrated in the direction of the main cleaning surface. For the surface of the skirting board, the wall surface of furniture, especially the top surface of the skirting board, which is a lateral cleaning surface with a certain height relative to the main cleaning surface and in a lateral relationship with the working surface at the bottom of the cleaning actuator, the negative pressure flow field and the brushing path formed at the bottom of the cleaning actuator are difficult to effectively cover, resulting in that the dust on the skirting board and the furniture is difficult to be sucked or brushed away. Even if the user moves the side edge of the cleaning actuator close to the skirting board or the wall surface of furniture, the existing cleaning actuator often lacks cleaning components that can be actively extended to the lateral cleaning surface, and cannot form stable and continuous cleaning effect on the skirting board and other lateral cleaning surfaces while keeping the cleaning main surface of the cleaning actuator clean.

[0005] In addition, the height of the skirting board varies in different house decorations, and the flatness of the ground and other main cleaning surfaces, the perpendicularity of the wall surface and the user's pushing posture will all cause the relative position between the cleaning actuator and the lateral cleaning surface such as the skirting board to change. When lacking a mechanism that can be adaptively adjusted in the vertical direction, even if the side edge of the cleaning actuator has a certain cleaning ability, the cleaning action point is easy to deviate from the dust accumulation area, which is manifested as the inability to effectively reach the lateral cleaning surface, or the cleaning components and the lateral cleaning surface are in unstable contact, resulting in fluctuation of the cleaning effect.

[0006] Based on the above analysis, the purpose of the present disclosure is to provide a cleaning accessory, a cleaning executor and a cleaning device, which can enable the cleaning executor to simultaneously cover the side cleaning surface such as the skirting line when cleaning the main cleaning surface.

[0007] To achieve the above-mentioned purpose, the technical solutions provided by the present disclosure are as follows:

[0008] In a first aspect, the present disclosure provides a cleaning accessory applied to a cleaning executor configured to clean a main cleaning surface, the cleaning accessory comprising a mechanical arm and a cleaning head, the mechanical arm comprising a first swing arm assembly movably mounted to the cleaning executor, and a second swing arm assembly connected to the first swing arm assembly and movable with the first swing arm assembly, the first swing arm assembly and the second swing arm assembly both having degrees of freedom in the horizontal direction and the vertical direction; the cleaning head is provided on the second swing arm assembly and is movable with the second swing arm assembly, and the cleaning head is used to clean a side cleaning surface located laterally to the cleaning executor.

[0009] The first swing arm assembly is configured to move the second swing arm assembly to a predetermined position relative to the cleaning executor in response to detecting the side cleaning surface; the second swing arm assembly is configured to move the cleaning head to a height corresponding to the side cleaning surface in the vertical direction after moving to the predetermined position, based on the height of the side cleaning surface relative to the main cleaning surface in the vertical direction, and to at least partially extend the cleaning head to the outside of the cleaning executor in the horizontal direction, so that the cleaning head can clean the side cleaning surface while the cleaning executor cleans the main cleaning surface. Through the two-stage movement of the first swing arm assembly and the second swing arm assembly, the cleaning head can first reach the predetermined position after detecting the side cleaning surface, and then adapt to the height and extend laterally, so as to realize the simultaneous cleaning of the side cleaning surface such as the skirting line while the cleaning executor cleans the main cleaning surface, and improve the stability of the in-place and the adaptability to different height side cleaning surfaces.

[0010] In one or more embodiments, the mechanical arm comprises a retracted state suitable for a non-working scenario and an unfolded state suitable for a working scenario; wherein in the retracted state, the first swing arm assembly and the second swing arm assembly are both accommodated in the cleaning executor and placed in a horizontal direction; compared with the retracted state, in the unfolded state, the connection of the first swing arm assembly and the second swing arm assembly is offset between the horizontal direction and the vertical direction, and the second swing arm assembly tends to be horizontally extended. Through switching between the retracted state and the unfolded state, the cleaning accessory can be accommodated in the cleaning executor in a non-edge scenario to improve passability and reduce the risk of collision interference, and can be unfolded and the second swing arm assembly can be horizontally extended to obtain a lateral cleaning operation space in an edge scenario, so as to balance daily use and edge cleaning ability.

[0011] In one or more embodiments, the first swing arm assembly comprises a first force arm, a second force arm and a connecting rod, a first end of the first force arm is rotationally connected with the cleaning executor, a second end of the first force arm is rotationally connected with the second force arm, one end of the connecting rod is rotationally connected with the cleaning executor, the other end of the connecting rod is rotationally connected with a first end of the second force arm, and the connection of the first force arm and the second force arm is located between the first end and the second end of the second force arm. Through the four-bar mechanism composed of the first force arm, the second force arm and the connecting rod, the input rotation of the first force arm is converted into the horizontal direction and vertical direction composite displacement output of the second end of the second force arm, so as to realize the movement of the second swing arm assembly in a compact structure.

[0012] In one or more embodiments, the connection of the first force arm and the second force arm is arranged adjacent to the first end of the second force arm. By arranging the connection of the first force arm and the second force arm close to the first end of the second force arm, a larger unfolding amplitude can be obtained under a smaller driving stroke, improving the unfolding efficiency and reducing the requirements of the mechanism on space and driving angle.

[0013] In one or more embodiments, the length of the first force arm is L1, the length of the connecting rod is L2, the distance from the connection of the connecting rod and the second force arm to the connection of the first force arm and the second force arm is L3, and the distance from the connection of the connecting rod and the cleaning executor to the connection of the first force arm and the cleaning executor is L4; wherein L3 is the smallest and L4 is the largest among L1, L2, L3 and L4, and L3+L4>L1+L2. Through the length relationship of L1, L2, L3 and L4, the four-bar mechanism is formed into a double rocker structure and the rotation range of the first force arm is limited, so as to avoid structural interference and false extension caused by excessive swing, and improve the reliability and controllability of the unfolding / retracting process.

[0014] In one or more embodiments, the first swing arm assembly is configured such that, when the rotation angle of the second force arm relative to the first force arm is 90°, the connection between the first force arm and the second force arm, the connection between the connecting rod and the second force arm, and the connection between the connecting rod and the cleaning implement are collinear. By making the three connection points collinear at a certain rotation angle to form a dead point position, the first swing arm assembly has a clear end point posture and locking tendency when it is fully deployed, thereby reducing the deviation of the predetermined position.

[0015] In one or more embodiments, the first swing arm assembly further comprises a first driving member for driving the rotation of the first force arm relative to the cleaning implement, the first driving member being mounted on the cleaning implement and in transmission connection with the first end of the first force arm. By providing the first driving member to drive the first force arm, the cleaning accessory can be deployed and retracted as needed, and the stable composite displacement output can be obtained in cooperation with the double rocker structure.

[0016] In one or more embodiments, the second swing arm assembly comprises a third force arm, the first end of the third force arm being rotationally connected with the second force arm, and the second end of the third force arm being connected with the cleaning head. By forming a two-stage swing structure through the rotational connection between the third force arm and the second force arm, the cleaning head can be further adjusted in posture and position on the basis of the predetermined position, thereby enhancing the adaptation capability to the lateral cleaning surface position changes.

[0017] In one or more embodiments, the second swing arm assembly further comprises a second driving member for driving the rotation of the third force arm relative to the second force arm, the second driving member being mounted on the second force arm and in transmission connection with the first end of the third force arm. By driving the third force arm to rotate through the second driving member, the cleaning head obtains controllable horizontal and vertical displacement adjustment capability, thereby realizing height matching to different height lateral cleaning surfaces.

[0018] In a second aspect, the present disclosure provides a cleaning implement comprising a housing and a cleaning accessory arranged in the housing, the housing having a clearance slot for the cleaning accessory to extend outside the housing. By integrating the cleaning accessory in the cleaning implement housing and providing the clearance slot, the cleaning accessory can be smoothly extended outside the housing to implement lateral cleaning when needed, and can be retracted in the housing when not in use, thereby balancing the compactness and lateral cleaning function realization.

[0019] 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 the 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 a 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 a standby mode. By using the photoelectric sensor and the light-transmitting window to detect the proximity / distance of the lateral cleaning surface and outputting working mode / standby mode sensing signals, the cleaning attachment can automatically unfold and retract according to the edge contact condition, thereby reducing user operation and avoiding accidental extension in non-edge contact scenarios.

[0020] Thirdly, this disclosure provides a cleaning device, which includes 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. By providing negative pressure to the air duct of the cleaning actuator and being detachably connected to the cleaning actuator by the main unit, the entire system provides suction support for the cleaning actuator and cleaning accessories, thereby ensuring stable suction capability when the cleaning head is in the form of a suction head or similar device.

[0021] The cleaning attachments, cleaning actuators, and cleaning equipment disclosed herein, by setting up a robotic arm with horizontal and vertical degrees of freedom, and setting a movable cleaning head at the end of the robotic arm, enable the cleaning head to simultaneously clean the lateral cleaning surfaces to the side of the cleaning actuator while the cleaning actuator cleans the main cleaning surface. This overcomes the shortcomings of traditional cleaning actuators, which mainly work on the main cleaning surfaces such as the ground and have difficulty covering lateral areas such as baseboards. In addition, when a lateral cleaning surface is detected, the position of the cleaning head can be adjusted according to the vertical height of the lateral cleaning surface, and the cleaning head can extend at least partially to the outside of the cleaning actuator in the horizontal direction, so that the cleaning head can be height-adapted to lateral cleaning surfaces of different heights and maintain effective contact. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the working scenario of the cleaning actuator in one embodiment of this disclosure;

[0024] Figure 2 This is a schematic diagram of the cleaning actuator in a non-working scenario according to one embodiment of the present disclosure;

[0025] Figure 3 A disassembled schematic view of cleaning the actuator in an embodiment of the present disclosure;

[0026] Figure 4 A first perspective schematic view of the structure in a cleaning attachment retracted state in an embodiment of the present disclosure;

[0027] Figure 5 A second perspective schematic view of the structure in a cleaning attachment retracted state in an embodiment of the present disclosure;

[0028] Figure 6 A partial schematic view of the structure in a cleaning attachment deployed state in an embodiment of the present disclosure.

[0029] Main reference signs explanation:

[0030] 10 - cleaning attachment, 1 - mechanical arm, 11 - first swing arm assembly, 111 - first force arm, 112 - second force arm, 113 - connecting rod, 114 - first driving member, 12 - second swing arm assembly, 121 - third force arm, 122 - second driving member, 2 - cleaning head, 3 - housing, 31 - accommodation groove, 32 - light transmission window, 4 - photoelectric sensor, 5 - skirting line. DETAILED DESCRIPTION

[0031] In order to make the person skilled in the art better understand the technical solutions in the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present disclosure.

[0032] Unless otherwise explicitly stated, in the entire specification and claims, the term “comprise” or its variants such as “contain” or “include” and the like will be understood to include the stated element or component, but not to exclude other elements or components.

[0033] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being “connected” to another element, it can be directly connected to the other element or there can be an intervening element. In the embodiments shown in the present disclosure, the directional indications, i.e. up, down, left, right, front and back, etc. are relative, and are used to explain the structure and movement of different components in the present disclosure. These indications are appropriate when the components are in the positions shown in the drawings. However, if the position of the components changes, it is considered that these indications will also change accordingly.

[0034] In order to facilitate the understanding of the technical solutions of the present disclosure, the technical terms that may appear in the present disclosure are first explained in detail.

[0035] Main cleaning surface: refers to the surface (such as ground surface, carpet surface, etc.) mainly faced and covered by the main cleaning mechanism (such as the roller brush of the floor brush, the suction port, the scraping strip, etc.) of the cleaning executor in the normal use state of the cleaning device. The main cleaning surface usually corresponds to the traveling direction of the cleaning executor, so that the cleaning executor can continuously perform cleaning treatment such as suction, brushing or scraping on the main cleaning surface during traveling. The main cleaning surface can be a horizontal surface, or an inclined surface or a local curved surface, as long as it is the surface mainly faced by the cleaning executor in the conventional operation.

[0036] Lateral cleaning surface: refers to the surface that is at least partially distributed laterally with respect to the main cleaning surface and is difficult to be directly covered by the conventional cleaning mechanism when the cleaning executor cleans the main cleaning surface. The lateral cleaning surface is usually located in the lateral area of the cleaning executor profile (such as wall surface, skirting surface, furniture wall surface, etc.). The lateral cleaning surface is referenced to the main cleaning surface, and its position is not in the main cleaning surface, and it has lateral bias with respect to the main cleaning direction of the cleaning executor. The lateral cleaning surface usually has a vertical height difference or attitude difference with respect to the main cleaning surface, so that it is not easy to be directly acted on by the main cleaning mechanism of the cleaning executor.

[0037] In the indoor cleaning scene, the floor brush of the vacuum cleaner is mainly optimized around the main goal of ground cleaning, and its cleaning effect mainly depends on the suction flow field close to the ground surface and the brushing disturbance, so as to remove dust and particles on the floor surface. However, the inventors found through analysis of the actual dusting scene and cleaning blind area in the home environment that the skirting line area at the wall-ground junction has a lateral interface feature, and the dusting position is not located in the main action plane of the floor brush, but is distributed laterally along the wall, and is often concentrated in the upper edge or top surface of the skirting line, which has a height difference with the main cleaning surface.

[0038] Since the cleaning direction and coverage range of the existing floor brush and other cleaning executors are concentrated on the main cleaning surface such as the ground surface and the carpet surface, the lateral interface is often outside the range of suction force and brushing path, and even if the user deliberately pushes along the edge, it is difficult to form stable and continuous cleaning effect on the skirting line, wall surface or furniture surface without changing the running attitude of the cleaning executor, thereby causing the skirting line dust to need additional manual treatment, which becomes a problem affecting the overall cleaning efficiency and experience.

[0039] Further, the height difference of the skirting line is obvious under different decoration conditions, and the straightness of the wall and the flatness of the ground and the pushing attitude will change the relative position of the cleaning executor and the skirting line, making it more difficult for the traditional fixed cleaning surface to consider the adaptability of different home environments.

[0040] Based on the above understanding, the technical implementation idea of the present disclosure starts from the perspective of expanding the cleaning surface, and expands the effective cleaning range of the cleaning executor from the main cleaning surface such as the ground to the lateral cleaning surface on the side of the cleaning executor, so that the cleaning executor has the synchronous cleaning ability to the lateral interface such as the skirting line while keeping the cleaning process of the main cleaning surface unchanged.

[0041] To this end, the technical solution provided by the present disclosure configures a cleaning accessory with lateral cleaning ability on the cleaning executor, so that the cleaning accessory can actively reach the edge cleaning when needed and maintain the effective working position of the lateral cleaning surface, and does not affect the passability and daily use of the cleaning executor in the non-edge cleaning scene.

[0042] Specifically, the present disclosure presets the lateral working starting position of the cleaning accessory, so that the lateral cleaning ability can be in place in a determined posture every time it enters the edge cleaning state; on the basis of completing the lateral positioning, an adaptive mechanism for the height change of the lateral cleaning surface is introduced, so that the lateral cleaning execution end can be adjusted according to the environmental difference, thereby covering the relative position deviation caused by different skirting line heights, different wall-ground conditions and changes in pushing posture.

[0043] At the same time, through overall planning of the relationship between the extension direction of the cleaning execution end of the cleaning accessory and the advancing direction of the cleaning executor, the cleaning execution end can maintain relatively stable proximity and following when advancing along the wall or the side of furniture, avoiding interruption of the cleaning effect due to changes in advancing posture, so as to ensure that the main cleaning surface cleaning action and the lateral cleaning surface cleaning action can be completed simultaneously in the same advancing process.

[0044] Please refer to Figures 1 to 3 The cleaning executor in an embodiment of the present disclosure includes a shell 3 and a cleaning accessory 10 arranged in the shell 3, and the shell 3 has a gap 31 for the cleaning accessory 10 to extend to the outside of the shell 3.

[0045] The shell 3 is used as the main structure of the cleaning executor to support, position and protect the internal components, and provides the necessary shape profile and structural strength for the cleaning executor during advancing on the main cleaning surface. The cleaning accessory 10 is arranged in the internal space of the shell 3 and forms an assembly relationship with the shell 3, so that the cleaning accessory 10 can be accommodated and moved within the limited range of the shell 3, avoiding the cleaning accessory 10 from being exposed in the non-working scene and affecting the passability of the cleaning executor or causing collision risk.

[0046] The housing 3 has a clearance groove 31 for the cleaning attachment 10 to extend to the outside of the housing 3. The clearance groove 31 can be set in the top area of ​​the housing 3 and communicate with the internal space of the housing 3, so that when the cleaning attachment 10 is in the working state, it can pass through the inside of the housing 3 in a predetermined direction and reach the working area outside the housing 3, so that the cleaning head 2 of the cleaning attachment 10 can approach the cleaning surface located on the side of the cleaning actuator and form an effective cleaning action. At the same time, when the cleaning attachment 10 is not in the working scene, the cleaning attachment 10 can be retracted into the housing 3 for storage, so that the outer contour of the cleaning actuator remains compact and the probability of interference between the cleaning actuator and furniture corners, door frames or wall protrusions is reduced.

[0047] Through the structural cooperation between the housing 3, the cleaning attachment 10 and the clearance groove 31, the cleaning actuator can switch the cleaning attachment 10 inside and outside the housing 3 while maintaining the ground-level cleaning capability and passability, thus providing a structural basis for the synchronous cleaning of the lateral cleaning surface.

[0048] In one exemplary embodiment, please refer to Figures 4 to 6 As shown, the cleaning attachment 10 includes a robotic arm 1 and a cleaning head 2. The robotic arm 1 includes a first swing arm assembly 11 movably mounted on the cleaning actuator, and a second swing arm assembly 12 connected to the first swing arm assembly 11 and movable with the first swing arm assembly 11. Both the first swing arm assembly 11 and the second swing arm assembly 12 are horizontal relative to the main cleaning surface. Figure 1 (middle x direction) and vertical direction ( Figure 1 The first arm assembly 11 is configured to move the second arm assembly 12 relative to the cleaning actuator to a predetermined position in response to the detection of the lateral cleaning surface. The second arm assembly 12 is configured to move the cleaning head 2 to a predetermined position relative to the cleaning actuator after moving to the predetermined position, based on the vertical height of the lateral cleaning surface relative to the main cleaning surface, and to make the cleaning head 2 extend 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 is cleaning the main cleaning surface.

[0049] It should be noted that when the cleaning executor is in the normal working posture, the main cleaning surface corresponds to a reference height for representing the vertical reference of the main cleaning surface, which can be the local tangent plane vertical height of the main cleaning surface at the current cleaning position of the cleaning executor, or the vertical height of the reference point on the main cleaning surface in contact / adjacent to the cleaning executor. 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 on the lateral cleaning surface to be cleaned, the feature point or feature line of the target area (for example, the geometric center point of the target area, the representative point on the boundary line, or the center height of the target height band of the target area in the vertical direction) is taken as the lateral reference height, and the difference between the lateral reference height and the reference height of the main cleaning surface is obtained, that is, the height of the lateral cleaning surface relative to the main cleaning surface in the vertical direction.

[0050] The mechanical arm 1 is movably mounted on the cleaning executor and is used to carry the cleaning head 2 to move, so as to clean the lateral cleaning surface located laterally to the cleaning executor while the cleaning executor performs the main cleaning surface cleaning process. The first swing arm assembly 11 and the cleaning executor form a movable connection relationship, so that the first swing arm assembly 11 can produce horizontal and vertical displacement or posture change relative to the cleaning executor. The second swing arm assembly 12 and the first swing arm assembly 11 also form a movable connection relationship, so that the second swing arm assembly 12 can further adjust its position in the horizontal and vertical directions while moving as a whole with the first swing arm assembly 11. Thus, the mechanical arm 1 has the ability to deliver the cleaning head 2 to the lateral working area and adapt the position in the edge cleaning scene.

[0051] The cleaning head 2 is arranged on the second swing arm assembly 12 and keeps a follow-up relationship with the second swing arm assembly 12. The cleaning head 2 can be in the form of a suction head or a brush head, which is used to act on the lateral cleaning surface located laterally to the cleaning executor. The lateral cleaning surface can be the surface of the skirting line 5, the wall surface of furniture, the surface of a step, etc., and in particular can be the top surface area of the skirting line 5. The cleaning head 2 can form a suction or brushing action on the dust on the surface of the skirting line 5 and other lateral cleaning surfaces, thereby making up for the defect of insufficient coverage of the traditional ground cleaning mode of the cleaning executor on the lateral interface.

[0052] In terms of structure cooperation and action logic, the first swing arm assembly 11 is configured to be able to start in response to detecting the lateral cleaning surface, and move the second swing arm assembly 12 to a predetermined position relative to the cleaning executor. The predetermined position can be a fixed spatial position relative to the cleaning executor, so that each time the first swing arm assembly 11 detects the lateral cleaning surface, it can drive the second swing arm assembly 12 to reach the predetermined position, thereby providing a stable and repeatable starting position for subsequent position adjustment of the cleaning head 2.

[0053] By moving the second swing arm assembly 12 to a predetermined position, the second swing arm assembly 12 can be positioned near the working area on the side of the cleaning executor in a determined relative posture when entering the working state, avoiding uncontrollable trajectory deviation of the cleaning head 2 during extension, and also facilitating consistent cleaning position and cleaning effect of the cleaning accessory 10 under different skirting working conditions, thereby improving the reliability and controllability of the side cleaning process.

[0054] After the first swing arm assembly 11 completes the predetermined position moving operation, the second swing arm assembly 12 is configured to adapt the position of the cleaning head 2 based on the height of the side cleaning surface in the vertical direction. The second swing arm assembly 12 drives the cleaning head 2 to move to the height corresponding to the side cleaning surface in the vertical direction through its own degrees of freedom, so that the action area of the cleaning head 2 can be aligned with the position where dust is more likely to accumulate on the top surface of the skirting line 5 or other side cleaning surfaces, thereby adapting to side cleaning surfaces of different heights and reducing cleaning deviation caused by environmental differences.

[0055] Meanwhile, based on the completion of the vertical direction height alignment, the second swing arm assembly 12 can make the cleaning head 2 at least partially extend to the outside of the cleaning executor in the horizontal direction. The extension direction of the cleaning head 2 relative to the cleaning executor is perpendicular to the moving direction of the cleaning executor when cleaning the main cleaning surface, so that the cleaning head 2 can continuously approach the length direction boundary of the skirting line 5 and form a side cleaning track during the movement of the cleaning executor along the main cleaning surface, thereby realizing the parallel cooperation of main cleaning surface cleaning and side cleaning without changing the main cleaning process of the cleaning executor.

[0056] Through the above structural relationship and functional division, the first swing arm assembly 11 undertakes the functions of rapid positioning and stable initial positioning of side cleaning capability, the second swing arm assembly 12 undertakes the functions of adaptation to height differences of side cleaning surfaces and adjustment of the extension amount of the cleaning head 2, and the cleaning head 2 undertakes the function of direct cleaning of side cleaning surfaces, so that the cleaning accessory 10 can effectively cover the side cleaning surfaces such as the surface of the skirting line 5 which is difficult to reach by the traditional cleaning executor under the skirting cleaning scene, and maintain a relatively stable cleaning effect under different height conditions, thereby reducing the need for additional manual wiping by the user and improving the overall cleaning efficiency and user experience.

[0057] In an exemplary embodiment, please refer to Figure 5 and Figure 6 The mechanical arm 1 includes a retracted state suitable for a non-working scene and an unfolded state suitable for a working scene. In the retracted state, the first swing arm assembly 11 and the second swing arm assembly 12 are accommodated in the cleaning executor and placed in the horizontal direction. Compared with the retracted state, in the unfolded state, the connection of the first swing arm assembly 11 and the second swing arm assembly 12 is offset in the horizontal direction and the vertical direction, and the second swing arm assembly 12 tends to extend horizontally.

[0058] To balance the passability of the cleaning executor in the regular main cleaning surface cleaning process, the compactness of the outer shape, and the unfolding requirement in the edge cleaning process, the mechanical arm 1 is configured to have two working modes of a retracted state and an unfolded state, wherein the retracted state is suitable for a non-working scene, and the unfolded state is suitable for a working scene.

[0059] In the retracted state, the first swing arm assembly 11 and the second swing arm assembly 12 are both accommodated in the cleaning executor and placed along the horizontal direction. This arrangement enables the mechanical arm 1 to be hidden inside the cleaning executor when non-edge cleaning, avoiding the exposure of the mechanical arm 1, thereby reducing the risk of interference and collision when running near obstacles such as furniture corners, door casings, table and chair legs, etc. At the same time, placing along the horizontal direction is conducive to making full use of the transverse space inside the cleaning executor, matching the accommodation of the mechanical arm 1 with the overall outer shape of the cleaning executor, and reducing the adverse effects of the cleaning accessory 10 on the thickness or height of the cleaning executor, thereby helping to maintain the passability of the cleaning executor in low spaces.

[0060] In the unfolded state, the first swing arm assembly 11 drives the second swing arm assembly 12 to transfer from inside the cleaning executor to the outside working area during the unfolding process, so that the connection between the first swing arm assembly 11 and the second swing arm assembly 12 is no longer in the accommodation position in the retracted state, but enters a working position closer to the lateral area of the cleaning executor. The offset of the connection in the horizontal direction enables the second swing arm assembly 12 to approach the lateral boundary of the cleaning executor and obtain the space condition of stretching outwards, and the offset of the connection in the vertical direction enables the second swing arm assembly 12 to be in a space height range more conducive to height matching of the lateral cleaning surface after unfolding, thereby reserving stroke and attitude margin for subsequent driving of the cleaning head 2 by the second swing arm assembly 12 in the vertical direction.

[0061] The second swing arm assembly 12 tends to extend horizontally in the unfolded state, so that the overall attitude of the second swing arm assembly 12 is closer to the form of stretching out of the cleaning executor along the horizontal direction. The skirting line 5 and other lateral cleaning surfaces usually extend along the cleaning executor running direction and are located near the side boundary of the cleaning executor. The horizontal extension of the second swing arm assembly 12 can make the cleaning head 2 more easily reach the adjacent area of the lateral cleaning surface, and make the action direction of the cleaning head 2 to the lateral cleaning surface form a more reasonable relationship with the cleaning executor running direction, thereby forming a continuous edge cleaning track during the edge cleaning process of the cleaning executor.

[0062] Specifically, please refer to Figure 4 and Figure 6As shown, the first swing arm assembly 11 comprises a first force arm 111, a second force arm 112 and a connecting rod 113, a first end of the first force arm 111 is rotationally connected with the cleaning executor, a second end of the first force arm 111 is rotationally connected with the second force arm 112, one end of the connecting rod 113 is rotationally connected with the cleaning executor, the other end of the connecting rod 113 is rotationally connected with a first end of the second force arm 112, and the connection between the first force arm 111 and the second force arm 112 is located between the first end and the second end of the second force arm 112.

[0063] The first force arm 111 can swing relative to the cleaning executor around a rotation axis fixed relative to the cleaning executor, and the second end of the first force arm 111 is rotationally connected with the second force arm 112, so that the first force arm 111 can input its swing to the second force arm 112 and allow relative rotation therebetween. One end of the connecting rod 113 is rotationally connected with the cleaning executor, and the other end of the connecting rod 113 is rotationally connected with the first end of the second force arm 112, so that the connecting rod 113 can form a followable motion constraint relationship between the cleaning executor and the second force arm 112. The connection between the first force arm 111 and the second force arm 112 is located between the first end and the second end of the second force arm 112, so that when the second force arm 112 is driven by the first force arm 111 to relatively rotate, the first end and the second end of the second force arm 112 can obtain displacement changes of different amplitudes and different directions.

[0064] The above-mentioned rotational connection relationship collectively constitutes a four-bar mechanism, the cleaning executor plays the role of a rack in the four-bar mechanism, and the first force arm 111, the second force arm 112 and the connecting rod 113 respectively serve as movable link members connected through multiple rotational pairs, so that the first swing arm assembly 11 can realize the motion effect of converting rotation into compound displacement in a relatively compact structure space.

[0065] Specifically, when the first force arm 111 rotates relative to the cleaning executor, the second end of the first force arm 111 drives the second force arm 112 rotationally connected therewith to change its posture, and at the same time, since one end of the connecting rod 113 has a fixed rotational fulcrum on the cleaning executor and the other end of the connecting rod 113 is rotationally connected with the first end of the second force arm 112, the connecting rod 113 forms a continuous pulling or pushing constraint on the first end of the second force arm 112 in the geometric relationship change caused by the rotation of the first force arm 111, so that the second force arm 112 not only relatively rotates around the connection between the first force arm 111 and the second force arm 112 under the action of the first force arm 111, but also is limited in displacement by the connecting rod 113 on the first end of the second force arm 112, so that the motion of the second force arm 112 presents a coupled swing trajectory determined by the four-bar mechanism.

[0066] Since the second end of the second lever arm 112 is located at the other end opposite to the connecting end of the connecting rod 113, and the connection between the first lever arm 111 and the second lever arm 112 is located between the first end and the second end of the second lever arm 112, under the combined influence of relative rotation and constraint, the second end of the second lever arm 112 will obtain a displacement output that simultaneously includes horizontal and vertical components, enabling the second end of the second lever arm 112 to achieve horizontal and vertical displacement relative to the cleaning actuator, thereby taking into account the requirements of lateral extension and height change.

[0067] The four-bar linkage, consisting of the first lever arm 111, the second lever arm 112, and the connecting rod 113, can achieve composite displacement without relying on guide structures such as linear guides that occupy a large amount of space. This makes it more suitable for placement within the limited structural space inside the cleaning actuator. At the same time, the motion relationship of the four-bar linkage is determined by the relative positions of each rotating joint and the relationship between the link lengths. The motion trajectory is designable and repeatable, enabling the first swing arm assembly 11 to move the second swing arm assembly 12 to the predetermined position with a stable trajectory each time it enters the working state. This reduces randomness and vibration during the motion process and improves the reliability of the cleaning head 2 in place during edge cleaning.

[0068] Further, please refer to Figure 6 As shown, the connection between the first lever arm 111 and the second lever arm 112 is located near the first end of the second lever arm 112, that is, the connection between the first lever arm 111 and the second lever arm 112 is closer to the side where the second lever arm 112 is connected to the connecting rod 113 along the length direction of the second lever arm 112, and farther away from the second end of the second lever arm 112.

[0069] In other words, the second lever arm 112 has a structural relationship of short input arm and long output arm. The connection between the first lever arm 111 and the second lever arm 112 forms a relatively short lever arm segment from the first end of the second lever arm 112 to the second end of the second lever arm 112, and the connection between the first lever arm 111 and the second lever arm 112 forms a relatively long lever arm segment from the second end of the second lever arm 112 to the second end of the second lever arm 112.

[0070] When the first lever arm 111 rotates relative to the cleaning actuator and applies rotational drive to the second lever arm 112 through the connection, the second lever arm 112 rotates around the connection relative to the first lever arm 111. The constraint between the first end of the second lever arm 112 and the connecting rod 113 then exerts a coupling effect on the attitude change of the second lever arm 112. Since the connection is close to the first end of the second lever arm 112, the arc length displacement of the first end of the second lever arm 112 at the same rotation angle is smaller, while the arc length displacement of the second end of the second lever arm 112 at the same rotation angle is larger, so that the second end of the second lever arm 112 can obtain a more significant displacement effect with a smaller input action.

[0071] The cleaning accessory 10 needs to be stowed and unfolded in the limited space inside the cleaning executor, and the switching between the two states needs to be completed. If the first force arm 111 must rotate a large angle to make the second end of the second force arm 112 produce sufficient displacement, it will cause the driving stroke to increase, the unfolding time to increase, and the mechanism to interfere with the structure of the shell 3, the wire harness or other components due to the long movement path inside the cleaning executor.

[0072] The connection between the first force arm 111 and the second force arm 112 is arranged near the first end of the second force arm 112, which can significantly improve the transmission sensitivity without increasing the rotation range of the first force arm 111. The first force arm 111 only needs to rotate a small angle relative to the cleaning executor to make the second force arm 112 rotate a large angle relative to the first force arm 111, so that the second force arm 112 is put into the second end to obtain a larger displacement.

[0073] In an exemplary embodiment, please refer to Figure 6 The length of the first force arm 111 is L1, the length of the connecting rod 113 is L2, the distance from the connecting point of the connecting rod 113 and the second force arm 112 to the connecting point of the first force arm 111 and the second force arm 112 is L3, and the distance from the connecting point of the connecting rod 113 and the cleaning executor to the connecting point of the first force arm 111 and the cleaning executor is L4; among L1, L2, L3 and L4, L3 is the smallest, L4 is the largest, and L3+L4>L1+L2.

[0074] The first swing arm assembly 11 is composed of a plurality of rotary connections between the first force arm 111, the second force arm 112, the connecting rod 113 and the cleaning executor, which forms a four-bar mechanism. The movement form and the reachable attitude range of the four-bar mechanism not only depend on the relative arrangement of each rotary pair, but also are related to the length relationship of each rod segment.

[0075] Among them, L1 represents the length of the first force arm 111 between the rotating pivot point of the cleaning executor and the output end (second end) of the first force arm 111, which affects the swing radius of the first force arm 111 as an input rod during rotation; L2 represents the length of the connecting rod 113 between the two rotary connection points, which affects the constraint strength and coupling relationship of the connecting rod 113 to the first end of the second force arm 112; L3 corresponds to the distance between the two rotary connection points on the second force arm 112, that is, the distance from the connecting point of the connecting rod 113 and the second force arm 112 to the connecting point of the first force arm 111 and the second force arm 112, which essentially constitutes a coupling segment on the second force arm 112, and affects the relative rotation sensitivity of the second force arm 112 under the traction of the connecting rod 113; L4 corresponds to the distance between the two rotary connection points on the cleaning executor, that is, the distance from the connecting point of the connecting rod 113 and the cleaning executor to the connecting point of the first force arm 111 and the cleaning executor, L4 corresponds to the fixed distance between the two rotary connection points in the four-bar mechanism, which constitutes the length of the rack mechanism.

[0076] To enable the first swing arm assembly 11 to be controllably deployed within the limited space inside the cleaning executor and to maintain a stable posture after reaching the target position, L3 is defined to be the smallest among L1, L2, L3 and L4, L4 is defined to be the largest among L1, L2, L3 and L4, and L3+L4>L1+L2 is further defined, so that the four-bar linkage satisfies the specific rod length combination condition, thereby forming a double rocker structure with the rod segment corresponding to L4 as the longest rod and constituting the frame.

[0077] The cleaning accessory 10 needs to be switched between the retracted state and the deployed state, and the double rocker structure can limit the deployment process within a predetermined safe stroke range to avoid the first force arm 111 from being excessively rotated under the drive to cause the second force arm 112 and the subsequent connecting structure to interfere with the housing 3 or other components of the cleaning executor, while also avoiding the cleaning head 2 from being mistakenly extended in the non-edge scenario to cause the risk of collision.

[0078] Preferably, the first swing arm assembly 11 is configured such that when the rotation angle of the second force arm 112 relative to the first force arm 111 is 90°, the connection between the first force arm 111 and the second force arm 112, the connection between the connecting rod 113 and the second force arm 112, and the connection between the connecting rod 113 and the cleaning executor are located on the same straight line, so that the connecting rod 113 forms a collinear relationship with the connection between the first force arm 111 and the second force arm 112 in this posture, and the double rocker mechanism is thereby rotated to the dead point position.

[0079] When the connection between the connecting rod 113 and the second force arm 112, the connection between the connecting rod 113 and the cleaning executor, and the connection between the first force arm 111 and the second force arm 112 are on the same straight line, the connecting rod 113 tends to reduce the driving torque of the rotation of the second force arm 112 around the connection between the first force arm 111 and the second force arm 112, thereby forming a dead point feature. By introducing this collinear dead point position in the mechanism design, the first swing arm assembly 11 can exhibit a locking tendency when approaching the target posture, making it easier for the posture of the second force arm 112 to be stably parked near the dead point, and further enabling the first swing arm assembly 11 to provide stable spatial support and position reference for the second swing arm assembly 12.

[0080] In an exemplary embodiment, please refer to Figure 5 As shown in the figure, the first swing arm assembly 11 further includes a first driving member 114 for driving the first force arm 111 to rotate relative to the cleaning executor, and the first driving member 114 is installed on the cleaning executor and in transmission connection with the first end of the first force arm 111. The power output by the first driving member 114 can be transmitted to the first force arm 111 to enable the first force arm 111 to realize controlled swinging within a predetermined angle range, thereby providing a driving source for the motion input of the four-bar linkage.

[0081] In the process that the first driving member 114 drives the first force arm 111 to rotate relative to the cleaning executor, the rotation of the first force arm 111 not only changes the relative posture of the first force arm 111 and the cleaning executor, but also transmits the motion input to the second force arm 112 through the rotational connection relationship between the first force arm 111 and the second force arm 112, while the rotational connection of one end of the connecting rod 113 on the cleaning executor forms a fixed constraint, and the rotational connection of the other end of the connecting rod 113 and the first end of the second force arm 112 forms a follow-up constraint, so that the first force arm 111, the second force arm 112 and the connecting rod 113 together constitute a double rocker structure.

[0082] The double rocker structure makes the input swing of the first force arm 111 undergo motion conversion in the transmission process due to the geometric constraint of the connecting rod 113, and the second force arm 112 no longer simply swings around a single fulcrum in a simple circular arc, but rotates and changes in displacement relative to the first force arm 111 in a manner determined by the four-bar geometric relationship, so that the second end of the second force arm 112 obtains displacement output containing both horizontal and vertical components.

[0083] Through this motion conversion mode, the first driving member 114 can produce complex displacement driving of the second end of the second force arm 112 in a relatively compact arrangement inside the cleaning executor, so that the second end of the second force arm 112 gradually migrates from the storage space inside the cleaning executor to a working area closer to the lateral outside of the cleaning executor during deployment, and meets the requirements of lateral extension and height change during migration.

[0084] In an exemplary embodiment, please refer to Figure 5 and Figure 6 It is shown that the second swing arm assembly 12 includes a third force arm 121, the first end of the third force arm 121 is rotationally connected with the second force arm 112, and the second end of the third force arm 121 is connected with the cleaning head 2.

[0085] The second swing arm assembly 12 is arranged at the motion output end of the first swing arm assembly 11 and can move with the first swing arm assembly 11 as a whole, and is used for further position adjustment and posture adaptation of the cleaning head 2 after the first swing arm assembly 11 carries the second swing arm assembly 12 to a predetermined position, so that the cleaning head 2 can more accurately act on the lateral cleaning surface located laterally of the cleaning executor.

[0086] The third force arm 121 is structurally a main load bearing and force transmitting component of the second swing arm assembly 12. The first end of the third force arm 121 is rotationally connected with the second force arm 112, so that the third force arm 121 can swing relative to the second force arm 112 about the rotational pair formed between the first end of the third force arm 121 and the second force arm 112, thereby forming a two-stage position adjustable structure on the spatial reference provided by the second force arm 112. The second end of the third force arm 121 is connected with the cleaning head 2, so that the cleaning head 2 can change its position relative to the cleaning executor by swinging with the third force arm 121, and thus the cleaning head 2 obtains a displaceable component in the vertical direction and the horizontal direction to adapt to the lateral cleaning surface under different height or different relative position conditions.

[0087] The lateral cleaning surface usually has a height difference relative to the bottom working plane of the cleaning executor. The height of the skirting line 5 can vary under different decoration conditions, and the ground flatness, wall straightness and user pushing posture can cause fluctuations in the relative position between the cleaning executor and the lateral cleaning surface. If only the first swing arm assembly 11 is relied on to complete the unfolding and lateral extension, the cleaning head 2 can only reach a relatively fixed spatial range, and it is difficult to maintain stable alignment under different height conditions, and the cleaning head 2 action point is prone to deviate from the dust accumulation area or unstable contact.

[0088] By introducing the third force arm 121 between the second force arm 112 and the cleaning head 2 and forming a two-stage swing structure in a rotational connection manner, the cleaning head 2 can further obtain adjustable degrees of freedom of motion on the basis of the predetermined position provided by the first swing arm assembly 11, so that the cleaning head 2 can perform height matching in the vertical direction, thereby improving the adaptability to the lateral cleaning surface.

[0089] Specifically, as shown in Figure 4 and Figure 5 , the second swing arm assembly 12 further comprises a second driving member 122 for driving the third force arm 121 to rotate relative to the second force arm 112. The second driving member 122 is installed on the second force arm 112 and is in transmission connection with the first end of the third force arm 121.

[0090] The second driving member 122 can transmit a driving torque to the first end of the third force arm 121, so as to drive the third force arm 121 to rotate relative to the second force arm 112 about the rotational connection between the first end of the third force arm 121 and the second force arm 112. By arranging the second driving member 122 on the second force arm 112, the transmission path between the second driving member 122 and the third force arm 121 can be kept relatively compact, which is conducive to realizing stable assembly in the limited lateral structure space of the cleaning executor.

[0091] In the process that the second driving member 122 drives the third force arm 121 to rotate relative to the second force arm 112, the second end of the third force arm 121 as an output end generates displacement when the third force arm 121 swings, and the displacement obtained by the second end of the third force arm 121 includes horizontal and vertical components, thereby driving the cleaning head 2 to change position, enabling the cleaning head 2 to adjust position on the basis of a predetermined position, moving the cleaning head 2 to a height corresponding to the lateral cleaning surface, and thus forming a better cleaning effect on the surface of the skirting line 5, especially the top surface of the skirting line 5 and other areas prone to dust accumulation.

[0092] To meet the application characteristics that the structure space of the cleaning executor end is limited, the load changes significantly, and a larger holding torque is required, the first driving member 114 and the second driving member 122 can both adopt a motor plus speed reducer gear set structure. The motor plus speed reducer gear set structure reduces the output rotation speed and amplifies the output torque, so that the driving member can still overcome the frictional resistance in the process of unfolding and adjusting the mechanical arm 1, the reaction force generated by the interaction between the cleaning head 2 and the lateral cleaning surface, and the inertial load of the movement end, thereby improving the reliability of the unfolding and adjusting action, and being conducive to the stability of the cleaning head 2 at the target position.

[0093] In an exemplary embodiment, as shown in Figure 2 and Figure 3 , the housing 3 is provided with a photoelectric sensor 4 for detecting the skirting line 5 (lateral cleaning surface), and the side wall of the housing 3 is provided with a light transmission window 32 through which the light emitted by the photoelectric sensor 4 can pass; when the photoelectric sensor 4 detects that the housing 3 is close to the skirting line 5, an induction signal is formed for enabling the cleaning accessory 10 to enter the working mode; when the photoelectric sensor 4 detects that the housing 3 is away from the skirting line 5, an induction signal is formed for enabling the cleaning accessory 10 to enter the standby mode.

[0094] The light transmission window 32 and the photoelectric sensor 4 correspond to each other in spatial position, so that the light emitted by the photoelectric sensor 4 can pass through the light transmission window 32 and interact with the environment outside the housing 3, thereby forming the basis for detecting the close state of the skirting line 5.

[0095] The photoelectric sensor 4 and the control logic of the cleaning accessory 10 establish a signal association, and when the photoelectric sensor 4 detects that the housing 3 is close to the skirting line 5, an induction signal is formed, which is used to enable the cleaning accessory 10 to enter the working mode, and the working mode corresponds to the switching of the mechanical arm 1 to the unfolded state; when the photoelectric sensor 4 detects that the housing 3 is away from the skirting line 5, an induction signal is formed, which is used to enable the cleaning accessory 10 to enter the standby mode, and the standby mode corresponds to the switching of the mechanical arm 1 to the retracted state, thereby realizing the automatic switching of the cleaning accessory 10 between the edge cleaning scene and the non-edge scene.

[0096] When the side wall of the shell 3 is close to the skirting line 5, the skirting line 5 is located outside the light transmission window 32 and forms an occlusion effect on the light transmission window 32. The optical feedback received by the photoelectric sensor 4 differs from that when the skirting line 5 is far away. The photoelectric sensor 4 detects that the shell 3 is close to the skirting line 5 and outputs a sensing signal. The sensing signal triggers the cleaning accessory 10 to enter the working mode, so that the mechanical arm 1 is switched from the retracted state to the expanded state, and the cleaning head 2 moves to the working position outside the shell 3 along with the mechanical arm 1, so as to clean the lateral cleaning surface of the skirting line 5, especially the top surface of the skirting line 5.

[0097] When the side wall of the shell 3 is far away from the skirting line 5, the light transmission window 32 returns to the non-occlusion state. The photoelectric sensor 4 detects that the shell 3 is far away from the skirting line 5 and outputs a sensing signal. The sensing signal triggers the cleaning accessory 10 to enter the standby mode, so that the mechanical arm 1 is switched from the expanded state to the retracted state. The mechanical arm 1 is reset and the cleaning head 2 is recycled to the storage position inside or close to the side wall of the shell 3, so as to avoid unnecessary extension of the cleaning accessory 10 in the non-edge cleaning scenario, and reduce the risk of interference with the corners of furniture or narrow passages.

[0098] Through the edge detection mechanism composed of the photoelectric sensor 4 and the light transmission window 32, the cleaning accessory 10 can automatically determine whether to enter the edge cleaning mode based on the actual relative position between the shell 3 and the skirting line 5, so that the working mode and the standby mode of the cleaning accessory 10 are switched in real time and adaptively, reducing the need for additional user operations and avoiding misoperation. At the same time, the corresponding relationship between the working mode corresponding to the expanded state of the mechanical arm 1 and the standby mode corresponding to the retracted state of the mechanical arm 1 forms a consistent mapping between the control logic and the mechanical structure state, facilitating automatic expansion, automatic recycling and resetting of the cleaning accessory 10, and improving the reliability of the edge cleaning action.

[0099] The present disclosure also provides a cleaning device, which comprises a main machine and a cleaning executor detachably connected to the main machine. The main machine is used to provide negative pressure to the air duct of the cleaning executor.

[0100] The cleaning executor is used as a cleaning execution component close to the cleaning area to contact the main cleaning surface such as the ground and complete the cleaning action. The main machine is used as a power and air source providing component to generate negative pressure and provide continuous suction force for the air duct of the cleaning executor. The main machine and the cleaning executor are connected in a detachable manner, so that the cleaning executor can be assembled or disassembled on the main machine according to different cleaning scenes, thereby facilitating switching between various cleaning accessories and facilitating maintenance, cleaning or replacement of the cleaning executor.

[0101] The host can be internally provided with a fan for forming negative pressure, so that the host generates suction airflow when working and transmits negative pressure to the air duct of the cleaning executor through the dust suction air path, so that the airflow path in the cleaning executor air duct is formed from the suction port to the direction of the host. Through the cooperation of the host and the cleaning executor, the cleaning executor bears the function of directly acting on the area to be cleaned and completing the functions of dirt suction and flow guide, and the host bears the function of generating negative pressure and providing suction force for the entire air path.

[0102] In summary, the cleaning accessory, the cleaning executor and the cleaning device provided by the present disclosure can compensate for the defects of the conventional cleaning executor that mainly acts on the main cleaning surface such as the ground and is difficult to cover the lateral area such as the skirting line by setting the mechanical arm with the horizontal and vertical degrees of freedom and setting the cleaning head movable with the mechanical arm at the end of the mechanical arm, so that the cleaning head can clean the lateral cleaning surface on the side of the cleaning executor while cleaning the main cleaning surface such as the ground, thereby compensating for the defects of the conventional cleaning executor that mainly acts on the main cleaning surface such as the ground and is difficult to cover the lateral area such as the skirting line; when the lateral cleaning surface is detected, the position of the cleaning head can be adjusted according to the vertical height of the lateral cleaning surface, and the cleaning head can at least partially extend to the outside of the cleaning executor in the horizontal direction, so that the cleaning head can adapt to the lateral cleaning surface of different heights and keep effective access.

[0103] It is obvious to those skilled in the art that the present disclosure is not limited to the details of the above exemplary embodiments, and the present disclosure can be implemented in other specific forms without departing from the spirit or essential characteristics of the present disclosure. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present disclosure is defined by the appended claims rather than the above description, and it is intended to encompass all variations falling within the meaning and scope of the equivalent elements of the claims. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0104] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

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: The robotic arm includes a first swing arm assembly movably mounted on the cleaning actuator, and a second swing arm assembly connected to the first swing arm assembly and movable with the first swing arm assembly, wherein both the first swing arm assembly and the second swing arm assembly have degrees of freedom in the horizontal and vertical directions. A cleaning head is disposed on the second swing arm assembly and can move with the second swing arm assembly. The cleaning head is used to clean the lateral cleaning surface located on the side of the cleaning actuator. The first swing arm assembly is configured to move the second swing arm assembly relative to the cleaning actuator to a predetermined position in response to the detection of a lateral cleaning surface; The second swing arm assembly is configured to, after moving to the predetermined position, move the cleaning head vertically to a height corresponding to the side cleaning surface based on the vertical height of the side cleaning surface relative to the main cleaning surface, and cause the cleaning head to extend at least partially to the outside of the cleaning actuator in the horizontal direction, so that the cleaning head can clean the side 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 retracted state suitable for non-working scenarios and an extended state suitable for working scenarios; wherein, In the retracted state, both the first swing arm assembly and the second swing arm assembly are housed within the cleaning actuator and positioned horizontally. Compared to the retracted state, in the extended state, the connection between the first swing arm assembly and the second swing arm assembly is offset in the horizontal and vertical directions, and the second swing arm assembly tends to extend horizontally.

3. The cleaning accessory according to claim 2, characterized in that, The first swing arm assembly includes a first lever arm, a second lever arm, and a connecting rod. A first end of the first lever arm is rotatably connected to the cleaning actuator, and a second end of the first lever arm is rotatably connected to the second lever arm. One end of the connecting rod is rotatably connected to the cleaning actuator, and the other end of the connecting rod is rotatably connected to the first end of the second lever arm. The connection point between the first lever arm and the second lever arm is located between the first end and the second end of the second lever arm.

4. The cleaning accessory according to claim 3, characterized in that, The connection point between the first lever arm and the second lever arm is located near the first end of the second lever arm.

5. The cleaning accessory according to claim 3, characterized in that, The length of the first lever arm is L1, the length of the connecting rod is L2, 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; among L1, L2, L3 and L4, L3 is the smallest, L4 is the largest, and L3+L4>L1+L2.

6. The cleaning accessory according to claim 5, characterized in that, The first swing arm assembly is configured such that when the rotation angle of the second lever arm relative to the first lever arm is 90°, the connection point between the first lever arm and the second lever arm, the connection point between the connecting rod and the second lever arm, and the connection point between the connecting rod and the cleaning actuator are located on the same straight line.

7. The cleaning accessory according to claim 3, characterized in that, The first swing arm assembly further includes a first drive member for driving the first lever arm to rotate relative to the cleaning actuator, the first drive member being mounted on the cleaning actuator and drivingly connected to a first end of the first lever arm.

8. The cleaning accessory according to claim 3, characterized in that, The second swing arm assembly includes a third lever arm, the first end of which is rotatably connected to the second lever arm, and the second end of which is connected to the cleaning head.

9. The cleaning accessory according to claim 8, characterized in that, The second swing arm assembly further includes a second drive member for driving the third lever arm to rotate relative to the second lever arm, the second drive member being mounted on the second lever arm and being drively connected to the first end of the third lever arm.

10. A cleaning actuator, characterized in that, The device includes a housing and a cleaning attachment as described in any one of claims 1 to 9 disposed within the housing, the housing having a clearance groove for the cleaning attachment to extend to the outside of the housing.

11. The cleaning actuator according to claim 10, 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.

12. A cleaning device, characterized in that, The device includes a main unit and a cleaning actuator as described in claim 10 or 11, 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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