Cleaning device and cleaning robot

Abstract

The utility model provides a cleaning device and a cleaning robot. The cleaning device comprises a base body, wherein an open containing cavity is formed in the base body; at least part of the cleaning assembly is arranged in the containing cavity, and the cleaning assembly is connected with the base body; the guide structure is arranged on the lateral edge of the base body so as to guide the cleaning device to move; wherein the cleaning device can stretch out and draw back in the first direction, the lateral edge extends in the second direction, or the included angle between the extending direction of the lateral edge and the second direction is an acute angle, and the first direction is perpendicular to the second direction. According to the cleaning device, the guide structure is arranged on the lateral edge of the cleaning device base body, the cleaning device is guided to move through the guide structure, and the probability that the cleaning device is stuck when stretching out is reduced.

Description

Technical Field

[0001] The utility model relates to the field of cleaning electrical appliances, and more specifically, to a cleaning device and a cleaning robot. Background Art

[0002] A cleaning robot is a device used to clean the ground surface to be cleaned. The relevant cleaning robots have the functions of sweeping, mopping or sweeping and mopping in one. Some cleaning robots with mopping functions are provided with a flat rag plate, but the lateral size of the rag cannot be large due to structural limitations. Therefore, when the machine mops along the edge, a relatively large cleaning blind area will be generated at the edge of the corner, affecting the user experience.

[0003] In order to reduce the blind spot of cleaning, the cleaning device with a rag is set to be horizontally retractable in related cleaning robots. That is, when the machine is cleaning along the edge, the cleaning device is extended horizontally to reduce the blind spot. However, when walking along the wall, the edge of the extended cleaning device is prone to rubbing against the wall, causing the cleaning robot to jam and parts to be damaged, affecting the user experience. Utility Model Content

[0004] In view of this, the utility model provides a cleaning device and a cleaning robot to solve the technical problem of how to reduce the probability of jamming of a cleaning device with a telescopic function when it is in an extended state.

[0005] The technical solution of the utility model is achieved in this way:

[0006] The utility model provides a cleaning device, comprising: a base body, which has an open accommodating cavity inside; a cleaning component, which is at least partially arranged in the accommodating cavity and is connected to the base body; a guide structure, which is arranged on the lateral edge of the base body to guide the movement of the cleaning device; wherein the cleaning device can move telescopically along the first direction, the lateral edge extends along the second direction or has an angle with the extension direction of the lateral edge and the second direction, and the first direction is perpendicular to the second direction.

[0007] In some embodiments, the guide structure includes: a rotating shaft installed on the lateral edge of the base; a guide wheel, which is sleeved on the rotating shaft and can rotate around the rotating shaft; wherein, in the first direction, the guide wheel at least partially protrudes from the lateral edge of the base.

[0008] In some embodiments, along the height direction of the guide wheel, the width of the guide wheel first increases and then decreases, the height direction of the guide wheel is the extension direction of the rotation axis, and the extension direction of the width is perpendicular to the height direction.

[0009] In some embodiments, the maximum width of the guide wheel is 6-12 mm, and the height of the guide wheel is 4-10 mm.

[0010] In some embodiments, the lateral edge of the substrate includes: a first side edge extending along the second direction; and a second side edge forming an acute angle with the second direction; wherein the guide structure is disposed at a corner connecting the first side edge and the second side edge.

[0011] In some embodiments, the base further includes a mounting portion for mounting the guide structure, and the mounting portion protrudes beyond the lateral edge in the first direction.

[0012] In some embodiments, the base body defines a mounting hole close to the lateral edge for mounting the guide structure; the lateral edge further comprises: a transition edge connected between the first side edge and the second side edge and located outside the mounting hole.

[0013] In some embodiments, the cleaning component includes: a rag assembly, disposed in the accommodating cavity, the rag assembly including a roller and a rag coated on the outer surface of the roller, the roller rotates to drive the rag to rotate; a wiper box, disposed against the rag and detachably connected to the base, the wiper box being used to scrape off the dirty water on the rag during the rotation of the rag.

[0014] In some embodiments, the cleaning device further includes: a telescopic assembly, which is arranged on a side of the base away from the opening of the accommodating cavity; a fixed bracket, which is fixed to the base, and the telescopic assembly is connected to the fixed bracket; wherein the telescopic assembly includes a screw drive assembly and an elastic assembly; the screw drive assembly is connected to the base to drive the cleaning device to move forward in a first direction; the elastic assembly is respectively connected to the fixed component and the base at both ends of the first direction to reset the cleaning device by moving in the opposite direction along the first direction.

[0015] In some embodiments, the fixed bracket is provided with a slide rail extending along the first direction, and the base is provided with a slide wheel; as the base moves in a telescopic manner in the first direction, the slide wheel reciprocates along the slide rail.

[0016] The utility model also provides a cleaning robot, comprising: a main body, used to move on a surface to be cleaned; a cleaning device according to any one of the above items, the cleaning device being installed at the bottom of the main body; wherein the main body moves along the second direction, and the cleaning device is arranged near the rear end of the second direction of the main body; in the extended state of the cleaning device, the lateral edge protrudes from the main body in the first direction, and in the retracted state of the cleaning device, the lateral edge is located inside the main body in the first direction.

[0017] The cleaning device provided by the utility model can be extended and retracted in the lateral direction to reduce the blind area of ​​cleaning, and a guide structure is arranged on the lateral edge of the base body to guide the movement of the cleaning device. When the cleaning device is in the extended state, the part that is most likely to collide with the wall is the lateral edge of the base body close to the wall. Through the guide structure arranged on the lateral edge, when the base body is about to collide with the wall or has already collided with the wall, the guide structure can move the cleaning device to change the current position, thereby facilitating the cleaning device from being stuck and facilitating the normal movement of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the assembly structure of the cleaning device in the embodiment of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the cleaning device after assembly in an embodiment of the utility model;

[0020] Figure 3 It is a longitudinal cross-sectional view of the guide wheel in the embodiment of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the base body in the embodiment of the utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the telescopic assembly in the embodiment of the utility model;

[0023] Figure 6 This is a schematic diagram of the cleaning robot in the embodiment of the utility model with the cleaning device extended;

[0024] Figure 7 It is a schematic diagram of the cleaning robot (bottom facing upward) in the embodiment of the utility model with the cleaning device in a retracted state.

[0025] Description of reference numerals:

[0026] 1. Cleaning device; 2. Main body; 3. Cleaning robot; 10. Base; 101. Accommodating cavity; 102. Lateral edge; 1021. First side edge; 1022. Second side edge; 1023. Transition edge; 103. Mounting portion; 1031. Mounting hole; 11. Cleaning assembly; 111. Cloth assembly; 112. Wiper box; 113. Roller motor; 1111. Roller; 1112. Cloth; 12. Guide structure; 121. Rotating shaft; 122. Guide wheel; 14. Telescopic assembly; 141. Screw drive assembly; 1411. Drive motor; 1412. Screw; 142. Elastic assembly; 1421. Spring; 1422. Movable end; 1423. Fixed end; 15. Fixed bracket; 151. Slide rail; 16. Sliding wheel; DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0028] The various specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in the utility model will not be described separately.

[0029] In the following description, the terms "first\second\..." are only used to distinguish different objects, and do not mean that the objects have the same or related points. It should be understood that the directions "above", "below", "outside" and "inside" are all directions in normal use, and the directions "left" and "right" refer to the left and right directions shown in the corresponding schematic diagrams, which may or may not be the left and right directions in normal use.

[0030] It should be noted that the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0031] The cleaning robot is used to move on the surface to be cleaned, and includes a cleaning device for sweeping and / or mopping the surface to be cleaned. In the following description, the extension direction of the cleaning device is defined as the first direction, represented by X; the overall movement direction of the cleaning robot is defined as the second direction, represented by Y, which can also be considered as the front-to-back direction under normal working conditions; the second direction represents the front-to-back direction, which can also be generally represented by the longitudinal direction. Correspondingly, the first direction can also be called the transverse direction, and the first direction is perpendicular to the second direction.

[0032] like Figure 1 As shown, the cleaning device 1 provided by the embodiment of the utility model includes: a base 10, a cleaning component 11 and a guide structure 12. Among them, the base 10 has an open accommodating cavity 101 inside, and the cleaning component 11 is at least partially arranged in the accommodating cavity 101. The cleaning component 11 is connected to the base 10. In the normal working state of the cleaning robot, the lower side of the accommodating cavity 101 is open so that the cleaning component 11 can contact the surface to be cleaned and clean the floor to be cleaned. The guide structure 12 is arranged on the lateral edge 102 of the base 10 to guide the movement of the cleaning device 1. The cleaning device 1 can move telescopically along the first direction X, and the lateral edge 102 extends along the second direction Y or the angle between the extension direction of the lateral edge 102 and the second direction Y is an acute angle. For example, the lateral edge 102 includes multiple edge segments, some of which extend directly along the second direction Y, and some of which are inclined with the second direction Y at an angle. The cleaning device 1 as a whole can be approximately viewed as a cuboid. The first direction X is the length extension direction of the cleaning device 1, which can be considered as the lateral direction of the cleaning robot; the second direction Y is the width extension direction of the cleaning device 1, which can be consistent with the movement direction of the cleaning robot; the height direction of the cleaning device 1 is consistent with the thickness direction of the cleaning robot, and the height, width and length of the cleaning device 1 increase in sequence.

[0033] The guide structure 12 is disposed on the lateral edge 102 of the cleaning device 1, and when the cleaning device 1 telescopes along the first direction X, the guide structure 12 can move along with the lateral edge 102. When the cleaning device 1 is extended to work, if the lateral edge 102 of the base 10 is most likely to rub or collide with an external object, the guide structure 12 will first contact the external object, move along the cleaning device 1 on the surface of the external object, and guide the movement of the cleaning device 1, so that the cleaning device 1 moves smoothly during the working process.

[0034] The cleaning device provided by the utility model can be extended and retracted in the lateral direction to reduce the blind area of ​​cleaning, and a guide structure is arranged on the lateral edge of the base body to guide the movement of the cleaning device. When the cleaning device is in the extended state, the part that is most likely to collide with the wall is the lateral edge of the base body close to the wall. Through the guide structure arranged on the lateral edge, when the base body is about to collide with the wall or has already collided with the wall, the guide structure can move the cleaning device to change the current position, thereby facilitating the cleaning device from being stuck and facilitating the normal movement of the cleaning robot.

[0035] In some embodiments, Figure 1 and Figure 2 As shown, the guide structure 12 includes: a rotating shaft 121 and a guide wheel 122, wherein the rotating shaft 121 is mounted on the lateral edge 102 of the base 10, and the guide wheel 122 is sleeved on the rotating shaft 121 and can rotate around the rotating shaft 121. In the first direction X, the guide wheel 122 at least partially protrudes from the lateral edge 102 of the base 10. It can be understood that the guide structure 12 is mounted on the lateral edge 102 through the steering shaft 121, and the guide wheel 122 protrudes from the lateral edge 102 in the first direction X. When the base 10 extends along the first direction X, the guide wheel 122 protrudes from the outside of the lateral edge 102. At this time, if the base 10 contacts an external object, the guide wheel 122 will contact the external object first. During the movement of the cleaning device 1, the guide structure 12 moves along the surface of the object. At this time, the guide wheel 122 rolls on the surface of the external object around the rotating shaft 121, thereby guiding the movement of the cleaning device during the operation of the cleaning device.

[0036] The embodiment of the utility model can guide the movement of the cleaning device by means of the guide wheel protruding from the lateral edge, thereby achieving the guiding function and simplifying the guiding structure, which is conducive to standardized production and reduces production costs.

[0037] In some embodiments, Figure 3 As shown, Figure 3It is a longitudinal cross-sectional view of the guide wheel 122, wherein the longitudinal direction refers to the axial direction parallel to the rotating shaft 121 through which the guide wheel 122 passes. Along the height direction of the guide wheel 122, the width of the guide wheel 122 first increases and then decreases. The height direction of the guide wheel 122 is the extension direction of the rotating shaft 121, and the extension direction of the width is perpendicular to the height direction. The height direction of the guide wheel can be consistent with the overall height direction of the cleaning robot, represented by Z. Then, in the Z-axis direction, the closer to the middle of the guide wheel 122, the larger the diameter. Since the guide wheel 122 is protruding from the lateral edge 102, when the lateral edge 102 is about to collide with an external object, the position with the largest diameter in the middle of the guide wheel 122 first contacts the object, further increasing the distance between the external object and the lateral edge 102, so that the cleaning device 1 is fully protected.

[0038] Furthermore, the guide wheel 122 can be made of soft rubber material such as rubber, TPE, TPU, or hard rubber surface covered with soft rubber. The guide wheel 122 is made of soft rubber material and can play a certain buffering role while guiding the cleaning device, avoiding damage to parts due to excessive impact force and improving the wear resistance of the guide wheel.

[0039] The embodiment of the utility model limits the shape of the guide wheel so that the position with the largest diameter of the guide wheel contacts the external object first, thereby increasing the distance between the cleaning device and the object when the cleaning device is extended for work, ensuring that the guide wheel can smoothly guide the cleaning device and play a buffering role for the parts of the cleaning device, thereby improving product quality and user experience.

[0040] In some embodiments, Figure 3 As shown, the maximum width D of the guide wheel 122 is 6-12 mm, and the height H of the guide wheel 122 is 4-10 mm. In other words, the maximum diameter of the guide wheel 122 is controlled between 6-12 mm. Within this size range, the guide wheel 122 can at least partially protrude from the lateral edge 102 to protect the cleaning device 1, but will not protrude too much to affect the appearance of the cleaning device 1; the height H of the guide wheel 122 is controlled between 4-10 mm, so that when the cleaning device 1 is extended to work, the guide wheel 122 is in stable contact with external objects, which can ensure smooth guiding work, and keep a certain distance from the bottom of the base 10 to avoid friction between the guide wheel 122 and the ground during the operation of the cleaning device 1, which affects the normal operation of the cleaning device 1.

[0041] The embodiment of the utility model further limits the size of the guide wheel to optimize the working performance of the guide structure and control the size of the guide structure, thereby optimizing the appearance of the cleaning device.

[0042] In some embodiments, Figure 4As shown, the lateral edge 102 of the substrate 10 includes: a first side edge 1021 and a second side edge 1022, wherein the first side edge 1021 extends along the second direction Y, and the angle between the second side edge 1022 and the second direction Y is an acute angle. In other words, the first side edge 1021 of the lateral edge 102 is arranged perpendicular to the first direction X, extends along the second direction Y, and the angle between the second side edge 1022 and the second direction Y is A, and A<90°.

[0043] like Figure 2 As shown, the guide structure 12 is arranged at the corner connecting the first side edge 1021 and the second side edge 1022. It can be understood that the guide structure 12 is arranged at the corner of the lateral edge 102. When the cleaning device 1 is extended to work, if the cleaning device 1 rotates, then the connection between the first side edge 1021 and the second side edge 1022 of the base 10 will be at the outermost side during the rotation process. At this time, the connection between the first side edge 1021 and the second side edge 1022 is easy to collide with external objects, causing the cleaning device to get stuck. Therefore, in order for the guide structure 12 to fully guide the movement of the cleaning device 1, it is necessary to set the guide structure 12 at the connection between the first side edge 1021 and the second side edge 1022, which can meet the guidance requirements of the linear motion of the cleaning device 1 and the guidance requirements when the cleaning device 1 rotates.

[0044] In the embodiment of the utility model, the guide structure is arranged at the corner connecting the first side edge and the second side edge, so that when the cleaning device rotates, the guide structure can also guide the cleaning device to avoid jamming during the rotation process, thereby further improving the function of the guide structure, optimizing the performance of the cleaning device, and helping to improve the user experience.

[0045] In some embodiments, Figure 4 As shown, the base 10 further includes a mounting portion 103 for mounting the guide structure 12, and the mounting portion 103 protrudes from the lateral edge 102 in the first direction X. It can be understood that the mounting portion 103 of the guide structure 12 is arranged to protrude from the lateral edge 102, so that the guide structure 12 can protrude from the lateral edge 102 when mounted on the mounting portion 103, thereby providing sufficient space for the installation of the guide structure 12 while realizing the function of the guide structure 12.

[0046] In the embodiment of the utility model, the installation part of the guide structure protrudes from the lateral edge, which further optimizes the positional relationship between the various parts of the cleaning device, improves the utilization rate of the space, and optimizes the size of the product.

[0047] In some embodiments, Figure 4As shown, the base 10 is provided with a mounting hole 1031 near the lateral edge 102 for mounting the guide structure 12, and the lateral edge 102 further includes: a transition edge 1023, connected between the first side edge 1021 and the second side edge 1022 and located outside the mounting hole 1031. In other words, the rotating shaft 121 cooperates with the mounting hole 1031 to fix the guide structure 12 on the mounting portion 103, and the transition edge 1023 is respectively connected to the first side edge 1021 and the second side edge 1022 from the outside of the mounting hole 1031, so that the connection between the mounting portion 103 and the lateral edge 102 is smooth.

[0048] The mounting portion in the embodiment of the utility model is provided with a mounting hole for fixing the rotating shaft, and is smoothly connected with the lateral edge through a transition edge, so as to further improve the structure of the mounting portion and optimize the appearance of the cleaning device.

[0049] In some embodiments, Figure 1 As shown, the cleaning assembly 11 includes: a rag assembly 111 and a water hanging box 112, wherein the rag assembly 111 is arranged in the accommodating chamber 101, the rag assembly 111 includes a roller 1111 and a rag 1112 coated on the outer surface of the roller 1111, the roller 1111 rotates to drive the rag 1112 to rotate, the wiper box 112 is arranged against the rag 1112 and is detachably connected to the base 10, and the wiper box 112 is used to scrape off the sewage on the rag 1112 during the rotation of the rag 1112. It can be understood that the rag assembly 111 is arranged in the accommodating chamber 101, and during the operation of the cleaning device 1, the roller motor 113 drives the roller 1111 to rotate, and at the same time drives the rag 1112 coated on the surface of the roller 1111 to rotate together, so as to clean the surface to be cleaned. The edge of the wiper box 112 abuts against one side of the rag assembly 111. During the rotation of the rag assembly 111, the wiper box 112 can scrape off the dirty water on the rag 1112 and temporarily store it, so that the rag 112 remains clean to improve the cleaning effect of the cleaning device. At the same time, the wiper box 112 is detachably connected to the base 10. When the wiper box 112 is full of water, the wiper box 112 can be removed for cleaning.

[0050] In the embodiment of the utility model, a detachable wiper box is provided to ensure the cleanliness of the rag assembly, improve the effect of the cleaning device, optimize the performance of the product, and improve the user's experience.

[0051] In some embodiments, Figure 5As shown, the cleaning device 1 further includes: a telescopic component 14 and a fixed bracket 15. The telescopic component 14 is arranged on a side of the base 10 away from the opening of the accommodating cavity 101, the fixed bracket 15 is fixed to the base 10, the telescopic component 14 is connected to the fixed bracket 15, in the height direction of the cleaning device 1, the telescopic component 14 is arranged on a side of the base 10 away from the rag component 111, the fixed bracket 15 is arranged between the telescopic component 14 and the base 10, the telescopic component 14 is installed on the base 10 through the fixed bracket 15, and is located on the side of the base 10 opposite to the rag component 111.

[0052] The telescopic assembly 14 includes a screw drive assembly 141 and an elastic assembly 142. The screw drive assembly 141 is connected to the base 10 to drive the cleaning device 1 to move forward in the first direction X. The elastic assembly 142 is connected to the fixed bracket 15 and the base 10 at both ends of the first direction X, respectively, so that the cleaning device 1 moves backward and resets in the first direction X. In other words, the extension and retraction movements of the cleaning device 1 are driven by two different assemblies, respectively. The working principles of the screw drive assembly 141 and the elastic assembly 142 are described below:

[0053] The process of extending the cleaning device: the movable end 1422 of the spring 1421 in the elastic component 142 is connected to the base 10, and the fixed end 1423 of the spring 1421 is connected to the fixed bracket 15. When the cleaning device 1 is in the retracted position, the spring 1421 is in a stretched state. Then, under the deformation force of the spring 1421, the movable end 1422 will move in the direction close to the fixed end 1423, thereby driving the base 10 to move along the first direction X, so that the cleaning device 1 extends outward.

[0054] Retraction process of cleaning device: When the cleaning device 1 is in the extended position, the interval between the movable end 1422 and the fixed end 1423 is small, that is, the spring 1421 in the elastic component 142 has not been stretched and deformed, and can be considered to be in a natural state with basically no deformation, so the spring component 142 has no driving effect on the cleaning device 1. At this time, the screw 1412 in the screw driving component 141, under the action of the driving motor 1411, gradually pulls the base 10 back to the retracted state, and returns the spring 1421 to the stretched state, preparing for the next extension.

[0055] In addition, the fixed bracket 15 is further provided with a slide rail 151 extending along the first direction X, and a slide wheel 16 is provided on the base 10. During the above-mentioned telescopic process, the slide wheel 16 moves along the telescopic movement of the base 10 in the first direction X, and the slide wheel 16 reciprocates along the slide rail 151 to guide and limit the telescopic movement of the cleaning device 1.

[0056] The cleaning device in the embodiment of the utility model controls the extension and retraction of the cleaning device through two different driving modes, which simplifies the structure of the telescopic driving component and reduces the production cost while ensuring the normal function.

[0057] During the above-mentioned telescopic process, the fixed bracket 15 is provided with a slide rail 151 extending along the first direction X, and a sliding wheel 16 is provided on the base 10. The sliding wheel 16 moves along the telescopic movement of the base 10 in the first direction X. The sliding wheel 16 reciprocates along the slide rail 151 to guide and limit the telescopic movement of the cleaning device 1.

[0058] like Figure 6 As shown, the utility model provides a cleaning robot 3, comprising: a main body 2 and a cleaning device 1, wherein the main body 2 is used to move on the surface to be cleaned, and the cleaning device 1 is installed at the bottom of the main body 2, wherein the main body 2 moves along the second direction Y, and the cleaning device 1 is arranged near the rear end of the second direction Y of the main body 2, that is, during the movement of the main body 2 on the surface to be cleaned, the cleaning device 1 moves with the main body 2, and during the movement, the cleaning device 1 completes the cleaning of the surface to be cleaned.

[0059] like Figure 6 As shown, when the cleaning device 1 is in the extended state, the lateral edge 102 protrudes from the main body 2 in the first direction X. It can be understood that when the cleaning robot 3 performs edge cleaning, the cleaning device 1 is extended along the first direction X to basically keep the lateral edge 102 of the module and the outermost side of the contour line of the main body 2 flush, so as to reduce the blind area cleaned by the cleaning robot 3.

[0060] like Figure 7 As shown, in the retracted state of the cleaning device 1, the lateral edge 102 is located inside the main body 2 in the first direction X. That is, when the cleaning device 1 is retracted, the lateral edge 102 is located inside the main body 2, but because the guide structure 12 protrudes from the lateral edge 102, even in the state where the cleaning device 1 is not extended, the guide structure 12 protrudes from the edge of the main body 2, and can also provide guidance for the movement of the cleaning robot 3 to avoid friction and jamming.

[0061] The embodiment of the utility model provides a cleaning robot with a retractable cleaning device, which can reduce the blind area of ​​the cleaning robot during its operation. At the same time, a guide structure is provided on the lateral edge of the cleaning device 1 to avoid friction and jamming between the cleaning robot and the external environment, thereby extending the service life of the product, optimizing the performance of the product, and improving the user experience.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A cleaning device, characterized in that: include: A base body having an open receiving cavity therein; A cleaning component, at least partially disposed in the accommodating cavity, the cleaning component being connected to the base; A guide structure, disposed at a lateral edge of the base body to guide the movement of the cleaning device; The cleaning device can telescopically move along a first direction, the lateral edge extends along a second direction or the extending direction of the lateral edge forms an angle with the second direction, and the first direction is perpendicular to the second direction.

2. The cleaning device according to claim 1, characterized in that The guiding structure comprises: A rotating shaft, mounted on a lateral edge of the base; A guide wheel, sleeved on the rotating shaft and rotatable around the rotating shaft; Wherein, in the first direction, the guide wheel at least partially protrudes from the lateral edge of the base body.

3. The cleaning device according to claim 2, characterized in that: Along the height direction of the guide wheel, the width of the guide wheel increases first and then decreases. The height direction of the guide wheel is the extension direction of the rotating shaft, and the extension direction of the width is perpendicular to the height direction.

4. The cleaning device according to claim 3, characterized in that: The maximum width of the guide wheel is 6-12 mm, and the height of the guide wheel is 4-10 mm.

5. The cleaning device according to any one of claims 1 to 4, characterized in that: The lateral edges of the substrate include: a first side edge extending along the second direction; The second side edge has an acute angle with the second direction; Wherein, the guide structure is arranged at a corner connecting the first side and the second side.

6. The cleaning device according to claim 5, characterized in that: The base body further comprises a mounting portion for mounting the guide structure, wherein the mounting portion protrudes from the lateral edge in the first direction.

7. The cleaning device according to claim 5, characterized in that: The base body is provided with a mounting hole close to the lateral edge for mounting the guide structure; the lateral edge further comprises: A transition edge is connected between the first side edge and the second side edge and is located outside the mounting hole.

8. The cleaning device according to claim 1, characterized in that: The cleaning component comprises: A rag assembly is arranged in the accommodating cavity, the rag assembly comprises a roller and a rag wrapped on the outer surface of the roller, and the roller rotates to drive the rag to rotate; A wiper box is arranged against the rag and is detachably connected to the base body, and the wiper box is used to scrape off the dirty water on the rag during the rotation of the rag.

9. The cleaning device according to claim 1, characterized in that: The cleaning device also includes: A telescopic assembly is arranged on a side of the base body away from the opening of the accommodating cavity; A fixed bracket, fixed to the base, and the telescopic assembly is connected to the fixed bracket; Among them, the telescopic assembly includes a screw drive assembly and an elastic assembly; the screw drive assembly is connected to the base to drive the cleaning device to move forward along the first direction; the elastic assembly is respectively connected to the fixed bracket and the base at both ends of the first direction to enable the cleaning device to move in the opposite direction and reset along the first direction.

10. The cleaning device according to claim 9, characterized in that The fixed bracket is provided with a slide rail extending along the first direction, and the base is provided with a slide wheel; as the base moves in a telescopic manner in the first direction, the slide wheel reciprocates along the slide rail.

11. A cleaning robot, characterized in that: include: A body member, adapted to move over the surface to be cleaned; The cleaning device according to any one of claims 1 to 10, wherein the cleaning device is mounted on the bottom of the body member; in, The main body moves along the second direction, and the cleaning device is arranged near the rear end of the second direction of the main body; when the cleaning device is in the extended state, the lateral edge protrudes from the main body in the first direction, and when the cleaning device is in the retracted state, the lateral edge is located inside the main body in the first direction.

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