Cleaning device

Abstract

The utility model discloses a cleaning device which comprises a walking assembly and a cleaning assembly, the walking assembly comprises a walking structure and a control piece, the walking structure is suitable for walking on a face to be cleaned, and the control piece is installed on the walking structure; the cleaning unit is arranged around the side face of the walking structure and is suitable for being in contact with a to-be-cleaned face, and the walking structure walks on the to-be-cleaned face and can drive the cleaning unit to move on the to-be-cleaned face; the induction part is installed on the walking structure, the induction direction is outward, the outer side of the induction part is not shielded, the induction part is electrically connected with the control part, and the control part is suitable for receiving signals sent by the induction part. The sensing piece is directly arranged on the walking structure, compared with the prior art that the sensing piece is arranged on the shell and the control piece is arranged on the walking device, the cleaning unit in the embodiment of the utility model does not obstruct the sensing piece, so that the structure is simplified.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a cleaning device. Background Art

[0002] A sweeping robot of the related technology includes a hat-shaped shell, a walking device is arranged in the inner cavity of the shell (i.e., the hat cavity), and a mop is arranged on the lower surface of the shell (i.e., the lower surface of the hat brim). When the walking device walks on the ground, it will push the shell and then drive the mop to move on the ground, so that the mop can clean the ground.

[0003] In order to enable the sweeping robot to avoid obstacles or scan the space in the home to achieve path planning, it is necessary to set a sensing component on the outer surface of the shell, and the control component is set inside the walking device. In this way, through holes are required on both the shell and the walking device to pass the connecting wires connecting the sensing component and the control component, resulting in a complicated structure. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides a cleaning device with a simplified overall structure.

[0005] A cleaning device according to an embodiment of the utility model includes: a walking component, the walking component includes a walking structure and a control component, the walking structure is suitable for walking on the surface to be cleaned, and the control component is installed on the walking structure; a cleaning unit, the cleaning unit is arranged around the side of the walking structure and is suitable for contacting the surface to be cleaned, and the walking structure walking on the surface to be cleaned can drive the cleaning unit to move on the surface to be cleaned; a sensing component, the sensing component is installed on the walking structure, and the sensing direction is outward, the outer side of the sensing component is unobstructed, the sensing component is electrically connected to the control component, and the control component is suitable for receiving a signal sent by the sensing component.

[0006] According to the cleaning device of the embodiment of the utility model, the sensing element is directly arranged on the walking structure. Compared with the related art in which the sensing element is arranged on the shell and the control element is arranged on the walking device, the cleaning unit in the embodiment of the utility model will not cause obstruction to the sensing element, and the control element can be directly and conveniently connected to the sensing element. For example, a through hole is opened on the walking structure so that the sensing element and the control element can be connected by a connecting line, thereby simplifying the structure.

[0007] In some embodiments, the sensing element is disposed on a side of the walking structure.

[0008] In some embodiments, the sensing element is disposed on a side of the cleaning unit away from the surface to be cleaned.

[0009] In some embodiments, the cleaning unit includes a support structure and a cleaning member. The support structure is rotatably mounted on the walking structure. The cleaning member is disposed on the support structure. The cleaning member rotates with the support structure to clean the surface to be cleaned.

[0010] In some embodiments, the walking structure is provided with a limiting track, and the support structure is provided with a matching portion corresponding to the limiting track, and the matching portion is connected to the limiting track so that the support structure rotates along the limiting track.

[0011] In some embodiments, the cleaning device further comprises a rotating motor, which is electrically connected to the control component and is disposed in the walking structure. The rotating motor is connected to the support structure via a transmission assembly to drive the support structure to rotate.

[0012] In some embodiments, the support structure has a gear ring, and the transmission assembly includes a driving gear, which is engaged with the gear ring to drive the support structure to rotate.

[0013] In some embodiments, the driving gear is configured as a sun gear, and the transmission assembly further includes planetary gears, and the planetary gears respectively mesh with the sun gear and the ring gear to drive the ring gear to rotate.

[0014] In some embodiments, the sun gear is disposed on the central axis of the walking structure, and there are multiple planetary gears, which are evenly spaced apart along the circumference of the sun gear.

[0015] In some embodiments, the cleaning unit includes: a support structure and a cleaning piece, the support structure includes a supporting support and a floating support, the supporting support is arranged on the walking structure, one of the floating support and the supporting support is provided with a guide portion, and the other is provided with a guide space, the guide portion is passed through the guiding space so that the floating support floats along the direction of the central axis of the walking structure, and the cleaning piece is arranged on the floating support.

[0016] In some embodiments, an elastic member is provided between the supporting bracket and the floating bracket, one end of the elastic member abuts against the supporting bracket, and the other end abuts against the floating bracket, so that the floating bracket has a tendency to approach the surface to be cleaned.

[0017] In some embodiments, the walking structure includes: a base, the base is provided with a first space, the support bracket at least partially extends into the first space, a transmission assembly is provided in the first space, and the transmission assembly is connected to the support bracket; a shell, the sensing element is installed on the shell, the shell is provided on the base and together with the base define a second space, the control element is provided in the second space, and a rotating motor electrically connected to the control element is also provided in the second space, the support bracket is rotatably provided on the walking structure, and the output end of the rotating motor extends into the first space and is connected to the transmission assembly to drive the support bracket to rotate.

[0018] In some embodiments, the sensing element is configured as any one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, and a visual sensor.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 The cross section of the cleaning device in the embodiment of the utility model is Figure 1 ;

[0022] Figure 2 The cross section of the cleaning device in the embodiment of the utility model is Figure 2 ;

[0023] Figure 3 for Figure 2 The local enlarged view of point I in the middle;

[0024] Figure 4 This is a schematic diagram of the cooperation between the transmission assembly and the gear ring in the embodiment of the utility model;

[0025] Figure 5 This is a schematic diagram of the cooperation between the supporting bracket and the floating bracket in the embodiment of the utility model;

[0026] Figure 6 for Figure 5 A schematic diagram of the structure of the middle support bracket;

[0027] Figure 7 for Figure 5 Schematic diagram of the structure of the floating support.

[0028] Reference numerals:

[0029] 100. Cleaning device;

[0030] 10. Walking assembly; 11. Walking structure; 111. Position limiting track; 112. Base; 1121. First space; 113. Shell; 1131. Second space; 12. Control element;

[0031] 20. Cleaning unit; 21. Bracket structure; 211. Matching part; 212. Gear ring; 22. Cleaning member; 23. Support bracket; 231. Guide part; 24. Floating bracket; 241. Guide space; 25. Elastic member;

[0032] 30. Induction parts; 40. Rotating motor;

[0033] 50. Transmission assembly; 51. Driving gear; 52. Planetary gear. DETAILED DESCRIPTION

[0034] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] In addition, features defined as “first” or “second” may explicitly or implicitly include one or more such features, and are used to distinguish and describe features, without any distinction in order or importance.

[0037] In the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The cleaning device 100 according to the embodiment of the present utility model is described below with reference to the accompanying drawings.

[0040] Reference Figure 1 As shown, according to the cleaning device 100 of the embodiment of the utility model, the cleaning device 100 includes: a walking assembly 10, a cleaning unit 20 and a sensor 30.

[0041] The walking assembly 10 includes a walking structure 11 and a control member 12. The walking structure 11 is suitable for walking on the surface to be cleaned, and the control member 12 is installed on the walking structure 11. The cleaning unit 20 is arranged around the side of the walking structure 11 and is suitable for contacting the surface to be cleaned. The walking structure 11 walks on the surface to be cleaned to drive the cleaning unit 20 to move on the surface to be cleaned. The sensing member 30 is installed on the walking structure 11, and the sensing direction faces outward. The outer side of the sensing member 30 is unobstructed. The sensing member 30 is electrically connected to the control member 12, and the control member 12 is suitable for receiving the signal sent by the sensing member 30.

[0042] Specifically, the walking structure 11 walks on the surface to be cleaned to drive the cleaning unit 20 to move on the surface to be cleaned, and the cleaning unit 20 moves relative to the surface to be cleaned, and the cleaning unit 20 cleans the surface to be cleaned.

[0043] The sensing element 30 is used to sense the situation of the surrounding space. The sensing direction of the sensing element 30 is outward, where outward is relative to the walking structure 11, and the outward direction is the direction away from the walking structure 11. The sensing element 30 is any one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, and a visual sensor. The sensing element 30 senses the situation of surrounding obstacles and sends a signal to the control element 12. After receiving the signal, the control element 12 can control the walking structure 11 to avoid the obstacle. For example, when the sensing element 30 senses an obstacle, the control element 12 controls the walking structure 11 to turn, retreat, stop, etc. After receiving the signal, the control element 12 can also plan a path to avoid obstacles and achieve efficient cleaning. After receiving the signal, the control element 12 can also store it. At this time, the cleaning device 100 is equivalent to a monitor, and the user can export the stored image to the computer for viewing.

[0044] It should be noted that the cleaning unit 20 is arranged around the side of the walking structure 11, and the cleaning unit 20 may surround the entire circumference of the walking structure 11, or may surround half of the circumference of the walking structure 11, or may be arranged in other situations less than the entire circumference. At the same time, the outer side of the sensing member 30 is arranged without shielding in the embodiment of the utility model, wherein the cleaning unit 20 may be arranged as a hollow structure, and the sensing member 30 may be installed on the walking structure 11 at a position corresponding to the through hole on the hollow structure, or the sensing member 30 may be arranged on one side of the cleaning unit 20, and the cleaning unit 20 may not shield the sensing member 30.

[0045] The cleaning unit 20 may sweep the surface to be cleaned, mop the surface to be cleaned, or vacuum the surface to be cleaned. Of course, multiple cleaning methods may be performed simultaneously.

[0046] The surface to be cleaned can be the ground, a tabletop, a window glass, a wall, etc.

[0047] A sweeping robot of the related technology includes a hat-shaped shell, a walking device is arranged in the inner cavity of the shell (i.e., the hat cavity), and a mop is arranged on the lower surface of the shell (i.e., the lower surface of the hat brim). When the walking device walks on the ground, it will push the shell and then drive the mop to move on the ground, so that the mop can clean the ground.

[0048] In order to enable the sweeping robot to avoid obstacles or scan the space in the home to achieve path planning, it is necessary to set a sensing component on the outer surface of the shell, and the control component is set inside the walking device. In this way, through holes are required on both the shell and the walking device to pass the connecting wires connecting the sensing component and the control component, resulting in a complicated structure.

[0049] In the embodiment of the utility model, the sensing component 30 is directly arranged on the walking structure 11, and the control component 12 is also installed on the walking structure 11, and the outer side of the sensing component 30 is not blocked, and the control component 12 can be directly and conveniently connected to the sensing component 30. For example, a through hole is opened on the walking structure 11, and the sensing component 30 and the control component 12 can be connected by a connecting line, thereby simplifying the structure.

[0050] According to the cleaning device 100 of the embodiment of the utility model, the sensing component 30 is directly arranged on the walking structure 11, and the control component 12 is also installed on the walking structure 11, and the outer side of the sensing component 30 is not blocked. Compared with the related art in which the sensing component is arranged on the shell and the control component is arranged on the walking device, the cleaning unit 20 in the embodiment of the utility model will not cause obstruction to the sensing component 30, and the control component 12 can be directly and conveniently connected to the sensing component 30. For example, a through hole is opened on the walking structure 11, and the sensing component 30 and the control component 12 can be connected by a connecting line, thereby simplifying the structure.

[0051] Reference Figure 1 , Figure 2 As shown, in some embodiments, the sensing element 30 is disposed on a side of the walking structure 11 .

[0052] In the above scheme, the sensing element 30 is arranged on the side of the walking structure 11. Compared with the scheme of setting the sensing element on the top surface of the walking structure, the sensing element 30 is arranged on the top surface of the walking structure, which requires the sensing element to protrude from the top surface. Only the sensing element protruding from the top surface can sense the situation of the surrounding space. For example, the sensing element is a visual camera, and only the visual camera protruding from the top surface can scan the situation of the surrounding space. In the embodiment of the utility model, the sensing element 30 is arranged on the side of the walking structure 11. The sensing element 30 can complete the work without protruding from the side, which can make the cleaning device 100 more unified and reduce the probability of collision between the cleaning device 100 and other objects.

[0053] In some embodiments, the sensor 30 is disposed on a side of the cleaning unit 20 away from the surface to be cleaned.

[0054] In the above scheme, the sensing element 30 is installed on the side of the cleaning unit 20 away from the surface to be cleaned. For example, the surface to be cleaned is the ground, the cleaning device 100 is placed on the ground, and the sensing element 30 is installed above the cleaning unit 20. The cleaning unit 20 cannot block the sensing element 30, thereby optimizing the structure of the cleaning unit 20, reducing the amount of material required for the cleaning unit 20, and reducing the cost.

[0055] Specifically, the surface to be cleaned is the ground, the cleaning device 100 is placed on the ground, and the sensor 30 is installed above the cleaning unit 20; or, the surface to be cleaned is a wall, the cleaning device 100 is attached to the wall, and the sensor 30 is installed on the horizontal side of the cleaning unit 20.

[0056] Reference Figure 2 As shown, in some embodiments, the cleaning unit 20 includes a support structure 21 and a cleaning member 22. The support structure 21 is rotatably mounted on the walking structure 11, and the cleaning member 22 is disposed on the support structure 21. The cleaning member 22 rotates with the support structure 21 to clean the surface to be cleaned.

[0057] In the above scheme, the support structure 21 can be rotatably mounted on the walking structure 11, and the cleaning member 22 is installed on the support structure 21. The support structure 21 rotates relative to the walking structure 11 to drive the cleaning member 22 to rotate. The rotating cleaning member 22 can better clean the surface to be cleaned and improve the cleaning efficiency.

[0058] Reference Figure 3 As shown, in some embodiments, the walking structure 11 is provided with a limiting track 111, and the support structure 21 is provided with a matching portion 211 corresponding to the limiting track 111, and the matching portion 211 is connected to the limiting track 111 so that the support structure 21 rotates along the limiting track 111.

[0059] In the above scheme, a limiting track 111 is provided on the walking structure 11, and a matching portion 211 corresponding to the limiting track 111 is provided on the support structure 21. The limiting track 111 and the matching portion 211 cooperate to limit the degree of freedom of the support structure 21, so that the support structure 21 rotates along a specific path, that is, rotates along the limiting track 111, so that the rotation of the support structure 21 is more stable.

[0060] Specifically, the limiting track 111 is configured as a limiting hole, and the matching portion 211 is configured as a matching column inserted into the limiting hole. The matching column moves in the limiting hole, so that the support structure 21 rotates smoothly.

[0061] Reference Figure 1 , Figure 2 As shown, in some embodiments, the cleaning device 100 also includes a rotating motor 40, which is electrically connected to the control component 12. The rotating motor 40 is disposed in the walking structure 11, and the rotating motor 40 is connected to the support structure 21 through the transmission assembly 50 to drive the support structure 21 to rotate.

[0062] In the above solution, the cleaning device 100 is also equipped with a rotating motor 40, which is electrically connected to the control component 12. The rotating motor 40 drives the support structure 21 to rotate through the transmission assembly 50. The overall structure is clear and the movement of the support structure 21 is more reliable.

[0063] Specifically, the transmission assembly 50 can be a gear transmission or a transmission rod transmission.

[0064] In some embodiments, the rotating motor 40 is pinned to one end of the transmission rod, and the other end of the transmission rod is pinned to the support structure 21 . The output of the rotating motor 40 drives the transmission rod to move, thereby indirectly driving the support structure 21 to rotate.

[0065] Reference Figure 4 As shown, in some embodiments, the support structure 21 has a gear ring 212 , and the transmission assembly 50 includes a driving gear 51 , which is meshed with the gear ring 212 to drive the support structure 21 to rotate.

[0066] In the above scheme, a ring gear 212 is provided on the walking structure 11, and the transmission assembly 50 includes a driving gear 51, which meshes with the ring gear 212. The rotating motor 40 drives the driving gear 51 to rotate, thereby driving the ring gear 212 to rotate, thereby driving the support structure 21 to rotate. The cooperation between the ring gear 212 and the driving gear 51 makes the rotation of the support structure 21 smoother.

[0067] Specifically, the driving gear 51 may directly mesh with the ring gear 212 to drive the ring gear 212 to rotate, or may indirectly mesh with the ring gear 212 , for example, the driving gear 51 may indirectly mesh with the ring gear 212 via the planetary gear 52 .

[0068] In some embodiments, the rotary motor 40 is adjacent to the ring gear 212 , that is, the rotary motor 40 is close to the inner wall of the walking structure 11 , and the driving gear 51 directly meshes with the ring gear 212 to drive the ring gear 212 to rotate.

[0069] Reference Figure 4 As shown, in some embodiments, the driving gear 51 is configured as a sun gear, and the transmission assembly 50 further includes planetary gears 52 , which respectively mesh with the sun gear and the ring gear 212 to drive the ring gear 212 to rotate.

[0070] In the above scheme, the driving gear 51 is constructed as a sun gear, and the sun gear and the planetary gear 52 cooperate to transmit the power of the rotating motor 40 to the ring gear 212. The overall movement is smooth and the overall volume is small, so it can be conveniently placed in the walking structure 11.

[0071] The sun gear can be placed at any position in the walking structure 11 , and the sun gear and the planetary gear 52 can cooperate well.

[0072] Reference Figure 4 As shown, in some embodiments, the sun gear is disposed on the central axis of the walking structure 11, and there are multiple planetary gears 52, which are evenly spaced along the circumference of the sun gear.

[0073] In the above scheme, the sun gear is installed on the central axis of the walking structure 11, and there are multiple planetary gears 52. The multiple planetary gears 52 are evenly spaced along the circumference of the sun gear, and the center of gravity is located on the central axis. The arrangement of the sun gear and the planetary gears 52 makes the cleaning device 100 more stable and reduces the probability of the cleaning device 100 tipping over.

[0074] Specifically, there are two planetary gears 52, which are symmetrically arranged on both sides of the sun gear, making the whole more stable.

[0075] Reference Figures 5 to 7 In some embodiments, the cleaning unit 20 includes: a support structure 21 and a cleaning member 22. The support structure 21 includes a supporting support 23 and a floating support 24.

[0076] The supporting bracket 23 is disposed on the walking structure 11. A guide portion 231 is disposed on one of the floating bracket 24 and the supporting bracket 23, and a guide space 241 is disposed on the other. The guide portion 231 is penetrated in the guide space 241 so that the floating bracket 24 floats along the direction of the central axis of the walking structure 11. The cleaning member 22 is disposed on the floating bracket 24.

[0077] In the above scheme, the cooperation between the guide part 231 and the guide space 241 enables the floating bracket 24 to float along the direction of the central axis of the walking structure 11, so as to adapt to the ups and downs of the surface to be cleaned. The floating bracket 24 floats up and down with the ups and downs of the surface to be cleaned, so that the cleaning member 22 on the floating bracket 24 can always fit the surface to be cleaned, thereby improving the working reliability.

[0078] For example, the guide portion 231 is disposed on the floating bracket 24 , and the guide space 241 is disposed on the supporting bracket 23 ; or, the guide portion 231 is disposed on the supporting bracket 23 , and the guide space 241 is disposed on the floating bracket 24 .

[0079] Specifically, the guide portion 231 is configured as a guide column, the guide space 241 is configured as a guide hole, the guide column is inserted into the guide hole, and the guide hole guides the movement of the guide column.

[0080] Reference Figures 5 to 7 As shown, in some embodiments, an elastic member 25 is provided between the supporting bracket 23 and the floating bracket 24, and one end of the elastic member 25 abuts against the supporting bracket 23, and the other end abuts against the floating bracket 24, so that the floating bracket 24 has a tendency to approach the surface to be cleaned.

[0081] In the above scheme, the elastic member 25 between the supporting bracket 23 and the floating bracket 24 applies elastic force to the floating bracket 24, so that the floating bracket 24 always has a tendency to approach the surface to be cleaned, so that the cleaning member 22 on the floating bracket 24 fits more closely with the surface to be cleaned, further improving the cleaning efficiency.

[0082] Specifically, the elastic member 25 is configured as a spring, and the spring is sleeved on the guide portion 231 . The guide portion 231 provides a certain support for the spring, so that the spring is stable.

[0083] Specifically, the support structure 21 includes a support support 23 and a floating support 24 . A portion of the support support 23 is configured as a gear ring 212 , and another portion of the support support 23 is configured as a matching portion 211 .

[0084] Reference Figure 1 As shown, in some embodiments, the walking structure 11 includes: a base 112 and a shell 113 .

[0085] The base 112 is provided with a first space 1121, the support bracket 23 at least partially extends into the first space 1121, a transmission assembly 50 is provided in the first space 1121, and the transmission assembly 50 is connected to the support bracket 23. The induction member 30 is mounted on the housing 113, the housing 113 is provided on the base 112 and defines a second space 1131 together with the base 112, the control member 12 is provided in the second space 1131, and a rotating motor 40 electrically connected to the control member 12 is also provided in the second space 1131, the support bracket 23 is rotatably provided on the walking structure 11, and the output end of the rotating motor 40 extends into the first space 1121 and is connected to the transmission assembly 50 to drive the support bracket 23 to rotate.

[0086] In the above scheme, the base 112 is provided with a first space 1121, and the shell 113 and the base 112 jointly define a second space 1131. The second space 1131 is separated from the first space 1121, and the two spaces exist independently. The transmission assembly 50 is installed in the first space 1121, and the control component 12 and the rotating motor 40 are installed in the second space 1131, and the output end of the rotating motor 40 extends into the second space 1131 to connect the transmission assembly 50. The active component such as the transmission assembly 50 is separated from the stationary component such as the control component 12, and does not affect each other to avoid interference.

[0087] In some embodiments, the sensing element 30 is configured as any one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, and a visual sensor.

[0088] For example, the sensing element 30 is an ultrasonic sensor; or, the sensing element 30 is an infrared sensor; or, the sensing element 30 is a laser sensor; or, the sensing element 30 is a visual sensor; or, the sensing element 30 includes an ultrasonic sensor and an infrared sensor; or, the sensing element 30 includes an ultrasonic sensor and a laser sensor; or, the sensing element 30 includes an ultrasonic sensor and a visual sensor; or, the sensing element 30 includes an infrared sensor and a laser sensor; or, the sensing element 30 includes an infrared sensor and a visual sensor; or, the sensing element 30 includes a laser sensor and a visual sensor; or there are many other ways of cooperating with each other, which will not be repeated here.

[0089] Combine the following Figures 1 to 7 , describing a specific embodiment of the cleaning device 100 of the present invention.

[0090] A cleaning device 100 includes: a traveling assembly 10 , a rotating motor 40 , a transmission assembly 50 , a cleaning unit 20 and a sensing element 30 .

[0091] The walking assembly 10 includes a walking structure 11 and a control member 12. The walking structure 11 includes a base 112 and a housing 113. The base 112 is provided with a first space 1121. The housing 113 is provided on the base 112 and defines a second space 1131 together with the base 112. The control member 12 is provided in the second space 1131. A limiting track 111 is provided on the base 112, and the limiting track 111 is configured as a limiting hole.

[0092] The rotary motor 40 is installed in the second space 1131 and is electrically connected to the control component 12 . The output end of the rotary motor 40 extends into the first space 1121 .

[0093] The transmission assembly 50 is installed in the first space 1121, and the transmission assembly 50 includes: a driving gear 51 and a planetary gear 52. The driving gear 51 is constructed as a sun gear, and the sun gear is connected to the output end of the rotating motor 40. The sun gear is arranged on the central axis of the walking structure 11. The sun gear meshes with the planetary gear 52. There are two planetary gears 52, and the two planetary gears 52 are arranged on both sides of the row pair of sun gears and are evenly spaced circumferentially.

[0094] The cleaning unit 20 includes: a support structure 21 and a cleaning member 22, and the support structure 21 includes a support bracket 23 and a floating bracket 24. The support bracket 23 extends into the limiting hole, and a part of the support bracket 23 is constructed as a matching portion 211, and the matching portion 211 is connected to the limiting track 111 to support the support bracket 23 to rotate. The upper part of the support bracket 23 is constructed as a ring gear 212, and the ring gear 212 engages with the planetary gear 52 to drive the support bracket 23 to rotate. A guide space 241 is provided on the support bracket 23, and the guide space 241 is constructed as a guide hole. A guide portion 231 is provided on the floating bracket 24, and the guide portion 231 is constructed as a guide column, and the guide column is penetrated in the guide hole so that the floating bracket 24 floats along the direction of the central axis of the walking structure 11. An elastic member 25 is provided between the support bracket 23 and the floating bracket 24. The elastic member 25 is sleeved on the guide column. One end of the elastic member 25 is connected to the support bracket 23, and the other end is connected to the floating bracket 24, so that the floating bracket 24 has a tendency to approach the surface to be cleaned. The cleaning member 22 is installed on the floating bracket 24, and the cleaning member 22 rotates with the floating bracket 24 to clean the surface to be cleaned.

[0095] The sensing element 30 includes a laser sensor and a visual sensor. The sensing element 30 is installed on the side of the housing 113 with the sensing direction facing outwards. The sensing element 30 is located above the cleaning unit 20 .

[0096] Other structures and operations of the cleaning device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0097] In the description of this specification, the description with reference to the terms "embodiment", "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 utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0098] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cleaning device (100), characterized in that: include: A walking assembly (10), the walking assembly (10) comprising a walking structure (11) and a control component (12), the walking structure (11) being suitable for walking on a surface to be cleaned, and the control component (12) being mounted on the walking structure (11); A cleaning unit (20), the cleaning unit (20) being arranged around the side of the walking structure (11) and being adapted to contact the surface to be cleaned, wherein the walking structure (11) walking on the surface to be cleaned can drive the cleaning unit (20) to move on the surface to be cleaned; A sensing component (30), wherein the sensing component (30) is installed on the walking structure (11) with a sensing direction facing outwards, and the outer side of the sensing component (30) is unobstructed; the sensing component (30) is electrically connected to the control component (12), and the control component (12) is suitable for receiving a signal sent by the sensing component (30).

2. The cleaning device (100) according to claim 1, characterized in that: The sensing element (30) is arranged on the side of the walking structure (11).

3. The cleaning device (100) according to claim 1, characterized in that: The induction element (30) is arranged on a side of the cleaning unit (20) away from the surface to be cleaned.

4. The cleaning device (100) according to any one of claims 1 to 3, characterized in that: The cleaning unit (20) comprises a support structure (21) and a cleaning member (22); the support structure (21) is rotatably mounted on the walking structure (11); the cleaning member (22) is arranged on the support structure (21); the cleaning member (22) rotates with the support structure (21) to clean the surface to be cleaned.

5. The cleaning device (100) according to claim 4, characterized in that: The walking structure (11) is provided with a limiting track (111), and the support structure (21) is provided with a matching portion (211) corresponding to the limiting track (111), and the matching portion (211) is connected to the limiting track (111) so that the support structure (21) rotates along the limiting track (111).

6. The cleaning device (100) according to claim 4, characterized in that: The invention also comprises a rotating motor (40), wherein the rotating motor (40) is electrically connected to the control member (12), the rotating motor (40) is arranged in the walking structure (11), and the rotating motor (40) is connected to the support structure (21) via a transmission assembly (50) to drive the support structure (21) to rotate.

7. The cleaning device (100) according to claim 6, characterized in that The support structure (21) has a gear ring (212), and the transmission assembly (50) comprises a driving gear (51), wherein the driving gear (51) meshes with the gear ring (212) to drive the support structure (21) to rotate.

8. The cleaning device (100) according to claim 7, characterized in that The driving gear (51) is configured as a sun gear, and the transmission assembly (50) further comprises planetary gears (52), wherein the planetary gears (52) respectively mesh with the sun gear and the ring gear (212) to drive the ring gear (212) to rotate.

9. The cleaning device (100) according to claim 8, characterized in that: The sun gear is arranged on the central axis of the walking structure (11), and there are a plurality of planetary gears (52), which are evenly spaced along the circumference of the sun gear.

10. The cleaning device (100) according to any one of claims 1 to 3 and 5 to 9, characterized in that: The cleaning unit (20) comprises a support structure (21) and a cleaning member (22); the support structure (21) comprises a supporting support (23) and a floating support (24); the supporting support (23) is arranged on the walking structure (11); one of the floating support (24) and the supporting support (23) is provided with a guiding portion (231); the other is provided with a guiding space (241); the guiding portion (231) is passed through the guiding space (241) so that the floating support (24) floats along the direction of the central axis of the walking structure (11); and the cleaning member (22) is arranged on the floating support (24).

11. The cleaning device (100) according to claim 10, characterized in that An elastic member (25) is provided between the supporting bracket (23) and the floating bracket (24); one end of the elastic member (25) abuts against the supporting bracket (23), and the other end abuts against the floating bracket (24), so that the floating bracket (24) tends to approach the surface to be cleaned.

12. The cleaning device (100) according to claim 10, characterized in that The walking structure (11) comprises: A base (112), wherein the base (112) is provided with a first space (1121), the support bracket (23) at least partially extends into the first space (1121), a transmission assembly (50) is provided in the first space (1121), and the transmission assembly (50) is connected to the support bracket (23); The housing (113) comprises a sensor (30) installed on the housing (113); the housing (113) is arranged on the base (112) and defines a second space (1131) together with the base (112); the control member (12) is arranged in the second space (1131); a rotating motor (40) electrically connected to the control member (12) is also arranged in the second space (1131); the supporting bracket (23) is rotatably arranged on the walking structure (11); the output end of the rotating motor (40) extends into the first space (1121) and is connected to the transmission assembly (50) to drive the supporting bracket (23) to rotate.

13. The cleaning device (100) according to any one of claims 1 to 3, 5 to 9, 11, and 12, characterized in that: The sensing element (30) is constructed as any one or more of an ultrasonic sensor, an infrared sensor, a laser sensor, and a visual sensor.

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