Cleaning device and cleaning robot

Abstract

The utility model provides a cleaning device and a cleaning robot. The cleaning device comprises a support, and the support is provided with a first stop structure. The cleaning assembly comprises a cleaning part and a rack, and the cleaning part is arranged on the rack in a rolling mode; the rack is connected to the support in a hung mode and can move in the first direction relative to the support. The rack is provided with a second stopping structure, and the first stopping structure is located above the second stopping structure and used for being matched with the second stopping structure in a stopping mode. The driving assembly is used for driving the rack to move in the first direction, and the first direction is parallel to the axis of the cleaning part. According to the cleaning device, the cleaning part is rotatably arranged on the rack, the position, in the height direction, of the rack is stable relative to the support, the position, relative to the support, of the cleaning assembly can be adjusted in the first direction under the action of the driving assembly according to the scene where the current cleaning device is located, and therefore cleaning blind areas are reduced.

Description

Technical Field

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

[0002] In the related art, the cleaning device works on a supporting surface, and its cleaning member can rotate around a fixed axis to clean the supporting surface, but the position of the cleaning member is fixed relative to the device bracket. For positions close to the wall, the cleaning member is difficult to clean in place, resulting in a blind spot for cleaning. Utility Model Content

[0003] In view of this, the embodiments of the present application hope to provide a cleaning device and a cleaning robot, using a solution in which a cleaning member can be moved relative to a device bracket to reduce cleaning blind spots.

[0004] A first aspect of an embodiment of the present application provides a cleaning device, comprising:

[0005] A bracket, wherein the bracket has a first stop structure;

[0006] A cleaning assembly, comprising a cleaning member and a frame, wherein the cleaning member is rotatably disposed on the frame; the frame is mounted on the bracket and can move relative to the bracket along a first direction; the frame has a second stop structure, the first stop structure is located above the second stop structure, and is used to cooperate with the second stop structure; and

[0007] The driving assembly is used to drive the frame to move along a first direction, wherein the first direction is parallel to the axis of the cleaning member.

[0008] In some embodiments, the bracket includes a plate body, a portion of the plate body protrudes upward and defines a first protrusion, the first protrusion extends along the first direction, and a groove is formed on the bottom side of the first protrusion, the top of the first protrusion defines the first stop structure, the frame partially protrudes upward and defines a second protrusion, the top of the second protrusion defines the second stop structure, and the second protrusion extends into the groove.

[0009] In some embodiments, the cleaning device includes at least one intermediate member, which is arranged on the first stop structure and / or the second stop structure, and is at least partially located between the first stop structure and the second stop structure along the height direction to separate the first stop structure and the second stop structure; the intermediate member is used to reduce the resistance to relative movement between the frame and the bracket.

[0010] In some embodiments, the intermediate piece is disposed on the first stop structure.

[0011] In some embodiments, there are multiple intermediate components, and at least some of the intermediate components are arranged at intervals along the first direction.

[0012] In some embodiments, the intermediate member is a rolling member, so that the first stop structure and the second stop structure are rollingly matched through the rolling member.

[0013] In some embodiments, the rolling element includes a roller or a bearing, and the axis of the rolling element is perpendicular to the first direction.

[0014] In some embodiments, the first stop structure has a mounting groove, and the rolling element is rotatably accommodated in the mounting groove.

[0015] In some embodiments, the bracket includes a slide groove extending along the first direction, and the frame includes a hanging portion, the hanging portion is passed through the slide groove and connected to the frame, and the hanging portion is hung on the surrounding structure of the bracket located on the top side of the slide groove.

[0016] In some embodiments, there are at least two slide grooves, which are spaced apart along the second direction, and the first stop structure is located between two adjacent slide grooves. The second direction is perpendicular to the first direction and perpendicular to the height direction.

[0017] In some embodiments, the cleaning member includes a roller, and the roller is rotatably disposed on the frame;

[0018] The cleaning component also includes a motor and a transmission member, both of which are arranged in the drum, the motor is connected to the frame, the transmission member is connected to the drum, and the power output shaft of the motor is connected to the transmission member to drive the cleaning member to roll.

[0019] The cleaning device provided in the embodiment of the present application has a cleaning member rotatably arranged on a frame, and the position of the frame along the height direction is stable relative to the bracket. The position of the cleaning component relative to the bracket can be adjusted along the first direction under the action of the driving component according to the current scene in which the cleaning device is located to reduce the cleaning blind area.

[0020] The present application also provides a cleaning robot, comprising:

[0021] Main body; and

[0022] In the cleaning device as described in any of the above embodiments, the bracket is connected to the main body.

[0023] In some embodiments, the first direction is perpendicular to the linear moving direction of the cleaning robot.

[0024] In the cleaning device provided in the embodiment of the present application, the position of the cleaning member relative to the main body can be adjusted along the first direction under the action of the driving component according to the current scene of the cleaning device, so as to reduce the cleaning blind area. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of a cleaning device in one embodiment of the present application, wherein the frame is in a first position;

[0026] Figure 2 for Figure 1 A schematic diagram of the structure in which the rack of the middle structure is in the second position;

[0027] Figure 3 for Figure 1 A is an enlarged schematic diagram of the structure A in another viewing angle;

[0028] Figure 4 for Figure 1 A sectional view of a cross section of a structure at a certain point;

[0029] Figure 5 for Figure 4 An enlarged schematic diagram of the structure at B;

[0030] Figure 6 for Figure 5 Exploded schematic diagram of the structure;

[0031] Figure 7 In another embodiment of the present application, Figure 5 An enlarged schematic diagram of the structure at the location;

[0032] Figure 8 for Figure 4 Sectional view at QQ of the middle structure;

[0033] Fig. 9 for Figure 1 A sectional view of another cross section of the structure;

[0034] Fig.10 for Fig. 9 A cross-sectional view of the middle structure at PP, with the frame in the first position;

[0035] Fig.11 for Fig. 9 A cross-sectional view of the middle structure at PP, with the frame in the second position;

[0036] Fig.12 for Fig.10 A magnified schematic diagram of the structure at C;

[0037] Fig.13 This is a vertical projection schematic diagram of a cleaning robot in one embodiment of the present application, with the frame in a first position;

[0038] Fig.14 for Fig.10 A vertical projection schematic diagram of the frame of the middle structure in the second position;

[0039] Fig.15 This is a schematic diagram of the structure of a cleaning component in one embodiment of the present application.

[0040] Description of Reference Numerals

[0041] bracket 101; avoidance groove 101a; slide groove 101b; first step 101c; main body 102; first stop structure 131; first protrusion 131a; groove 131b; mounting groove 141a; first area 141b; second area 141c; plate 121; mounting column 151; cleaning assembly 20; cleaning member 201; roller 211; drive shaft 221; roller 231; rag 241; frame 202; cleaning member cavity 202a; first Second stop portion 212; hanging portion 222; second step 222a; boss 232; second stop structure 242; second protrusion 242a; end cap 252; motor 203; transmission member 204; drive assembly 30; rotating shaft 301; nut 302; first stop portion 312; screw 303; elastic member 304; drive motor 311; drive wheel 401; roller brush 501; intermediate member 60; roller 601; shaft 602; rib 603; side wall 70. DETAILED DESCRIPTION

[0042] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0043] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "front", "back", "top", "bottom", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0044] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0045] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is in direct contact with the second feature, or the first feature and the second feature are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0047] The present application embodiment provides a cleaning device, see Figure 1 The cleaning device includes a bracket 101, a cleaning component 20 and a driving component 30.

[0048] The cleaning device can be used in a variety of cleaning equipment. For example, in one embodiment, the cleaning device includes a main body and a handle. The handle is installed on the main body. The user holds the handle and pushes the main body to move. During the movement of the main body, the cleaning device cleans the supporting surface (such as a floor). In this embodiment, the cleaning device can be a mop or a vacuum cleaner.

[0049] The present application also provides a cleaning robot. Fig.13 In this embodiment, the cleaning device is a cleaning robot, which may be a sweeping robot, a sweeping and mopping robot, etc. The cleaning robot includes a main body 102 and a cleaning device of any embodiment of the present application, wherein the bracket 101 is connected to the main body 102 .

[0050] The cleaning robot is a cleaning device that can move on the floor and clean, which can reduce the burden of human labor. Its main body 102 collects surrounding environment information through the sensors and control modules carried, plans the moving route, and realizes the actions of the cleaning robot such as obstacle avoidance, steering or getting out of trouble.

[0051] The connection method between the bracket 101 and the main body 102 is not limited. For example, see Figure 1 The bracket 101 has a mounting post 151 , and is connected to the main body 102 via the mounting post 151 .

[0052] In some embodiments, the cleaning device is preassembled as a whole and connected to the main body 102 via the bracket 101. The cleaning device is assembled together with the main body 102 as an independent functional module, which is conducive to modularizing the cleaning robot and facilitating manufacturing and maintenance.

[0053] See also Figure 4 and Fig. 9 The cleaning assembly 20 includes a cleaning member 201 and a frame 202, and the cleaning member 201 is rollably disposed on the frame 202. That is, the frame 202 provides installation support and installation space for the cleaning member 201, and the cleaning member 201 can roll around its own axis to clean the supporting surface.

[0054] The cleaning member 201 is not limited in form. For example, in one embodiment, the cleaning member 201 is cylindrical. Figure 4 , which includes a roller 211, the axis of the cleaning member 201 is the center line of the roller 211; in one embodiment, please refer to Fig.15 The cleaning member 201 is of crawler type, which tensions the rag 241 through the driving shaft 221 and the roller 231 and drives the rag 241 to roll, and its axis is the axis of the driving shaft 221 (the center line shown in the figure).

[0055] For example, in an embodiment in which the cleaning member 201 is cylindrical, see Figure 4 and Fig. 9 The frame 202 has a receiving chamber 202a, and the cleaning member 201 is rotatably disposed in the receiving chamber 202a. Specifically, the cross-sectional shape of the receiving chamber 202a is roughly arc-shaped, the bottom side of the receiving chamber 202a is open, and a part of the cleaning member 201 extends from the bottom opening of the receiving chamber 202a and contacts the support surface.

[0056] In any embodiment of the present application, the cleaning member 201 may be driven by a motor to roll.

[0057] For example, in an embodiment in which the cleaning member 201 is cylindrical, see Figure 8The cleaning assembly 20 includes a roller 211, which is rollably disposed on the frame 202. The cleaning assembly 20 also includes a motor 203 and a transmission member 204, both of which are disposed in the roller 211, the motor 203 is connected to the frame 202, the transmission member 204 is connected to the roller 211, and the power output shaft of the motor 203 is connected to the transmission member 204 to drive the cleaning member 201 to roll.

[0058] The motor 203 can be fixed on the frame 202 through its base and other components, and output power to the transmission member 204. The roller 211 rolls under the drive of the transmission member 204. In this way, the axial length of the roller 211 can be increased, so that the cleaning member 201 has a larger single cleaning area, and the internal space of the cleaning member 201 is effectively utilized, making the structure of the cleaning component 20 more compact.

[0059] The rack 202 is hung on the bracket 101. That is, along the height direction T of the bracket 101, the rack 202 is subjected to the pulling force of the bracket 101, so as to avoid being separated from the bracket 101 due to its own weight.

[0060] See also Figure 5 The bracket 101 has a first stop structure 131. The frame 202 has a second stop structure 242. The first stop structure 131 is located above the second stop structure 242 and is used to stop and cooperate with the second stop structure 242. That is, along the height direction T of the cleaning device, the first stop structure 131 has a stop and limit effect on the second stop structure 242, preventing the second stop structure 242 from moving upward.

[0061] The frame 202 can move relative to the support 101 along a first direction R. The first direction R is parallel to the axis of the cleaning member 201, as indicated by a double-headed arrow R in the drawing.

[0062] See also Figure 1 , the rack 202 is in the first position relative to the bracket 101, see Figure 2 , the frame 202 is in the second position relative to the bracket 101 , and the position of the frame 202 relative to the bracket 101 changes along the first direction R. When the frame 202 moves relative to the bracket 101 , the frame 202 drives the cleaning member 201 to move relative to the bracket 101 .

[0063] When the cleaning member 201 contacts the supporting surface, the supporting surface generates an upward force on the cleaning member 201. When the cleaning robot cleans a carpet or goes over steps, the cleaning member 201 tends to be lifted up, thereby causing the frame 202 to also tend to be lifted up. The first stop structure 131 acts to limit the second stop structure 242, thereby preventing the frame 202 from moving upward relative to the bracket 101, which helps to ensure the position stability of the frame 202 relative to the bracket 101 along the height direction T.

[0064] When the cleaning member 201 follows the frame 202 to move in the first direction R, the area of ​​the support surface to be cleaned can be adjusted. For example, when the cleaning robot moves on the floor and approaches a wall, the position of the frame 202 is adjusted so that the cleaning member 201 approaches the wall and cleans the floor near the wall, which is conducive to reducing the blind area of ​​cleaning.

[0065] For example, see Fig.13 When the cleaning robot moves along the side wall 70, one side of the main body 102 approaches the side wall 70. If the cleaning member 201 is in the first position, the first end thereof along the axial direction is far away from the side wall 70, and the floor between the cleaning member 201 and the side wall 70 cannot be cleaned. Fig.14 When the cleaning member 201 is in the second position, the distance between the first end of the cleaning member 201 and the side wall 70 along the axial direction is almost zero, and the floor between the first end of the cleaning member 201 and the side wall 70 can be cleaned by the cleaning member 201, which significantly reduces the cleaning blind area.

[0066] The driving assembly 30 is used to drive the frame 202 to move along the first direction R. In this way, the cleaning device can achieve automatic operation, and the driving assembly 30 automatically drives the cleaning member 201 to switch between the first position and the second position, thereby improving the user experience.

[0067] It should be noted that when the cleaning device is located on a flat supporting surface, the first stop structure 131 and the second stop structure 242 may have a gap along the height direction, or may contact each other, which is not limited here.

[0068] The cleaning device provided in the embodiment of the present application has a cleaning member 201 rotatably arranged on a frame 202, and the position of the frame 202 along the height direction T is stable relative to the bracket 101. The position of the cleaning component 20 relative to the bracket 101 can be adjusted along the first direction R under the action of the driving component 30 according to the current scene in which the cleaning device is located, so as to reduce the cleaning blind area.

[0069] The form of the driving assembly 30 is not limited.

[0070] For some examples, see Figure 1 and Figure 2The driving assembly 30 includes a power source and a moving part, and the power source is used to drive the moving part to move along the first direction R.

[0071] That is, the power source realizes the supply of power, and the moving part can move with the power supplied by the power source. It should be noted that, only under the power condition supplied by the power source, the moving part can reciprocate bidirectionally along the first direction R, or can move unidirectionally along the first direction R and move in the opposite direction with the help of the force of the additional structure.

[0072] Please refer to Figure 1 , the rack 202 is in the first position, see Figure 2 , the rack 202 is in the second position. The second position is located at the first side Ra of the first position along the first direction R. That is, by moving in the direction toward the first side Ra of the first direction R, the second position can be reached from the first position. Conversely, by moving in the direction toward the second side Rb of the first direction R, the first position can be reached from the second position.

[0073] See also Figure 2 The driving assembly 30 further includes an elastic member 304, which applies an elastic force to the frame 202. The elastic force has at least a component force toward the first side Ra of the first direction R, so that the frame 202 can be detachably pressed against the moving part, and the frame 202 can move along the second side Rb of the first direction R and separate from the moving part under the action of an external force.

[0074] It should be noted that the above-mentioned elastic force has at least a component force on the first side Ra toward the first direction R, which means that the elastic force generated by the elastic member 304 along the direction of the first side Ra toward the first direction R is not zero. In other words, the deformation direction of the elastic member 304 is not limited, and it can be set parallel to the first direction R or arranged obliquely to the first direction R.

[0075] The elastic member 304 allows the frame 202 to have a tendency to move toward the first position. Since the frame 202 and the moving part are separable from the first side Ra to the second side Rb in the first direction R, the load or impact of the external force can be absorbed.

[0076] Specifically, when the power source drives the moving part to move in the direction of the first side Ra along the first direction R, the elastic force of the elastic member 304 causes the frame 202 to abut against the moving part, and the frame 202 moves following the moving part under the drive of the elastic force. When the frame 202 moves, or when it is in the second position, when the frame 202 or the cleaning member 201 hits an obstacle, the obstacle blocks the frame 202, and the frame 202 receives an external force in the opposite direction of the elastic force. When the external force is greater than the elastic force, the frame 202 moves in the opposite direction and separates from the moving part, so as to utilize the characteristics of the elastic member to reduce the impact of the frame 202 when it hits an obstacle and reduce the risk of being damaged by collision. When the obstacle moves away, under the action of the elastic member, the frame 202 moves again until it abuts against the moving part.

[0077] When the power source drives the moving part to move along the first direction R toward the second side Rb, under the action of the elastic force, the frame 202 abuts against the moving part, and the power source drives the moving part to move in the direction toward the second side Rb. Driven by the moving part, the frame 202 overcomes the elastic force and moves toward the second side Rb. When the moving part reaches the second preset position, the frame 202 switches to the first position.

[0078] The elastic member 304 is not limited and can be a rubber band, a compression spring, or a tension spring, etc.

[0079] For some examples, see Figure 1 and Figure 2 The power source has a rotating shaft 301, and the driving assembly 30 also includes a reversing part, which connects the power source and the moving part and is used to convert the rotation of the rotating shaft 301 into a linear movement of the moving part along the first direction R.

[0080] It should be noted that the rotating shaft 301 can rotate around its own axis. For example, the power source is a motor. The motor has a rotating shaft 301 . The rotating shaft 301 rotates driven by the motor rotor.

[0081] The setting of the reversing part converts the rotation of the rotating shaft 301 into the linear displacement of the moving part. On the one hand, it can make the moving part have a larger linear displacement stroke; on the other hand, it also reduces the displacement stroke requirement for the power source, which is conducive to a compact structure.

[0082] The specific structure of the reversing part is not limited, and it can be a belt drive, a gear rack drive, etc.

[0083] For some examples, see Figure 1 and Figure 2 The reversing part includes a lead screw 303, which is directly or indirectly connected to the rotating shaft 301, and the rotating shaft 301 drives the lead screw 303 to rotate. The moving part includes a nut 302 matched with the lead screw 303, and the nut 302 is sleeved on the outer periphery of the lead screw 303.

[0084] It can be understood that the lead screw 303 rotates under the drive of the rotating shaft 301, and the thread on the lead screw 303 causes the nut 302 to move along the length direction of the lead screw 303, so as to convert the rotation of the rotating shaft 301 into the linear movement of the nut 302. The threaded transmission structure formed by the lead screw 303 and the nut 302 is compact and has precise transmission, and the stroke of the nut 302 can be controlled according to the start and stop of the rotating shaft 301, which facilitates the action control of the cleaning device.

[0085] For example, see Fig.10 , the power source is the drive motor 311, the shaft 301 rotates forward, the nut 302 moves in the direction toward the first side Ra, the drive motor 311 receives a stop signal, the shaft 301 stops rotating, the nut 302 stops moving, and the rack 202 switches to the second position; please refer to Fig.11 , the shaft 301 rotates in the opposite direction, the nut 302 moves in the direction toward the second side Rb, the drive motor 311 receives a stop signal, the shaft 301 stops rotating, the nut 302 stops moving, and the rack 202 switches to the first position. In this way, the travel and movement of the moving part can be precisely controlled.

[0086] The specific type of the lead screw 303 is not limited, for example, it can be a ball screw, a trapezoidal lead screw, etc., which is not limited here.

[0087] In some embodiments, the rotating shaft 301 can be directly connected to one end of the lead screw 303, for example, by screws, welding, etc. In this embodiment, the rotating shaft 301 and the lead screw 303 are coaxially arranged and rotate synchronously and at the same speed. In other embodiments, the rotating shaft 301 and the lead screw 303 can be connected through a gear set, for example, a pair of bevel gears, or a worm gear; in this embodiment, the rotating shaft 301 and the lead screw 303 can be arranged vertically.

[0088] See also Figure 1 , Figure 2 and Fig.12 The bracket 101 has an avoidance groove 101a, the moving part includes a first stop part 312 connected to the nut 302, the frame 202 has a second stop part 212, the first stop part 312 and / or the second stop part 212 are penetrated through the avoidance groove 101a, and under the action of the elastic member 304, the second stop part 212 and the first stop part 312 are detachably abutted along the first direction R.

[0089] That is, when the frame 202 moves following the moving part, the second stopper 212 abuts against the first stopper 312 . When encountering an obstacle and the external force applied by the collision is greater than the elastic force of the elastic member 304 , the first stopper 312 separates from the second stopper 212 .

[0090] The arrangement of the avoidance groove 101 a reduces the space occupied by the first stop portion 312 and the second stop portion 212 , which helps to make the structure of the driving assembly 30 compact.

[0091] It is understandable that, in one embodiment, only the first stopper 312 is disposed in the avoidance groove 101 a.

[0092] It is understandable that, in one embodiment, only the second stopper 212 is disposed through the avoidance groove 101 a.

[0093] For some examples, see Figure 4 and Figure 5 The bracket 101 includes a plate body 121. It should be noted that the plate body 121 is generally a plate-shaped structure, but is not limited to a flat plate structure.

[0094] A portion of the plate body 121 protrudes upward and defines a first protrusion 131a, the first protrusion 131a extends along the first direction R, and a groove 131b is formed on the bottom side of the first protrusion 131a, the top of the first protrusion 131a defines a first stop structure 131, a portion of the frame 202 protrudes upward and defines a second protrusion 242a, the top of the second protrusion 242a defines a second stop structure 242, and the second protrusion 242a extends into the groove 131b.

[0095] That is, the first protrusion 131a is disposed above the second protrusion 242a, and the second protrusion 242a extends into the groove 131b, so that the first stopping structure 131 and the second stopping structure 242 cooperate to prevent the frame 202 from moving upward.

[0096] The provision of the first protrusion 131a is beneficial to improving the structural strength of the plate body 121, and provides an escape space for the second protrusion 242a by forming the groove 131b, which is beneficial to a compact structure; in addition, in the horizontal direction perpendicular to the first direction R, it can also play a certain limiting role, reducing the deflection amplitude of the frame when moving along the first direction, which is beneficial to reducing the shear force on the hanging part of the frame.

[0097] For some examples, please refer to Figure 1 , Figure 4 and Figure 5 The cleaning device includes at least one intermediate member 60, which is rollably disposed on the first stop structure 131 and / or the second stop structure 242, and is at least partially located in the gap between the first stop structure and the second stop structure along the height direction.

[0098] It should be noted that the above gap may be formed due to the frame 202 being separated from the bracket 101 in the gravity direction under its own weight, or may be formed due to the interference of the intermediate member 60 causing the frame 202 and the bracket 101 to be separated in the height direction.

[0099] The middle piece 60 may abut against the first stop structure 131 and / or the second stop structure 242 in the height direction to space the first stop structure 131 and the second stop structure 242 . The middle piece 60 reduces the resistance to the relative movement between the bracket 101 and the frame 202 .

[0100] It can be understood that the setting of the middle piece 60 maintains a certain gap between the first stop structure 131 and the second stop structure 242, which not only reduces the shape accuracy requirements for the stop fit between the first stop structure 131 and the second stop structure 242, but also allows the frame 202 to have a certain margin of motion when moving relative to the bracket 101, and will not get stuck easily. Therefore, the middle piece 60 reduces the resistance to relative movement between the bracket 101 and the frame 202.

[0101] It should be noted that there are three situations in which the middle piece 60 is arranged on the first stop structure 131 and / or the second stop structure 242: the first situation in which the middle piece 60 is arranged on the first stop structure 131. The second situation in which the middle piece 60 is arranged on the second stop structure 242. The third situation in which the middle piece 60 is sandwiched between the first stop structure 131 and the second stop structure 242. In each of the above embodiments, the number of the middle piece 60 may be one or more.

[0102] Specifically, when the middle piece 60 is disposed on the first stop structure 131 , the installation of the middle piece 60 is facilitated.

[0103] For some examples, see Figure 8 , the number of the intermediate pieces 60 is multiple, and at least some of the intermediate pieces 60 are arranged at intervals along the first direction R. That is, the cleaning device may include two, three, four or more intermediate pieces 60. For example, in an embodiment in which the number of the intermediate pieces 60 is two, the two intermediate pieces 60 are arranged at intervals along the first direction R. For example, in an embodiment in which the number of the intermediate pieces 60 is three, the two intermediate pieces 60 may be arranged at intervals along the first direction R, or the three intermediate pieces 60 may be arranged at intervals along the first direction R, etc.

[0104] The intermediate members 60 are arranged at intervals to disperse the transmission of the load borne by the rack 202 , so that the movement of the rack 202 is more stable.

[0105] The form of the middleware 60 is not limited. For example, in one embodiment, please refer to Figure 7, the middle piece 60 includes a rib 603 formed on the lower surface of the first stop structure 131, the rib 603 extends along the first direction R, and the surface of the rib 603 can abut against the upper surface of the second stop structure 242; and / or, in one embodiment, the middle piece 60 includes a rib 603 formed on the upper surface of the second stop structure 242, the rib 603 extends along the first direction R, and the surface of the rib 603 can abut against the lower surface of the first stop structure 131.

[0106] In one embodiment, the intermediate member 60 may be a gasket with a self-lubricating function installed on the lower surface of the first stop structure 131, and the gasket contacts the upper surface of the second stop structure 242. In this embodiment, the gasket may be made of a solid self-lubricating material.

[0107] In some other embodiments, the intermediate member 60 includes a rolling member, so that the first stop structure 131 and the second stop structure 242 are rollingly engaged with each other through the intermediate member 60 .

[0108] That is, the first stop structure 131 and the second stop structure 242 maintain a distance along the height direction T, and the stop cooperation is achieved through the middle piece 60 (i.e., the rolling piece). When the frame 202 moves relative to the bracket 101 along the first direction R, the second stop structure 242 also moves relative to the first stop structure 131, and the middle piece 60 (i.e., the rolling piece) rolls.

[0109] The middle member 60 is a rolling member, which can effectively reduce the friction resistance when it abuts against the first stop structure 131 and / or the second stop structure 242 .

[0110] The specific structure of the rolling element is not limited. For example, it can be a ball structure.

[0111] For some examples, see Figure 2 The rolling element includes a roller or a bearing, and the axis of the rolling element is perpendicular to the first direction R. In other words, the rolling element rolls toward the first direction R.

[0112] The form of the bearing is not limited, and it can be a ball bearing or a sliding bearing. Exemplarily, the inner ring of the bearing is fixed relative to the outer ring, and its outer ring contacts the first stop structure 131 and / or the second stop structure 242. When the frame 202 moves, the outer ring rolls relative to the inner ring to reduce friction.

[0113] The roller or bearing has the advantages of being easily available and convenient to install, and is beneficial to the manufacture and assembly of the cleaning device.

[0114] For example, see Figure 3The rolling element includes a roller, and the first stop structure 131 has a mounting groove 141a, and the rolling element is rotatably accommodated in the mounting groove 141a. In other words, the mounting groove 141a provides a mounting space for the rolling element, and the rolling element is rotatable relative to the first stop structure 131. In this way, the space occupied by the rolling element is reduced, making the structure of the cleaning device more compact.

[0115] For example, see Figure 1 and Figure 3 The mounting groove 141a has a first area 141b that penetrates the first stop structure 131 along the height direction T, and a second area 141c that does not penetrate the first stop structure 131. The second area 141c is distributed on both sides of the first area 141b. The rolling element includes a roller 601 and a shaft 602. The two ends of the shaft 602 are respectively arranged in the second area 141c, and the roller is arranged in the first area 141b. It can be seen that the roller 601 contacts the second stop structure 242 below, and the shaft 602 contacts the first stop structure 131 above, so as to limit the roller 601 in the gap between the first stop structure 131 and the second stop structure 242. The first area 141b of the mounting groove 141a is above the roller 601, which leaves enough space for the roller 601 to roll.

[0116] For some examples, see Figure 1 , Figure 5 and Figure 6 The bracket 101 includes a slide groove 101b extending along the first direction R, and the frame 202 includes a hanging portion 222, which is inserted into the slide groove 101b and connected to the frame 202, and the hanging portion 222 is hung on the surrounding structure of the bracket 101 located on the top side of the slide groove 101b.

[0117] That is, the hanging portion 222 abuts downwardly along the height direction T on the surrounding structure of the bracket 101 located on the top side of the slide groove 101 b , so that the rack 202 is hung on the bracket 101 through the hanging portion 222 .

[0118] When the rack 202 moves along the first direction R, the slide groove 101 b has a guiding function, and the hanging portion 222 moves along the slide groove 101 b to maintain the connection with the bracket 101 so that the rack 202 is not separated from the bracket 101.

[0119] The cross-sectional shape of the slide groove 101b is not limited. The structure of the hanging portion 222 is not limited.

[0120] For example, see Figure 5 and Figure 6The bottom side of the slide groove 101b has a first step 101c, the top side of the hanging portion 222 has a second step 222a, the top side of the hanging portion 222 is arranged in the slide groove 101b, the second step 222a can abut against the first step 101c along the height direction T, and the second step 222a is located above the first step 101c.

[0121] For some examples, see Figure 1 and Figure 4 The number of the slide grooves 101b is at least two, and they are arranged at intervals along the second direction S. The first stop structure 131 is located between two adjacent slide grooves 101b. The second direction is perpendicular to the first direction R and perpendicular to the height direction T.

[0122] In this way, the moment on the bracket 101 or the rack 202 is balanced, so that the force on the hanging portion 222 is more uniform.

[0123] In some embodiments, the hanging portion 222 includes a boss 232 and an end cap 252, the boss 232 is inserted into the slide groove 101b from bottom to top, a portion of the end cap 252 is inserted into the slide groove 101b from top to bottom from above the bracket 101, and another portion of the end cap 252 is larger than the width of the slide groove 101b to define a second step 222a, so that it can rest against the first step 101c of the slide groove 101b, and the screw passes through the end cap 252 from top to bottom and is screwed into the boss 232, so that the rack 202 and the bracket 101 can be hung.

[0124] In some embodiments, the linear movement direction of the cleaning robot provided by the embodiments of the present application is perpendicular to the first direction R.

[0125] In this way, the influence of the resistance encountered by the cleaning member 201 when rolling in contact with the support surface on the movement of the cleaning robot is reduced, and at the same time, the position of the frame 202 can be quickly moved to adjust the cleaning area of ​​the cleaning member 201 on the support surface.

[0126] For example, in one embodiment, please refer to Fig.13 The main body 102 of the cleaning robot includes a plurality of driving wheels 401 , at least two of which are arranged along a first direction R, so that the cleaning robot can move in a direction perpendicular to the first direction R.

[0127] For example, in one embodiment, please refer to Fig.13 and Fig.14The main body 102 of the cleaning robot also includes a roller brush 501, which is arranged in the area between the two driving wheels 401, and is used to clean and collect garbage and debris on the floor. The cleaning member 201 is arranged behind the roller brush 501 along the travel direction, and is used to clean traces and stains on the floor, as well as the floor cleaned by the roller brush 501. In this embodiment, the cleaning robot can sweep and mop the floor in a single operation.

[0128] The various embodiments / implementations provided in this application can be combined with each other without causing any contradiction.

[0129] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning device, characterized in that: include: A bracket, wherein the bracket has a first stop structure; A cleaning assembly, comprising a cleaning member and a frame, wherein the cleaning member is rollably disposed on the frame; The frame is hung on the bracket and can move relative to the bracket along a first direction; the frame has a second stop structure, and the first stop structure is located above the second stop structure and is used to cooperate with the second stop structure; as well as The driving assembly is used to drive the frame to move along a first direction, wherein the first direction is parallel to the axis of the cleaning member.

2. The cleaning device according to claim 1, characterized in that The bracket includes a plate body, a portion of the plate body protrudes upward and defines a first protrusion, the first protrusion extends along the first direction, and a groove is formed on the bottom side of the first protrusion, the top of the first protrusion defines the first stop structure, the frame partially protrudes upward and defines a second protrusion, the top of the second protrusion defines the second stop structure, and the second protrusion extends into the groove.

3. The cleaning device according to claim 1, characterized in that: The cleaning device includes at least one intermediate member, which is arranged on the first stop structure and / or the second stop structure, and is at least partially located between the first stop structure and the second stop structure in the height direction to separate the first stop structure and the second stop structure; the intermediate member is used to reduce the resistance to relative movement between the frame and the bracket.

4. The cleaning device according to claim 3, characterized in that: The intermediate piece is arranged on the first stop structure.

5. The cleaning device according to claim 3, characterized in that: There are multiple intermediate components, and at least some of the intermediate components are arranged at intervals along the first direction.

6. The cleaning device according to claim 3, characterized in that: The intermediate member is a rolling member, so that the first stop structure and the second stop structure are rollingly matched through the intermediate member.

7. The cleaning device according to claim 6, characterized in that The rolling element includes a roller or a bearing, and the axis of the rolling element is perpendicular to the first direction.

8. The cleaning device according to claim 6, characterized in that The first stop structure has a mounting groove, and the rolling element is rotatably accommodated in the mounting groove.

9. The cleaning device according to claim 1, characterized in that: The bracket includes a slide groove extending along the first direction, and the frame includes a hanging part, which is inserted into the slide groove and connected to the frame, and the hanging part is hung on the surrounding structure of the bracket located on the top side of the slide groove.

10. The cleaning device according to claim 9, characterized in that The number of the slide grooves is at least two, and they are arranged at intervals along the second direction. The first stop structure is located between two adjacent slide grooves. The second direction is perpendicular to the first direction and perpendicular to the height direction.

11. The cleaning device according to any one of claims 1 to 10, characterized in that: The cleaning member comprises a roller, and the roller is rotatably arranged on the frame; The cleaning component also includes a motor and a transmission member, both of which are arranged in the drum, the motor is connected to the frame, the transmission member is connected to the drum, and the power output shaft of the motor is connected to the transmission member to drive the cleaning member to roll.

12. A cleaning robot, characterized in that: include: Main body; as well as The cleaning device according to any one of claims 1 to 11, wherein the bracket is connected to the main body.

13. The cleaning robot according to claim 12, characterized in that: The first direction is perpendicular to the linear moving direction of the cleaning robot.

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