Cleaning device

Abstract

The utility model provides cleaning equipment. The cleaning equipment comprises a machine body, two cleaning assemblies and a water supplementing mechanism. Wherein one cleaning assembly can swing relative to the machine body so as to have an inward retracting position and an outward swinging position, and the other cleaning assembly cannot swing relative to the machine body; when the cleaning assembly capable of swinging is located at the outward swinging position, at least one part of the cleaning assembly is located outside the peripheral side of the machine body so as to be used for edge cleaning. Each cleaning assembly comprises a cleaning disc and a cleaning piece arranged on the cleaning disc; when the cleaning assemblies are located at the outward swinging positions, a gap exists between the cleaning pieces of the two cleaning assemblies in the width direction of the machine body; the water replenishing mechanism is arranged in the machine body and provided with two water outlets, one water outlet replenishes water to the cleaning part of the cleaning assembly which cannot swing, the other water outlet replenishes water to the cleaning part of the cleaning assembly which can swing, and the water outlets can replenish water to the cleaning part when the cleaning part is located at the inwards-retracting position and the outwards-swinging position.

Description

[0001] Related Applications:

[0002] This application claims the priority of the PCT international application with the patent application number PCT / CN2023 / 100210, the filing date of June 14, 2023, and the application title "Cleaning Equipment", the entire content of which is incorporated herein by reference. Technical Field

[0003] This application relates to the field of cleaning equipment, and in particular, to a cleaning equipment. Background Art

[0004] With the continuous progress of living conditions and technological levels, cleaning equipment has the advantages of being easy to use and having good cleaning effects. Therefore, cleaning equipment has gradually begun to replace manual cleaning and widely appears in life and work. Cleaning equipment mainly collects dirt on the surface to be cleaned through cleaning parts such as rotary brushes or mops.

[0005] However, the cleaning parts on current cleaning equipment are all designed to be fixed to the main body. As a result, when mopping the floor along the edge, the edge cannot be mopped, and dirty marks are formed along the edge of the house wall for a long time, resulting in a poor user experience.

[0006] Therefore, it is necessary to improve the existing technology to overcome the defects in the existing technology. Utility Model Content

[0007] The purpose of this application is to provide a cleaning equipment for solving the problem of incomplete edge cleaning.

[0008] This application can be implemented by the following technical solutions:

[0009] This application provides a cleaning equipment, including: a body; a cleaning component, the cleaning component is movably connected to the body, the cleaning component has a first position and a second position. When the cleaning component is in the first position, a part of the cleaning component is located outside the circumferential side of the body; when the cleaning component moves to the second position, the part of the cleaning component located outside the circumferential side of the body is larger than the part of the cleaning component located outside the circumferential side of the body when the cleaning component is in the first position.

[0010] This application also provides a cleaning equipment, including: a body; a cleaning component, the cleaning component is connected to the body, at least one of the cleaning components has an outward swing position and a retracted position; a lifting structure for driving the cleaning component to lift or lower; during the process of the cleaning component moving towards the outward swing position or the retracted position, the cleaning component does not rotate.

[0011] The present application also provides a cleaning device, including: a body; a cleaning assembly, the cleaning assembly being connected to the body, at least one of the cleaning assemblies having an outward swinging state and a retracted state; a lifting structure for driving the cleaning assembly to move between a mopping position and a lifted position; when the cleaning assembly is in the mopping position, the cleaning assembly can move between the outward swinging state and the retracted state; when the cleaning assembly is in the retracted state, the cleaning assembly can move between the mopping position and the lifted position.

[0012] The present application also provides a cleaning device, including: a body, a moving channel is provided on the body for at least one cleaning assembly to swing between a retracted position and an outward swinging position; a sealing structure, the sealing structure moves along with the swinging of the cleaning assembly to dynamically block or seal the moving channel.

[0013] The present application also provides a cleaning device, including: a cleaning assembly, at least one of the cleaning assemblies having a retracted state and an outward swinging state, and a swinging state of swinging between the retracted state and the outward swinging state; the cleaning assembly has a hollow area and a cleaning member located below the hollow area; a water replenishing mechanism having at least one water outlet; when the cleaning assembly is in the retracted state, the outward swinging state and the swinging state, the water outlet is always communicated with the hollow area, and the solution of the water outlet passes through the hollow area to provide the solution for the cleaning member.

[0014] The present application also provides a cleaning device, including: a body having an installation cavity; a dust box provided in the installation cavity; the dust box has at least one first avoiding surface, and the installation cavity provides a swinging space for at least one cleaning assembly to move between a retracted position and an outward swinging position through the first avoiding surface.

[0015] The present application also provides a cleaning device, the cleaning device including: a body; a cleaning assembly, the cleaning assembly being movably connected to the body, the cleaning assembly having an initial position and a contracted position; a reset member, one end of the reset member being connected to the cleaning assembly, the other end of the reset member being connected to the body, the reset member providing a reset force for the cleaning assembly to remain in the initial position; wherein, when the cleaning assembly is in the contracted position, a part of the cleaning assembly is located outside the circumferential side of the body; when the cleaning assembly is in the initial position, the part of the cleaning assembly located outside the circumferential side of the body is larger than the part of the cleaning assembly located outside the circumferential side of the body when the cleaning assembly is in the contracted position, and when the part of the cleaning assembly located outside the circumferential side of the body abuts against the edge of an obstacle, the cleaning assembly switches from the initial position to the contracted position.

[0016] The present application also provides a cleaning mechanism, which is suitable for being installed at the bottom of the body of a cleaning robot and includes: a cleaning member for cleaning a surface to be cleaned; a connecting member including a first end for connecting with the cleaning member and a second end for rotatably connecting with the body; and a driving assembly connected to the connecting member for driving the connecting member to rotate about a rotation fulcrum of the second end on the body, so as to drive the cleaning member to move up and down relative to the body.

[0017] The present application also provides a cleaning mechanism, including: a base; a cleaning assembly including a cleaning member, the cleaning member being rotatable relative to the base under an external force so that the cleaning member has a retracted position or an extended position; a first driving assembly including a first driving member, a transmission member connected to the first driving member, a swinging member cooperating with the transmission member, and an actuating member, the swinging member being rotatably arranged on the base; the cleaning member being arranged on the swinging member; the actuating member being rotatably arranged on the rotating shaft; two ends of the actuating member respectively acting on the swinging member and the transmission member; the swinging member cooperating with the transmission member and being driven by the transmission member to rotate so as to drive the cleaning member to switch between the retracted position and the extended position; during the process of the cleaning member switching from the retracted position to the extended position, the actuating member is energized by the driving force of the transmission member and drives the swinging member to rotate; when the driving force of the transmission member is withdrawn, the actuating member releases the stored energy to drive the swinging member to continue swinging towards the extended position direction.

[0018] The present application also provides a cleaning device arranged on the main body of a cleaning robot. The cleaning device includes: a housing; a driving mechanism arranged in the housing; a cleaning assembly arranged at the output end of the driving mechanism, the driving mechanism driving the cleaning assembly to perform rotational and lifting movements; and an adjusting assembly arranged on the main body, under the action of an external force, the adjusting assembly can be deformed to swing the housing towards the direction close to the main body.

[0019] The present application also provides a traction mechanism for a cleaning module of a cleaning robot. The traction mechanism includes: a base body; a traction member arranged on the base body, one end of the traction member extending out of the base body and being used for connecting the cleaning module; a tensioning structure connected between two ends of the traction member and used for tensioning the traction member; and a winding and unwinding assembly arranged on the base body and fixedly connected to the other end of the traction member, the winding and unwinding assembly being used for winding up the traction member to traction the cleaning module, or unwinding and releasing the traction member to release the cleaning module.

[0020] The present application also provides a cleaning mechanism, including: a cleaning module, the cleaning module includes a driving module and a cleaning component, the driving module is connected to the cleaning component and is used to drive the cleaning component to rotate; a connecting piece, the connecting piece is connected to the driving module; and a transmission piece, the transmission piece is rotationally connected to the driving module and is connected to the connecting piece; wherein, the transmission piece can rotate around a rotation axis, and through the connecting piece, the driving module is driven to rotate around the rotation axis, and the rotation axis is parallel to the rotation axis of the cleaning component.

[0021] The present application also provides a cleaning robot, including: a housing; a cleaning module, the cleaning module includes a cleaning component and a driving module for driving the cleaning component to rotate, the driving module is rotatably arranged in the housing, so that the cleaning component has an initial position and a side-edge position, and the side-edge position is the position where at least a part of the cleaning component extends out of the maximum width of the housing in the forward direction; an elastic member, the elastic member is arranged between the housing and the driving module, and through the driving module, the cleaning component is moved towards the side-edge position; and a link driving mechanism, the link driving mechanism is arranged in the housing and is connected to the driving module and is used to drive the driving module to rotate; when the link driving mechanism is self-locked, the link driving mechanism can maintain the cleaning component at the initial position.

[0022] The present application also provides a cleaning control method for a cleaning robot, the method includes: obtaining obstacle information in the forward direction of the cleaning robot; wherein, the cleaning robot includes a body and a cleaning component movably arranged on the body, the cleaning component has a retracted position close to the body and an extended position away from the body, and when the cleaning component is in the extended position, the part of the cleaning component located outside the circumferential side of the body is larger than the part of the cleaning component located outside the circumferential side of the body when the cleaning component is in the retracted position; determining whether the obstacle information contains obstacle data that meets a preset obstacle condition; if the obstacle information contains obstacle data that meets the preset obstacle condition, controlling the cleaning component to move to the retracted position.

[0023] The present application provides a cleaning device, including: a body;

[0024] Two cleaning components for wet cleaning; wherein, one of the cleaning components is swingable relative to the body to have a retracted position and a swung-out position, and the other cleaning component is not swingable relative to the body; when the swingable cleaning component is in the swung-out position, at least a part of the cleaning component is located outside the circumferential side of the body for edge cleaning;

[0025] Each of the cleaning assemblies includes a cleaning disk and cleaning members provided on the cleaning disk; when the cleaning assemblies are in the outward swing position, there is a gap between the cleaning members of the two cleaning assemblies along the width direction of the machine body.

[0026] A water replenishing mechanism is provided in the machine body. The water replenishing mechanism has two water outlets. One water outlet replenishes water to the cleaning members of the non-swingable cleaning assembly, and the other water outlet replenishes water to the cleaning members of the swingable cleaning assembly. Moreover, this water outlet can replenish water to the cleaning members when the cleaning members are in the retracted position and the outward swing position.

[0027] Optionally, for the above-mentioned cleaning device, the water outlet of the water replenishing mechanism is provided on the bottom of the machine body, and an annular hollow area is provided on the cleaning disk; when the cleaning assembly is in the retracted position and the outward swing position, the water outlet is in communication with the hollow area of the swingable cleaning disk to replenish water to the swingable cleaning members.

[0028] Optionally, for the above-mentioned cleaning device, an annular hollow area is provided on the cleaning disk; when the cleaning assembly is in the retracted position and the outward swing position, the vertical projection areas of the hollow area on the bottom of the machine body are respectively a retracted vertical projection area and an outward swing vertical projection area; the water outlet is located within the common overlapping area of the retracted vertical projection area and the outward swing vertical projection area for replenishing water to the cleaning members of the swingable cleaning assembly.

[0029] Optionally, for the above-mentioned cleaning device, the cleaning assembly further has any position during the swinging process between the retracted position and the outward swing position. When the cleaning assembly is in any position, the vertical projection area of the hollow area on the cleaning disk on the bottom of the machine body is a swinging vertical projection area.

[0030] The water outlet is located within the always overlapping area of the retracted vertical projection area, the outward swing vertical projection area, and the swinging vertical projection area.

[0031] Optionally, for the above-mentioned cleaning device, the cleaning disk includes a disk body. A deformation portion is provided at the edge of the outer circle of the disk body, and deformation holes are provided on the deformation portion; the hollow area is provided on the disk body, and at least one spoke is provided on the bottom of the disk body, and an adhesive structure is provided on the spoke for adhering the cleaning members.

[0032] Optionally, for the above-mentioned cleaning device, at least one overflow hole is provided on the bottom of the machine body. The overflow hole is in communication with the water tank of the water replenishing mechanism, and at least part of the overflow hole is opposite to the deformation holes for dripping the excess solution in the water tank onto the cleaning members through the overflow hole and the deformation holes to moisten the cleaning members.

[0033] Optionally, the above-mentioned cleaning device further includes a first driving structure disposed in the installation cavity of the body. The first driving structure is used to drive the swingable cleaning assembly to rotate so that the cleaning assembly cleans the ground. A moving channel is provided at the bottom of the body. The first driving structure has an installation part. The cleaning assembly is installed on the installation part and is located below the moving channel. The installation part swings in the moving channel so that the cleaning assembly switches between the retracted position and the outward swing position.

[0034] Optionally, the above-mentioned cleaning device further includes a second driving structure disposed in the installation cavity of the body. The second driving structure is used to drive the first driving structure to swing so that the installation part swings in the moving channel to drive the cleaning assembly to swing between the retracted position and the second outward swing position.

[0035] Optionally, the above-mentioned cleaning device further includes a dry cleaning module. The dry cleaning module includes a main brush, a dust box and a blower. The dust box and the blower are disposed in the installation cavity of the body. The main brush is rotatably disposed in the main brush cavity at the bottom of the body. Under the negative pressure generated by the blower, the garbage swept by the main brush is sucked into the dust box.

[0036] A first avoidance surface is provided on one wall surface of the dust box. An installation space is formed between the first avoidance surface and the side wall of the body. The first driving structure and / or the second driving structure is disposed in the installation space.

[0037] Optionally, for the above-mentioned cleaning device, the first driving structure includes a first motor and a first transmission mechanism disposed on the output shaft of the first motor. The second driving structure includes a second motor and a second transmission mechanism disposed on the output shaft of the second motor. The first transmission mechanism is connected to the second transmission mechanism through a swing arm. When the second transmission mechanism swings, the first transmission mechanism is driven to swing as a whole through the swing arm to drive the cleaning assembly to swing. A region for distributing the second motor and the second transmission mechanism is formed between the blower, the first motor, the first transmission mechanism and the first avoidance surface.

[0038] Optionally, for the above-mentioned cleaning device, the cleaning device further includes a main brush and a side brush. The main brush is rotatably disposed in the main brush cavity at the bottom of the body. The main brush is used for dry cleaning. Along the advancing direction of the cleaning device, both cleaning assemblies are located behind the main brush.

[0039] The side brush is located on one side of the front part of the body. Along the advancing direction of the cleaning device, the side brush is located in front of the main brush.

[0040] Optionally, for the above-mentioned cleaning device, the side brush is swingable relative to the body and has a retracted position and a swung-out position. When the side brush is in the retracted position, a part of the side brush is located outside the peripheral side of the body. When the side brush swings to the swung-out position, the part of the side brush located outside the peripheral side of the body is larger than the part of the side brush located outside the peripheral side of the body when the side brush is in the retracted position.

[0041] Optionally, for the above-mentioned cleaning device, during the switching process between the retracted position and the swung-out position of the cleaning assembly, the cleaning assembly can rotate on its own axis.

[0042] Optionally, for the above-mentioned cleaning device, the cleaning device further includes a second driving structure for driving the cleaning assembly to swing between the retracted position and the swung-out position and for driving the cleaning assembly to switch from the swung-out position to the retracted position in at least one scenario. The scenario includes at least one of the scenarios where the cleaning device needs to return to the base station and the scenario where the cleaning assembly needs to be lifted.

[0043] Optionally, for the above-mentioned cleaning device, it further includes a lifting structure for driving the cleaning assembly to lift and lower, so that the cleaning assembly has a lifted position and a mopping position.

[0044] When the cleaning assembly is in the swung-out position, the second driving structure drives the cleaning assembly to switch from the swung-out position to the retracted position, and in the retracted position, the lifting structure drives the cleaning assembly to lift or lower.

[0045] Optionally, for the above-mentioned cleaning device, when the cleaning assembly is in the mopping position, the second driving structure drives the cleaning assembly to swing so as to switch between the retracted position and the swung-out position.

[0046] Optionally, for the above-mentioned cleaning device, in the case of disassembling the cleaning assembly and / or in at least one of the cases where the cleaning device is cleaning a carpet or overcoming an obstacle, the lifting structure positions the cleaning assembly at the lifted position.

[0047] Optionally, the above-mentioned cleaning device further includes a lifting structure for driving the cleaning assembly to lift and lower, so that the cleaning assembly has a lifting position and a mopping position; when the cleaning assembly is in the outward swing position, the second driving structure drives the cleaning assembly to switch from the outward swing position to the retracted position, and in the retracted position, the lifting structure drives the cleaning assembly to lift or lower; the lifting structure and the first driving structure share a motor; the first driving structure includes a rotating motor, the lifting structure includes a first fixing body and a second fixing body, the first fixing body is in threaded cooperation with the second fixing body, and the bottom of the second fixing body is provided with the mounting portion; when the rotating motor rotates in the first direction, the second fixing body rotates upward relative to the first fixing body, and the cleaning assembly lifts to reach the lifting position; when the rotating motor rotates in the second direction, the second direction is opposite to the first direction, and the second fixing body rotates downward relative to the first fixing body, so that the cleaning assembly descends to the mopping position; when in the mopping position, the rotating motor continues to rotate in the second direction, and there is no relative rotation between the first fixing body and the second fixing body, so as to drive the whole cleaning assembly to rotate for mopping the floor.

[0048] Optionally, for the above-mentioned cleaning device, the second driving structure includes a motor and a transmission mechanism; the cleaning device further includes a position-in-place detection structure and a control system;

[0049] The position-in-place detection structure includes a detection member and an induction member; one of the detection member and the induction member is arranged on the transmission mechanism, and the other is fixedly arranged relative to the machine body. The detection member and the induction member are located on the rotation path of the transmission mechanism and are used to detect any position of the cleaning assembly in the retracted position, the outward swing position and the swinging process, so that the control system controls the motor to stop rotating, and the cleaning assembly stays in the retracted position, the outward swing position or any position.

[0050] Optionally, for the above-mentioned cleaning device, in the non-edge-following mode, when there are few obstacles in the environment where the cleaning assembly is located, so that the obstacles do not interfere with the cleaning assembly and the cleaning assembly can be normally fixed on the machine body, the cleaning assembly stays in the outward swing position.

[0051] Optionally, for the above-mentioned cleaning device, the outward swing position is an interval.

[0052] Optionally, for the above-mentioned cleaning device, it further includes a sensor. When the cleaning assembly performs edge cleaning in the outward swing position, the sensor is used to detect the distance between the machine body and the edge of the obstacle in real time, so as to dynamically adjust the edge cleaning distance of the cleaning assembly.

[0053] The beneficial effects of the present application are:

[0054] The cleaning device includes a body and a cleaning component. The cleaning component is movably connected to the body. The cleaning component has a first position and a second position. When the cleaning component is in the first position, a part of the cleaning component is located outside the peripheral side of the body. When the cleaning component moves to the second position, the part of the cleaning component located outside the peripheral side of the body is larger than the part of the cleaning component located outside the peripheral side of the body when the cleaning component is in the first position.

[0055] As can be seen from the above, during the process of cleaning the surface to be cleaned, the cleaning component has a first position and a second position. When the cleaning component switches from the first position to the second position, it moves in a direction away from the body. When the cleaning component is in the second position, the part of the cleaning component located outside the body increases compared to when it is in the first position, so as to clean the area near the obstacle. In this application, when the cleaning component is in the first position and the second position, at least a part of the cleaning component is located outside the peripheral side of the body, and when in the second position, it can clean dead corners such as obstacles, cleaning more comprehensively and improving the cleaning efficiency. Brief Description of the Drawings

[0056] The following drawings are only intended to illustrate and explain the present application schematically, and do not limit the scope of the present application. Among them:

[0057] Figure 1 It is a schematic structural diagram of the cleaning component in the first position in Embodiments 1 to 7 of the present application;

[0058] Figure 2 It is a schematic structural diagram of the cleaning component in the second position in Embodiments 1 to 7 of the present application, and a schematic diagram of the cleaning component extending to be flush with the widest area of the body;

[0059] Figure 3 It is a schematic structural diagram of the cleaning component in the second position in Embodiments 1 to 7 of the present application, and the cleaning component extends outside the widest area of the body;

[0060] Figure 4 It is a schematic internal structural diagram of an embodiment of the cleaning device in Embodiments 1 to 7 of the present application;

[0061] Figure 5 For Figure 4 The schematic internal structural diagram of the cleaning device in [[]] without installing the cleaning component;

[0062] Figure 6 For Figure 4 The schematic transmission structure diagram of the cleaning component provided in [[]];

[0063] Figure 7 It is a schematic internal structural diagram of another embodiment of the cleaning device in Embodiments 1 to 7 of the present application;

[0064] Figure 8 is Figure 7 The internal structure schematic diagram of the cleaning device in without the cleaning component installed;

[0065] Figure 9 is Figure 7 The internal structure schematic diagram of the cleaning device in without the cleaning component installed, in which a sealing structure member is installed;

[0066] Figure 10 is Figure 7 The schematic diagram of the transmission structure of the cleaning component and the mating structure with the cleaning component provided in ;

[0067] Figure 11 is Figure 7 The overall structure schematic diagram of the cleaning component provided in ;

[0068] Figure 12 is Figure 7 The internal transmission structure schematic diagram of the cleaning component provided in ;

[0069] Figure 13 The structure schematic diagram of the sealing structure member when the cleaning component in Embodiments 1 to 7 of the present application is in the first position;

[0070] Figure 14 The structure schematic diagram of the sealing structure member when the cleaning component in Embodiments 1 to 7 of the present application is in the second position;

[0071] Figure 15 The internal structure schematic diagram of another implementation manner of the cleaning device in Embodiments 1 to 7 of the present application, with the cleaning component in the first position;

[0072] Figure 16 is Figure 15 The mating structure schematic diagram of the driving motor and the cleaning component provided in ;

[0073] Figure 17 The internal structure schematic diagram of another implementation manner of the cleaning device in Embodiments 1 to 7 of the present application, with the cleaning component in the second position;

[0074] Figure 18 The transmission structure schematic diagram of another implementation manner of the cleaning device in Embodiments 1 to 7 of the present application;

[0075] Figure 19 is Figure 18 The internal structure schematic diagram of the cleaning component provided in ;

[0076] Figure 20 The structure schematic diagram of the cleaning component in Embodiments 1 to 7 of the present application when in the initial position;

[0077] Figure 21 Schematic diagram of the cleaning component in the retracted position in Embodiments 1 to 7 of the present application;

[0078] Figure 22 Schematic diagram of the cleaning component in the initial position in Embodiments 1 to 7 of the present application, where the cleaning component extends to be flush with the widest area of the body;

[0079] Figure 23 Schematic diagram of the cleaning component in the initial position in Embodiments 1 to 7 of the present application, where the cleaning component extends outside the widest area of the body;

[0080] Figure 24 Schematic diagram of the cleaning component in Embodiment 9 of the present application;

[0081] Figure 25 is Figure 24 Schematic diagram of the cleaning component in the expanded position shown;

[0082] Figure 26 is Figure 24 Schematic diagram of the cleaning component in the retracted position shown;

[0083] Figure 27 is Figure 24 Schematic cross-sectional view of the cleaning component shown;

[0084] Figure 28 is Figure 24 Exploded schematic diagram of a part of the cleaning component shown;

[0085] Figure 29 is Figure 24 Schematic diagram of the second drive component of the cleaning component shown;

[0086] Figure 30 is Figure 24 Schematic diagram of another part of the cleaning component shown;

[0087] Figure 31 is Figure 24 Schematic diagram of yet another part of the cleaning component shown;

[0088] Figure 32 is Figure 24 Schematic diagram of the cleaning component in another direction shown;

[0089] Figure 33 is Figure 24 Schematic diagram of the cleaning component in yet another direction shown;

[0090] Figure 34 Schematic diagram of the cleaning device in Embodiment 10 of the present applicationFigure One ;

[0091] Figure 35 is a schematic structural diagram of the cleaning device in Embodiment 10 of the present application Figure Two ;

[0092] Figure 36 is Figure 35 a partial enlarged view of the position A in

[0093] Figure 37 is a schematic structural diagram of the cleaning device in Embodiment 10 of the present application Figure Three ;

[0094] Figure 38 is Figure 37 a partial enlarged view of the position B in

[0095] Figure 39 is a partial structural schematic diagram of Embodiment 10 of the present application Figure One ;

[0096] Figure 40 is a partial structural schematic diagram of the cleaning component in Embodiment 10 of the present application Figure Two ;

[0097] Figure 41 is a schematic structural diagram of an implementation manner of the traction mechanism provided in Embodiment 11 of the present application

[0098] Figure 42 is Figure 41 a schematic structural diagram of another perspective of the traction mechanism in

[0099] Figure 43 is Figure 41 an exploded view of the traction mechanism in

[0100] Figure 44 is Figure 41 a top view of the traction mechanism in

[0101] Figure 45 is Figure 44 a cross-sectional view of the traction mechanism along the line I-I in

[0102] Figure 46 is a partial structural schematic diagram of an implementation manner of the cleaning device provided in Embodiment 11 of the present application

[0103] Figure 47 is Figure 46 an exploded view of the cleaning device in

[0104] Figure 48 is Figure 46 a top view of the cleaning device in , where the cleaning component is located at the edge position;

[0105] Figure 49 Another top view of the cleaning device in Figure 46 which the cleaning assembly is in the initial position;

[0106] Figure 50 Another Figure 49 Cross-sectional view of the cleaning device along line II-II in

[0107] Figure 51 Another Figure 46 Module block diagram of the cleaning device in

[0108] Figure 52 Another Figure 50 Enlarged view of area A of the cleaning device in

[0109] Figure 53 Another Figure 46 Schematic structural diagram of the cleaning assembly of the cleaning device in

[0110] Figure 54 Another Figure 53 Exploded view of the cleaning assembly in

[0111] Figure 55 Schematic structural diagram of an implementation manner of the cleaning assembly provided in Embodiment 12 of the present application;

[0112] Figure 56 Another Figure 55 Schematic structural diagram of the cleaning assembly from another perspective in

[0113] Figure 57 Another Figure 55 Top view of the cleaning assembly in

[0114] Figure 58 Another Figure 57 Cross-sectional view of the cleaning assembly along line I-I in

[0115] Figure 59 Another Figure 55 Exploded view of the cleaning assembly in

[0116] Figure 60 Top view of a partial structure of an implementation manner of the cleaning device provided in Embodiment 12 of the present application, in which the cleaning assembly is in the initial position;

[0117] Figure 61 Another Figure 60 Partial cross-sectional view of the cleaning device in

[0118] Figure 62 Another Figure 60 Another top view of the cleaning device in which the cleaning assembly is in the edge position;

[0119] Figure 63 Another Figure 62Partial sectional view of the cleaning device;

[0120] Figure 64 is Figure 60 Module block diagram of the cleaning device;

[0121] Figure 65 Partial structure schematic diagram of an implementation manner of the cleaning device provided in Embodiment 13 of the present application;

[0122] Figure 66 is Figure 65 Exploded view of the cleaning device;

[0123] Figure 67 is Figure 65 Top view of the cleaning device, with the cleaning component located at the edge position;

[0124] Figure 68 is Figure 65 Another top view of the cleaning device, with the cleaning component located at the initial position;

[0125] Figure 69 is Figure 65 Module block diagram of the cleaning device;

[0126] Figure 70 is Figure 68 Enlarged view of area A of the cleaning device;

[0127] Figure 71 is Figure 65 Structure schematic diagram of the cleaning component of the cleaning device;

[0128] Figure 72 is Figure 71 Top view of the cleaning component;

[0129] Figure 73 is Figure 72 Sectional view of the cleaning component along line I-I;

[0130] Figure 74 is Figure 71 Exploded view of the cleaning component;

[0131] Figure 75 Schematic diagram of an installation structure of the cleaning device provided in Embodiment 17 of the present application with a corrugated plate;

[0132] Figure 76 Schematic diagram of an installation structure of the side wall of the machine body provided in Embodiment 18 of the present application with a movable part;

[0133] Figure 77 Schematic diagram of an installation structure of the first seal provided in Embodiment 2 of the present application;

[0134] Figure 78 Schematic diagram of an installation structure of the sliding seal plate provided in Embodiment 17 of the present application;

[0135] Figure 79 Schematic three-dimensional structure diagram of the sliding seal plate provided in Embodiment 17 of the present application;

[0136] Figure 80 Schematic diagram of an installation structure of the rubber coating layer provided in Embodiment 17 of the present application;

[0137] Figure 81 Schematic diagram of a structure of the overlapping region generated by the hollowed-out area provided in Embodiment 14 of the present application;

[0138] Figure 82 Schematic diagram of the principle of the overlapping region generated by the hollowed-out area provided in Embodiment 14 of the present application;

[0139] Figure 83 Schematic diagram of the principle of the always-overlapping region generated by the hollowed-out area provided in Embodiment 14 of the present application;

[0140] Figure 84 Schematic diagram of the principle of the retracted overlapping region generated by the hollowed-out area on the cleaning tray in the retracted position provided in Embodiment 14 of the present application;

[0141] Figure 85 Schematic diagram of the principle of the swung-out overlapping region generated by the hollowed-out area on the cleaning tray in the swung-out position provided in Embodiment 14 of the present application;

[0142] Figure 86 Schematic diagram of the principle of the common overlapping region generated by the hollowed-out area on the cleaning trays in the retracted position and the swung-out position provided in Embodiment 14 of the present application;

[0143] Figure 87 Schematic bottom view structure diagram of the cleaning tray of the cleaning assembly provided in Embodiment 16 of the present application;

[0144] Figure 88 Schematic bottom view structure diagram of the cleaning tray and the mounting part provided in Embodiment 16 of the present application;

[0145] Figure 89 Schematic bottom view structure diagram of the moving space on the machine body provided in Embodiment 17 of the present application;

[0146] Figure 90 Schematic bottom view structure diagram of the shielding plate on the machine body provided in Embodiment 17 of the present application;

[0147] Figure 91An upward view structural schematic diagram of a sliding sealing plate in the retracted position of the cleaning assembly provided in Embodiment 17 of the present application;

[0148] Figure 92 An upward view structural schematic diagram of a sliding sealing plate in a state between the retracted position and the outward swing position of the cleaning assembly provided in Embodiment 17 of the present application;

[0149] Figure 93 An upward view structural schematic diagram of a sliding sealing plate in the outward swing position of the cleaning assembly provided in Embodiment 17 of the present application;

[0150] Figure 94 A structural schematic diagram of a sliding sealing plate provided in Embodiment 17 of the present application;

[0151] Figure 95 A position structural schematic diagram of two cleaning discs in the retracted position of the cleaning assembly provided in Embodiment 17 of the present application;

[0152] Figure 96 A position structural schematic diagram of two cleaning rags in the retracted position of the cleaning assembly provided in Embodiment 17 of the present application;

[0153] Figure 97 An installation structural schematic diagram of a water outlet provided in Embodiment 14 of the present application;

[0154] Figure 98 An installation structural schematic diagram of a limit block provided in Embodiment 17 of the present application;

[0155] Figure 99 A structural schematic diagram of a cleaning device schematically shown according to an exemplary embodiment;

[0156] Figure 100 A side cross-sectional view of a first driving structure schematically shown according to an exemplary embodiment;

[0157] Figure 101 A structural schematic diagram of a notch on the side wall of the machine body schematically shown according to an exemplary embodiment;

[0158] Figure 102 A top view schematic diagram of the internal structure of a cleaning device schematically shown according to an exemplary embodiment;

[0159] Figure 103 A top view schematic diagram of a second driving structure schematically shown according to an exemplary embodiment;

[0160] Figure 104 An installation structural schematic diagram of a dust box and a filter assembly schematically shown according to an exemplary embodiment;

[0161] Figure 105 It is a schematic three-dimensional structure diagram of a dust box shown according to an exemplary embodiment;

[0162] Figure 106 It is a schematic diagram of the principle of the frictional force generated by a cleaning member (in the top view direction of the cleaning assembly) shown according to an exemplary embodiment;

[0163] Figure 107 It is another schematic diagram of the principle of the frictional force generated by a cleaning member (in the top view direction of the cleaning assembly) shown according to an exemplary embodiment;

[0164] Figure 108 It is a schematic diagram of the maximum width of the body shown according to an exemplary embodiment;

[0165] Figure 109 It is a schematic diagram of the installation structure of an overflow hole shown according to an exemplary embodiment;

[0166] Figure 110 It is a schematic diagram of a partial cross-sectional structure of a cleaning disk shown according to an exemplary embodiment;

[0167] Figure 111 It is a schematic diagram of the structure of the cleaning assembly in another direction shown according to an exemplary embodiment;

[0168] Figure 112 It is shown according to an exemplary embodiment Figure 111 Cross-sectional schematic diagram;

[0169] Figure 113 It is a schematic diagram of a structure in which a second part is in a retracted position shown according to an exemplary embodiment;

[0170] Figure 114 It is a schematic diagram of a structure in which a second part is in an outward swing position shown according to an exemplary embodiment;

[0171] Figure 115 It is a schematic diagram of a structure of a body having a protruding portion shown according to an exemplary embodiment. Detailed implementation manners

[0172] The cleaning device can be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc. The cleaning device can include a body 10, a traveling system 300M, a cleaning module, a control system, a sensing system, etc.

[0173] Among them, an installation cavity is provided in the body 10 for installing some structures. The outer shape of the body 10 is not limited, and can be but not limited to circular, D-shaped, triangular, or other shaped shapes.

[0174] The traveling system 300M is provided on the body 10 and is used to drive the body 10 to realize the self - moving traveling function on the surface to be cleaned. The traveling system 300M generally includes a driver and traveling components, and the driver drives the traveling components to move. Generally, there can be two traveling components, and the two traveling components are symmetrically arranged on the body 10. The traveling components can be, but are not limited to, drive wheels, crawler wheels or steerable wheels with adjustable steering. For example, the steerable wheel is a Mecanum wheel. In addition, the traveling system 300M is swingably arranged on the body 10 so that the cleaning device has an obstacle - crossing function during the traveling process. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of objects such as the ground, tabletop, glass, wall, etc. For the convenience of description, the surface to be cleaned in the following text will be described taking the ground as an example. The width direction of the body is perpendicular to the traveling direction of the body 10, as Figure 108 shown in the embodiment, along the traveling direction of the body, the maximum width of the body 10 is Wmax.

[0175] The cleaning module includes a dry - type cleaning module 100M or a wet - type cleaning module 200M, or includes both the dry - type cleaning module 100M and the wet - type cleaning module 200M. Among them, the dry - type cleaning module 100M includes a main brush 101M, a dust box 102M and a blower 103M. A main - brush cavity is provided at the bottom of the body 10, the main brush 101M is rotatably arranged in the main - brush cavity, the dust - suction port on the main - brush cavity is communicated with the dust - inlet 1021M of the dust box 102M, and the air - discharge port 1022M of the dust box 102M is communicated with the blower 103M. During the rotation of the main brush 101M, the garbage around and in front of it is moved to the dust - suction port, and the garbage at the dust - suction port is sucked into the dust box 102M under the negative pressure generated by the blower 103M to realize the cleaning function of the surface to be cleaned.

[0176] The wet - type cleaning module 200M includes a first driving structure 40M and a cleaning component 20. Among them, the cleaning component 20 includes a cleaning disc 90H and a cleaning member 91H provided at the bottom of the cleaning disc 90H. The first driving structure 40M drives the cleaning disc 90H to move to drive the cleaning member 91H to reciprocate or rotate. The cleaning member 91H forms friction with the ground during the movement to clean the ground. In view of the fact that the cleaning effect is better when the cleaning member 91H is in a wet state, a water - replenishing mechanism is usually provided in the body 10 of the cleaning device. The water - replenishing mechanism includes a water tank, and the solution in the water tank is delivered to the cleaning member 91H under the action of a pump to wet the cleaning member 91H. Generally, there are two wet - type cleaning modules 200M, and the two wet - type cleaning modules 200M are symmetrically arranged on the body 10. Of course, the wet - type cleaning module 200M can be set to one or more than two, such as three, four, five or more, etc. The specific number of the wet - type cleaning modules 200M set is selected according to requirements and is not specifically limited here.

[0177] The cleaning module further includes side brushes 400M located on one or both sides of the front part of the body 10. Along the forward direction of the cleaning device, the side brushes 400M are located in front of the dry cleaning module 100M. At least part of the side brushes 400M extends beyond the edge of the body 10. The side brushes 400M rotate under the drive of the drive mechanism. During the rotation of the side brushes 400M, the garbage located in front of and around them is moved towards the inside of the body 10, so that the main brush 101M of the dry cleaning module 100M located behind can sweep this garbage and suck it into the dust box 102M by the blower 103M.

[0178] Regarding the arrangement of the dry cleaning module 100M and the wet cleaning module 200M on the body 10, when the cleaning device is performing a cleaning task, it can first sweep and then mop the floor. Then, along the forward direction of the cleaning device, the wet cleaning module 200M is located behind the dry cleaning module 100M; when the cleaning device is performing a cleaning task, it can first mop the floor and then sweep. Then, along the forward direction of the cleaning device, the wet cleaning module 200M is located in front of the dry cleaning module 100M.

[0179] Regarding the arrangement of the wet cleaning module 200M and the traveling system 300M on the body 10, preferably, the wet cleaning module 200M is arranged behind the traveling system 300M to prevent the traveling components from walking on the cleaned floor after the wet cleaning module 200M has cleaned the floor first and polluting the cleaned floor. If the floor can be dried in time after being cleaned by the wet cleaning module 200M, the wet cleaning module 200M can also be arranged in front of the traveling components, or the wet cleaning module 200M can be arranged between the two traveling components.

[0180] The sensing system includes an LDS located above the body, a buffer and a vision sensor located in the front part of the body 10, a border sensor located on the side wall of the front part of the body 10, and a sensing device such as an ultrasonic sensor located at the bottom of the body 10. Among them, the LDS, the buffer, and the border sensor can all measure distances to obtain the distance between the edge of the body 10 and the obstacle. The control system controls the cleaning device to perform corresponding actions according to this distance. For example, controlling the cleaning device to avoid obstacles, follow the edge, etc. The ultrasonic sensor is used to identify carpet signals, and the control system controls the lifting action of the cleaning part 91H of the wet cleaning module 200M of the cleaning device according to this signal, or controls the cleaning device to return to the base station to disassemble the cleaning part 91H of the wet cleaning module 200M. The vision sensor is used to identify the image of the environment where the cleaning device is located to obtain information about obstacles, and the control system controls the cleaning device to perform actions according to this information, such as avoiding obstacles, crossing obstacles, edge cleaning, etc.

[0181] The two wet cleaning modules 200M of the cleaning device in the prior art, such as Figure 102In the illustrated embodiment, it is fixedly arranged relative to the body 10 in the width direction W0 (perpendicular to the traveling direction of the cleaning device) of the body 10. The cleaning disk 90H and the cleaning member 91H in the wet cleaning module 200M can rotate or vibrate relative to the body 10. When the cleaning device performs edge cleaning along an obstacle, it is difficult for the wet cleaning module 200M on the side close to the obstacle to approach the edge of the obstacle for edge cleaning, resulting in a large area of the edge of the obstacle being missed during cleaning, and the cleaning effect is not ideal.

[0182] To improve the edge cleaning effect of the cleaning device on the obstacle, at least one of the two wet cleaning modules 200M in this embodiment can swing relative to the body 10. The cleaning assembly 20 of the wet cleaning module 200M can swing outward away from the body 10 and retract inward toward the body 10. When the cleaning assembly 20 swings outward, it has a second position (i.e., the outward swing position), and correspondingly, the cleaning assembly 20 is in the outward swing state; when the cleaning assembly 20 swings inward, it has a first position (i.e., the retracted position), and correspondingly, the cleaning assembly 20 is in the retracted state. The outward swing position and the retracted position can be a fixed position or a position within an interval. When the cleaning assembly 20 is in the first position, a part of the cleaning assembly 20 is located outside the peripheral side of the body 10; when the cleaning assembly 20 moves to the second position, the part of the cleaning assembly 20 located outside the peripheral side of the body 10 is larger than the part of the cleaning assembly 20 located outside the peripheral side of the body 10 when the cleaning assembly 20 is in the first position.

[0183] When the cleaning device is performing a cleaning task, the sensor of the sensing system continuously detects the first distance between the body 10 and the edge of the obstacle. If the first distance is less than or equal to the preset threshold, edge cleaning of the obstacle is required, and the cleaning assembly 20 of the wet cleaning module 200M needs to swing outward. The cleaning assembly 20 swings outward from the retracted position to the outward swing position to perform edge cleaning on the edge of the obstacle. Since the cleaning assembly 20 can extend a greater distance outside the body 10 in the outward swing position than in the retracted position, the cleaning assembly 20 can be closer to or approach the edge of the obstacle in the outward swing position, perform edge cleaning on the edge of the obstacle, and reduce or avoid the missed cleaning area existing in the edge cleaning of the obstacle. During the edge cleaning process of the cleaning device, when the first distance detected by the sensor is greater than the preset threshold, the cleaning assembly 20 of the wet cleaning module 200M needs to swing inward from the outward swing position to the retracted position.

[0184] When the cleaning component 20 remains in the outward swing position continuously, the cleaning component 20 is vulnerable to interference or disturbance from obstacles in the environment, resulting in a risk of the cleaning component 20 falling off the body 10. Therefore, when the wet cleaning module 200M performs edge cleaning, the cleaning component 20 usually swings outward towards the outside of the body 10 and is in the outward swing state; when the cleaning device is not performing edge cleaning or in other scenarios, the cleaning component 20 tends to remain in the retracted state. Among them, other scenarios may include but are not limited to the cleaning device returning to the base station, the base station charging the cleaning device, collecting the dust in the dust box 102M into the dust bin in the base station, cleaning the cleaning part 91H, disassembling and / or assembling the cleaning part 91H, filling water into the water tank of the water replenishing mechanism in the cleaning device, etc.; or scenarios where the cleaning part 91H of the cleaning device needs to be lifted, the cleaning device needs to cross obstacles and avoid obstacles, etc.

[0185] If there are few obstacles in the environment where the cleaning component 20 is located, when the cleaning component 20 remains in the outward swing state, there is little or no interference from the obstacles to the cleaning component 20, and the cleaning component 20 can normally remain fixed on the body 10, then the cleaning component 20 can also remain in the outward swing state in the above-mentioned other scenarios. That is to say, during edge cleaning, the cleaning component is in the outward swing position; during non-edge cleaning, if there are few or no obstacles in the environment, and even if there are obstacles, the obstacles will not cause the cleaning component to fall off the body, and when it can remain on the body, the cleaning component can remain in the outward swing position for non-edge cleaning.

[0186] Among them, the number of obstacles is mainly determined by whether the cleaning component is affected by the obstacles and detached. If the obstacles do not affect the detachment of the cleaning component, even if the number of obstacles is large, it belongs to the situation of few obstacles mentioned above. During non-edge cleaning, the cleaning component also remains in the outward swing position.

[0187] Since the outward swing position is an interval, in the non-edge cleaning mode, the cleaning component can be in the maximum outward swing position, or can be at any position between the maximum outward swing position and the minimum outward swing position. That is, as long as the cleaning component is in the outward swing position, there is a gap between the swingable cleaning component and the non-swingable cleaning component among the two cleaning components on the body.

[0188] Or, when the outward swing position is a position, in the non-edge cleaning mode, the cleaning component is at any position between the outward swing position and the retracted position. For example, it is at the middle position between the retracted position and the outward swing position, that is, the semi-outward swing position; or, the cleaning component is closer to the outward swing position relative to the retracted position, or the cleaning component is closer to the retracted position relative to the outward swing position.

[0189] In this embodiment, as long as the cleaning component is in the cleaning process, whether it is edge cleaning or non-edge cleaning, the cleaning component is in the outward swing position; but in other scenarios, the cleaning component is in the retracted position, such as the scenario of returning to the base station, the scenario of lifting, the obstacle crossing scenario, etc.; for example, when returning to the base station, the cleaning component is in the mopping position, first switches from the outward swing position to the retracted position, and then lifts to the lifting position. The cleaning component is in the lifted state, and the cleaning device returns to the base station.

[0190] Further, regardless of the presence or absence of obstacles in the environment, during non-edge cleaning, the cleaning component can also remain in the outward swing position for cleaning. For example, usually, the cleaning device cleans in a "bow" - shaped cleaning pattern; or in a "Z" - shaped or "N" - shaped cleaning pattern. Since there is a gap between the swingable cleaning component and the non - swingable cleaning component in the non - edge mode, in order to avoid missed sweeping in this gap, during non - edge cleaning, taking the "bow" - shaped cleaning as an example, the first cleaning route and the second cleaning route are two adjacent long sides when cleaning in a bow shape. The first cleaning route and the second cleaning route can be parallel; the first cleaning route and the second cleaning route can be straight lines; the distance between the first cleaning route and the second cleaning route can be determined according to the size of the cleaning component.

[0191] When the cleaning device cleans along the first cleaning route, there is missed sweeping in the gap between the two cleaning components; when the cleaning device turns and then cleans along the second cleaning route, one of the two cleaning components needs to cover the missed - sweeping area under the first cleaning route, and so on. That is, for each cleaning after the cleaning device turns, it needs to cover the missed - sweeping area that existed before turning, so as to ensure that there is no missed - sweeping area on the ground after non - edge cleaning, ensuring both the cleaning efficiency and the cleaning effect.

[0192] The body 10 is also provided with a second driving structure 50M. The second driving structure 50M can directly drive the cleaning component 20 to swing, or indirectly drive the cleaning component 20 to swing by driving the entire wet cleaning module 200M. For the convenience of description, temporarily taking the second driving structure 50M driving the cleaning component 20 to swing as an example to illustrate the driving force generated by the second driving structure 50M for the swing of the cleaning component 20; of course, this driving force is also applicable to driving the overall swing of the wet cleaning module 200M. The second driving structure 50M can drive the cleaning component 20 to move linearly or arc - shapedly, so that the cleaning component 20 can be switched between the outward swing position and the retracted position.

[0193] For the driving force of the second driving structure 50M driving the cleaning component 20 to swing, there can be various implementation manners. Only some implementation manners are introduced below. Specifically:

[0194] The first implementation mode is as follows: both the outward swing and inward retraction of the cleaning component 20 are driven by motors. Since the rotation angle of the motor can be controlled, the positions of the outward swing and inward retraction of the cleaning component 20 can be controlled by controlling the rotation angle of the motor, so that the positions of the outward swing and inward retraction of the cleaning component 20 are adjustable. Thus, when the cleaning component 20 swings along the edge, the first distance between the body 10 and the edge of the obstacle is detected in real time by the sensor, and the edge-following distance is dynamically adjusted.

[0195] The second implementation mode is as follows: the outward swing of the cleaning component 20 is driven by the cooperation of a motor and an elastic member, and the inward retraction of the cleaning component 20 is driven by a motor. When the cleaning device needs to clean along the edge, the motor rotates in the first direction to drive the cleaning component 20 to swing by an angle θ1 and then stops rotating. Then, the elastic member releases the stored energy to drive the cleaning component 20 to continue swinging outward from the body 10 by an angle θ2. Since the elastic member has a buffering effect, when the cleaning component 20 receives a reverse resisting force from the edge obstacle, the cleaning component 20 can automatically swing inward toward the body 10 to dynamically adjust the outward swing angle θ2 of the cleaning component 20, thereby realizing dynamic adjustment of the edge-following distance and also playing a protective role for the cleaning component 20. When the cleaning component 20 needs to retract inward, the motor rotates in the second direction to drive the cleaning component 20 to swing inward toward the body 10 by θ3. θ3 can be equal to the sum of the angle θ1 and the angle θ2, or can be not equal to the sum of the angle θ1 and the angle θ2. The position of the inward retraction of the cleaning component 20 is adjusted by controlling the rotation angle of the motor in the second direction. In addition, it should be noted that: the magnitude of the angle θ2 depends on the energy released by the elastic member. If the energy released by the elastic member is small, the driving force for the outward swing of the cleaning component 20 mainly relies on the motor, and the elastic member mainly plays a buffering role for the cleaning component 20; on the contrary, if the energy released by the elastic member is large, the elastic member not only plays a buffering role for the cleaning component 20, but also plays a role in driving the outward swing of the cleaning component 20.

[0196] Among them, when the motor first drives the cleaning component 20 to swing outward, the driving force of the motor simultaneously applies a driving force to the elastic member to store energy in the elastic member, so that after the driving force of the motor is withdrawn, the elastic member releases the stored energy to drive the cleaning component 20 to continue swinging outward.

[0197] For example, the second driving structure 50M includes a second motor 204M and a second transmission mechanism 202M. An elastic member is disposed between the second transmission mechanism 202M and the cleaning assembly 20. When the second motor 204M drives the cleaning assembly 20 to swing outwards, the second motor 204M rotates in a first direction, driving the second transmission mechanism 202M to rotate in the first direction. The second transmission mechanism 202M applies a force to the elastic member, forcing the elastic member to store energy. At this time, the elastic member can store energy first and then drive the cleaning assembly 20 to swing outwards, or the elastic member can drive the cleaning assembly 20 to swing outwards while storing energy. When the motor stops rotating, the elastic member releases the stored energy to drive the cleaning assembly 20 to continue swinging outwards. For the elastic member, the elastic member can be a tension spring, a compression spring, a torsion spring or other deformable elastic members.

[0198] When the cleaning assembly 20 needs to retract, the motor rotates in a second direction, through the hard abutting relationship between the second transmission mechanism 202M and the cleaning assembly 20. For example, in the rotation direction of the transmission mechanism, a first abutting portion is provided on the second transmission mechanism 202M, and a second abutting portion is provided on the cleaning assembly 20. The first abutting portion abuts against the second abutting portion, so that the second motor 204M drives the second transmission mechanism 202M to rotate, so as to drive the cleaning assembly 20 to rotate towards the retracted position, realizing the inward swing state.

[0199] The third implementation mode is that the outward swing of the cleaning assembly 20 is driven by a motor, and the inward retraction of the cleaning assembly 20 is driven by an elastic member. When the cleaning device needs to clean along the edge, the motor rotates to drive the cleaning assembly 20 to swing outwards, so that the cleaning assembly 20 is in the outward swing state. At this time, if the motor stops rotating, the cleaning assembly 20 can be limited in the outward swing position by setting a limiting structure or a locking structure; when the cleaning assembly 20 needs to retract, the limiting structure or the locking structure cancels the acting force on the cleaning assembly 20, and under the restoring force of the elastic member, the cleaning assembly 20 automatically swings inwards to the retracted position.

[0200] The fourth implementation mode is that the outward swing of the cleaning assembly 20 is driven by a motor, and the inward retraction of the cleaning assembly 20 is driven by the cooperation of a motor and an elastic member. When the cleaning device needs to clean along the edge, the motor rotates to drive the cleaning assembly 20 to swing outwards, so that the cleaning assembly 20 is in the outward swing state; when the cleaning assembly 20 needs to retract, similar to the second implementation mode, the motor first drives the cleaning assembly 20 to retract by a certain angle, and the elastic member stores energy during this process; when the motor stops rotating, the elastic member releases the stored energy to drive the cleaning assembly 20 to continue swinging inwards to the retracted position.

[0201] In addition, the outward swing of the cleaning assembly 20 can be driven by an elastic member, and the inward retraction of the cleaning assembly 20 is driven by a motor. That is, when the motor does not work, the cleaning assembly 20 tends to remain in the outward swing position under the action of the elastic member.

[0202] For the elastic member, if the second driving structure 50M drives the cleaning assembly 20 or the wet cleaning module 200M to make a linear swing, the elastic member is preferably a tension spring or a compression spring; if the second driving structure 50M drives the cleaning assembly 20 or the wet cleaning module 200M to make an arc swing, the elastic member is preferably a torsion spring.

[0203] In addition, for the second driving structure 50M, if the transmission mechanism adopts gear transmission, during the outward swing and / or inward retraction of the cleaning assembly 20, theoretically, the motor rotates for a theoretically preset duration T1, and the cleaning assembly 20 can be driven to the outward swing position or the inward retraction position. However, in order to offset the transmission tolerance of the gears, the actual rotation duration T2 of the motor is greater than the theoretically preset duration T1, that is, the motor needs to rotate for a preset duration T3 more than the theoretically preset duration, and T3 = (T2 - T1), to eliminate the transmission tolerance of the gears, so as to ensure that the cleaning assembly 20 can swing in place or retract in place. That is, the control system controls the rotation duration T2 of the motor. Among them, the preset duration T3 can be any number of seconds. For example, the preset duration T3 can be selected from 0 to 10 seconds. For example, the preset duration T3 is 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 9 seconds, 10 seconds, etc.

[0204] During the swinging process of the cleaning assembly 20, the control system needs to control whether the motor of the second driving structure 50M stops rotating according to the position where the cleaning assembly 20 swings. To facilitate knowing the outward swing position or the inward retraction position of the cleaning assembly 20, or any position between the outward swing position and the inward retraction position, the cleaning device further includes a position detection structure; the position detection structure can be a micro switch, a Hall sensor, an optocoupler switch, etc. The position detection structure can obtain the position of the cleaning assembly 20 by detecting the position of the motor of the second driving structure 50M; or it can directly detect the position of the cleaning assembly 20. Or, when the second driving structure 50M includes a motor and a transmission mechanism, the position detection structure can also obtain the position where the cleaning assembly 20 is located by detecting the position of the transmission mechanism.

[0205] For example, the second driving structure 50M includes a motor and a transmission mechanism. One of the detection part and the sensing part of the position detection structure is arranged on the transmission mechanism, and the other is fixedly arranged relative to the body 10. The detection part and the sensing part are located on the rotation path of the transmission mechanism. During the rotation of the transmission mechanism, if the detection part detects the signal of the sensing part, it indicates that the cleaning assembly 20 is in the inward retraction position, the outward swing position or any position. The control system controls the motor to stop rotating according to this signal. That is to say, controlling the cleaning part to stay at multiple required positions or any position can facilitate controlling the cleaning part to closely adhere to the contour boundary of the obstacle, especially for the edge cleaning of irregular obstacles, improving the cleaning effect, so as to form the so-called "stepless" edge cleaning.

[0206] For another example, in the second embodiment of the above-mentioned second driving structure 50M, the second driving structure 50M includes a second motor 204M and a second transmission mechanism 202M. Since the outward swing of the cleaning assembly 20 has the buffering effect of an elastic member, the position detection structure detects the position of the second transmission mechanism 202M. When the second transmission mechanism 202M reaches the position, the control system controls the second motor 204M to stop rotating; under the action of the elastic member, the outward swing position of the cleaning assembly 20 changes due to the abutting force of the edge of the obstacle, that is, when encountering an obstacle, under the action of the elastic member, passive retraction is realized. If the edge of the obstacle is a straight edge, the outward swing position of the cleaning assembly 20 is a fixed position; if the edge of the obstacle is a non-straight edge, the outward swing position of the cleaning assembly 20 is a dynamically changing value, so the specific position of the cleaning assembly 20 is not directly detected. When the cleaning assembly 20 swings outward or retracts inward without the buffering effect of the elastic member, the position detection structure can detect the position of the motor of the second driving structure 50M or the position of the transmission mechanism, and thus the position where the cleaning assembly 20 is located can be obtained. That is to say, when the second driving structure is provided with an elastic member and has a buffering effect on the outward swing of the cleaning member, when the cleaning member encounters an obstacle, first, the buffering effect of the elastic member causes the cleaning member to retract passively; then, the control system can control the second driving structure to start and actively retract the cleaning member. Or passive retraction and active retraction are carried out synchronously to protect the cleaning member and prevent the cleaning assembly from being damaged by a hard impact from the obstacle or falling off the main body.

[0207] The cleaning device is further provided with a limiting structure, and the limiting structure is arranged on the swinging path of the second driving structure 50M, or the first driving structure, or the cleaning assembly 20. When the wet cleaning module 200M swings to the outward swing position or the inward retraction position, the limiting structure blocks the wet cleaning module 200M from continuing to swing outward or retract inward.

[0208] The cleaning device is further provided with a locking structure for locking the cleaning assembly 20 in the inward retraction position or the outward swing position. The cleaning assembly 20 can always be maintained in the outward swing position or the inward retraction position, or any position during the swinging process. When it is necessary to switch the position of the cleaning assembly 20, the locking structure cancels the locking effect on the cleaning assembly 20, and the cleaning assembly 20 swings under the drive of the second driving structure 50M. The locking structure can be arranged on the second driving structure 50M, or the first driving structure of the wet cleaning module 200M, or the cleaning assembly 20.

[0209] In addition, the locking structure can also be not provided, and the motor of the second driving structure 50M adopts a brush motor, and the brush motor has a braking function. When the position detection structure detects that the cleaning assembly 20 is located in the inward retraction position, the control system sends a braking signal to the brush motor, and the brush motor self-locks to lock the cleaning assembly 20 in the inward retraction position; or, through the self-locking function of the brush motor, the cleaning assembly 20 is locked in the outward swing position.

[0210] In the above-mentioned other scenarios, the cleaning assembly 20 needs to be in the retracted position. When a locking structure or a brushed motor is adopted, before performing the actions in the above-mentioned other scenarios, the cleaning assembly 20 is locked in the retracted position by using the locking structure or the brushed motor. When the cleaning assembly 20 needs to be swung outwards, the locking effect on the cleaning assembly 20 is cancelled.

[0211] In some scenarios of the cleaning device, such as when cleaning a carpet, to prevent the wet cleaning member 91H from wetting the carpet; or when the cleaning member 91H is in a dirty state to prevent polluting the ground; or when the cleaning device needs to cross an obstacle and the cleaning assembly 20 needs to be lifted, the cleaning device is further provided with a lifting structure, and the lifting structure is used to drive the cleaning assembly 20 to lift and lower.

[0212] The above-mentioned first driving structure 40M for driving the cleaning assembly 20 to rotate is also used to drive the lifting structure to rotate synchronously; of course, it is also possible that the lifting structure drives the entire wet cleaning module 200M to lift and lower, and the second driving structure 50M drives the wet cleaning module 200M to swing by driving the lifting structure to swing.

[0213] Among them, the lifting structure can adopt various methods. For example, the lifting structure can be a gear and a rack, a screw lifting mechanism, a cylinder, a lead screw, a worm and worm gear, etc. The lifting structure can be divided into at least two situations. The first situation is that the lifting structure realizes lifting and lowering by driving the cleaning assembly 20 to rotate. Correspondingly, during the outward swing and retraction of the cleaning assembly 20, the cleaning assembly 20 either remains stationary or rotates, but the rotation direction must be the same as the rotation direction of mopping the floor, so that the cleaning assembly remains in the mopping position and does not lift in the height direction. The second situation is that the cleaning assembly 20 does not rotate during the process of the lifting structure driving the cleaning assembly 20 to lift and lower. Correspondingly, during the outward swing and retraction of the cleaning assembly 20, the cleaning assembly 20 can rotate or not rotate.

[0214] In the first situation of the lifting structure, the lifting structure and the first driving structure 40M can share a motor. In a preferred way, the first driving structure 40M includes a rotating motor 2011M, such as Figure 100As shown, the lifting structure includes a first fixing body 2012M and a second fixing body 2013M. The first fixing body 2012M is in threaded cooperation with the second fixing body 2013M. One of the first fixing body 2012M and the second fixing body 2013M is provided with a thread groove, and the other is provided with a rib or a thread tooth that mates with the thread groove. The bottom of the second fixing body 2013M is provided with a mounting portion 2001H, and the top of the cleaning disk 90H is connected to the mounting portion 2001H. For example, by plugging and fixing or magnetic attraction fixing, a first magnet 2014M is provided on the mounting portion 2001H, and a second magnet 2015M is provided on the cleaning disk 90H. Through the magnetic attraction of the first magnet 2014M and the second magnet 2015M, the cleaning disk 90H is fixed on the mounting portion 2001H.

[0215] Figure 100 In the cleaning assembly 20 shown in is in the mopping position. When the cleaning assembly 20 needs to be lifted, the rotation motor 2011M rotates in the first direction, and the second fixing body 2013M rotates upward relative to the first fixing body 2012M. The cleaning assembly 20 is lifted to the lifting position. If the rotation motor 2011M continues to rotate in the first direction, the second fixing body 2013M continues to rotate upward relative to the first fixing body 2012M, and the cleaning assembly 20 is lifted to the separation position. At this time, the cleaning assembly 20 is separated from the mounting portion 2001H, and the cleaning disk 90H rotates during this process.

[0216] On the contrary, if the cleaning member 91H needs to be lowered, the rotation motor 2011M rotates in the second direction, and the second direction is opposite to the first direction. The second fixing body 2013M rotates downward relative to the first fixing body 2012M. The cleaning assembly 20 first descends from the separation position to the lifting position, and then descends to the mopping position. The cleaning disk 90H rotates during this process. When in the mopping position, the second fixing body 2013M no longer rotates relative to the first fixing body 2012M. If the rotation motor 2011M continues to rotate in the second direction, there is no relative rotation between the first fixing body 2012M and the second fixing body 2013M, so that the cleaning assembly 20 can be driven to rotate as a whole to mop the floor. Among them, the rotation direction of the cleaning assembly 20 during lifting is different from the rotation direction during lowering.

[0217] The above-mentioned separation position is set to facilitate the cleaning device to return to the base station for automatic disassembly and assembly of the cleaning member 91H; or to automatically disassemble the cleaning assembly on the body. If the automatic disassembly and assembly function of the cleaning member 91H is not required, the above-mentioned cleaning assembly 20 may not be provided with a separation position, and only the mopping position and the lifting position need to be set.

[0218] Since the rotation direction of the cleaning disc 90H affects the position and disassembly of the cleaning disc 90H, the structure that shares a motor to drive the rotation and lifting of the cleaning assembly 20 is adopted. When the cleaning device is in the process of the cleaning assembly 20 swinging out or retracting, the cleaning assembly 20 does not rotate or can rotate. If the cleaning assembly rotates, the rotation direction of the cleaning disc is the same as the rotation direction of the cleaning disc during descent and the rotation direction of mopping the floor, so that the cleaning disc can remain in the mopping position during the swinging process and will not lift in the height direction, thus enabling the floor to be cleaned during the swinging process; if during the swinging process, the rotation direction of the cleaning disc and the direction of the cleaning disc rising move, the cleaning disc will lift and separate from the ground, making it difficult to clean the ground; at the same time, the cleaning assembly is swinging, lifting, and rotating simultaneously. If there are obstacles in the height direction of the cleaning disc, the cleaning disc is likely to fall off from the installation part of the first driving structure when the cleaning disc is swinging and lifting, making it difficult to realize the switching between the swinging out and retracting of the cleaning assembly.

[0219] For example, when the cleaning device needs to lift the cleaning assembly 20 in the swinging-out state, the control system first controls the cleaning assembly 20 to retract to the retracted position, and then the lifting structure performs the lifting movement. During this retraction process, the cleaning assembly 20 does not rotate or rotates. When the cleaning assembly 20 is in the lifted state and needs to swing out, first control the cleaning assembly 20 to descend to the mopping position, and then control the cleaning assembly 20 to swing out. During this swinging-out process, the cleaning disc 90H does not rotate or rotates. Of course, the cleaning assembly 20 can swing out or retract in the lifted position, and the cleaning assembly 20 does not rotate during the swinging process; after swinging out or retracting in place, the rotating motor 2011M drives the cleaning assembly 20 to descend to the mopping position again. This can avoid or reduce the collision or rubbing between the cleaning assembly and obstacles, prevent the cleaning assembly from falling off from the installation part of the first driving structure, and ensure that during the switching process between the retracted position and the swung-out position of the cleaning assembly, and during the switching process between the mopping position and the lifted position, the cleaning assembly can remain on the installation part of the first driving structure, ensuring that the cleaning assembly can perform normal cleaning work after switching, ensuring the cleaning effect and cleaning efficiency. In addition, during the swinging process of the cleaning assembly, if the cleaning assembly rotates, the cleaning assembly can also clean the ground, increasing the cleaning area.

[0220] When the cleaning component performs a lifting motion in the outward swing position, it is prone to collide with obstacles and fall off. If the cleaning component falls off during the cleaning process, it is very difficult to achieve automatic installation. Usually, user intervention is required to perform the installation. If the user is not nearby, the cleaning of the cleaning device will be interrupted, thus affecting the cleaning progress and bringing a poor experience to the user. Even if the cleaning device can perform automatic installation of the cleaning component, the operations of finding and installing the cleaning cloth will also affect the cleaning efficiency. In this embodiment, the cleaning component is first controlled to move to the retracted position, and then moved to the lifting position in the retracted position, which can reduce the probability of the cleaning cloth falling off, thereby further ensuring the cleaning effect and the user experience. Similarly, when the cleaning component needs to perform an outward swing motion during lifting, when the cleaning component swings at a lifting position above the ground, it is more likely to collide with obstacles in the environment and fall off during the swinging process, requiring user intervention to install the cleaning component, or the cleaning device to automatically install the cleaning component, resulting in cleaning interruption and poor cleaning efficiency. Especially when the cleaning assembly is usually magnetically fixed to the installation part of the first driving structure, it is very easy to be scratched and fall off by obstacles on the ground or suspended during the swing at the lifting position.

[0221] In this embodiment, when the cleaning assembly needs to be lifted to the lifting position when it is in the outward swing position, the second driving structure first drives the cleaning assembly to switch from the outward swing position to the retracted position, and then the lifting structure drives the cleaning assembly to perform a lifting motion. Since most or all of the cleaning assembly in the retracted position is within the vertical projection range of the body on the ground and directly below the bottom of the body, even if a small part of the cleaning assembly is located in the area outside the edge of the body, since the probability of obstacles in the area directly below the bottom of the body and around the edge is very small, or even there are no obstacles, the cleaning assembly will not be collided or scratched by obstacles and fall off during the lifting process, ensuring the position switching of the cleaning assembly. Similarly, when the cleaning assembly is in the lifting position and needs to swing along the edge for cleaning, the lifting structure first drives the cleaning assembly to descend to the mopping position. During this descending process, since most or all of the cleaning assembly is within the area directly below the bottom of the body, it will not be collided or scratched by obstacles and fall off. After reaching the mopping position, the second driving structure drives the cleaning assembly to swing outward. During this swinging process, since the cleaning assembly is in contact with the ground, the risk of collision or scratching with obstacles in the environment, especially suspended obstacles, is reduced during the outward swing of the cleaning assembly, ensuring that the cleaning assembly cannot fall off the body during the swinging process.

[0222] For example, when the cleaning component swings out under the bed for cleaning or swings out in the mopping position to avoid collision with the edge of the bed; or when the cleaning component needs to clean under the cabinet or sofa, it swings out in the mopping position to avoid collision with the edges of the cabinet and the sofa; or when there are some obstacles hanging above the mopping position, if the cleaning component swings out in the lifting position, it is likely to collide with or rub against the hanging obstacles and fall off, while when it swings out in the mopping position, it can avoid collision with the hanging obstacles.

[0223] In the first case of the lifting structure, the lifting structure and the first driving structure 40M can also respectively adopt one motor. Since the cleaning component 20 rotates during the process of the lifting structure driving the cleaning component 20 to lift and lower, similarly, during the process of the cleaning component 20 swinging out and retracting, the cleaning component 20 remains non-rotating.

[0224] In the second case of the lifting structure, since the cleaning component 20 does not rotate during the process of the lifting structure driving the cleaning component 20 to lift and lower, then during the swinging process of the cleaning component 20 swinging out or retracting, the cleaning component 20 can rotate, can also not rotate, or can rotate at a reduced speed.

[0225] The cleaning component 20 is arranged at the bottom of the body 10 of the cleaning device. To enable the cleaning component 20 to swing out and retract on the body 10, an avoidance space needs to be provided on the body 10 for the cleaning component 20 to swing out and retract. Different swinging positions of the cleaning component 20 on the body 10 correspond to different avoidance spaces provided on the body 10. The following will be described in two preferred embodiments.

[0226] Specifically: The first embodiment is as Figure 90 shown. A moving channel 300H is provided at the bottom of the body 10. The cleaning component 20 is located at the bottom of the body 10. The wet cleaning module further includes a mounting portion 2001H connected to the first driving structure 40M, and the mounting portion 2001H swings in the moving channel 300H; the cleaning component 20 is mounted on the mounting portion 2001H and is located below the moving channel 300H, and the first driving structure 40M is located in the mounting cavity of the body 10. As Figure 8 shown, the moving channel 300H can be a long strip-shaped hole, and the mounting portion 2001H makes a linear swing in the long strip hole 110; or, as Figure 92 shown, the moving channel 300H is an arc-shaped hole 110R, and the mounting portion 2001H makes an arc swing in the arc-shaped hole 110R. The length or radian of the moving channel 300H determines the maximum stroke of the cleaning component 20 swinging out and retracting.

[0227] The second embodiment is as Figure 76As shown, the cleaning assembly 20 is located at the bottom of the body 10. The wet cleaning module 200M swings as a whole from the side wall of the body 10. There is a notch 104M on the side wall of the body 10, and the notch 104M communicates with the bottom of the body 10. The cleaning assembly 20 is exposed outside the bottom of the body 10. When the wet cleaning module 200M needs to swing outwards, the whole wet cleaning module 200M swings outwards from the notch 104M; when the wet cleaning module 200M needs to swing inwards, the whole wet cleaning module 200M swings inwards through the notch 104M.

[0228] As Figure 101 shown, when the wet cleaning module 200M is in the retracted position, preferably, the outer side wall of the movable shell 110H of the wet cleaning module 200M is smoothly flush with the outer side wall of the body 10, so that the body 10 maintains integrity in appearance. The second driving structure 50M is arranged on the body 10, and the second driving structure 50M drives the movable shell 110H to swing, thereby driving the cleaning assembly 20 and the first driving structure 40M to swing. When the wet cleaning module 200M is in the retracted position, the outer side wall of the movable shell 110H of the wet cleaning module 200M can protrude from the outer side wall of the body 10, or retract inside the inner side wall of the body 10.

[0229] In this embodiment, a plurality of notches 104M can be arranged on the side wall of the body 10, and each notch 104M corresponds to a swingable cleaning assembly 20. Or one notch 104M can correspond to two or more swingable cleaning assemblies 20. As an alternative embodiment: The wet cleaning module 200M swings from the side wall of the body 10. When in the retracted position, the cleaning assembly 20 can also be within the range of the body 10, or outside the range of the body 10; or when in the retracted position, the movable shell 110H is not smoothly flush with the side wall of the body 10, and the movable shell 110H can protrude outside the side wall of the body 10. The whole wet cleaning module 200M swings from the side wall of the body 10, and no moving channel 300H is provided at the bottom of the body 10, so that the swinging angle and distance of the wet cleaning module 200M outwards are larger.

[0230] Or, in order to expose the wet cleaning module 200M outside the bottom of the body 10, a recessed area that is recessed upwards can be provided on the bottom of the body 10, that is, the position of the bottom of the body 10 where the non-swingable wet cleaning module 2001M is located has a height difference from the position of the bottom of the body 10 where the swingable wet cleaning module 2002M is located. The notch 104M communicates with the recessed area. When the wet cleaning module 200M is installed on the body 10, the first driving structure 40M and / or the second driving structure 50M of the wet cleaning module 200M are located in the recessed area, and the cleaning assembly 20 is located below the recessed area.

[0231] When a moving channel 300H is provided at the bottom of the body 10, since the mounting portion 2001H of the first driving structure 40M swings within the moving channel 300H, the moving channel 300H communicates the external environment with the mounting cavity of the body 10. To prevent external dust and liquid from entering the mounting cavity of the body 10 through the moving channel 300H and affecting the structures within the mounting cavity, such as electronic devices or electrical components. For this reason, a sealing structure for waterproofing and dustproofing to seal or block the moving channel 300H is also provided on the body 10, and the sealing structure includes sealing structure members. The sealing structure members can be flexible components with one end fixed to the body 10 and the other end capable of deforming as the cleaning assembly 20 swings; the sealing structure members can also be sealing plates or shielding plates that move as the cleaning assembly 20 swings to dynamically block the moving channel 300H.

[0232] When the cleaning member 91H of the wet cleaning module 200M performs a cleaning task, it needs to be kept in a wet state. A water replenishing mechanism on the body 10 replenishes water to the cleaning member 91H to moisten the cleaning member 91H. Since the cleaning assembly 20 of the wet cleaning module 200M can swing outward and inward relative to the body 10, and the cleaning assembly 20 can be in an outward swing position, an inward retraction position, and a dynamic position during the switching process between the outward swing position and the inward retraction position, the position of the water outlet 900H of the water replenishing mechanism also changes accordingly. The position of the water outlet 900H can be divided into at least two cases. Specifically:

[0233] The first case is that the water outlet 900H is provided on the cleaning tray 90H of the cleaning assembly 20, and the water tank of the water replenishing mechanism is located in the mounting cavity of the body 10. The water delivery pipeline connecting the water tank and the water outlet 900H will swing within the mounting cavity of the body as the cleaning assembly 20 swings.

[0234] The second case is that the water outlet 900H is provided on the body 10, and the water outlet 900H does not move relative to the body 10 as the cleaning assembly 20 swings. As Figures 81 to 86 shown, an annular hollow area is provided on the cleaning tray 90H of the cleaning assembly 20. When the cleaning assembly 20 is in the inward retraction position, the outward swing position, and any position between the inward retraction position and the outward swing position during the swinging process, the vertical projection area of this hollow area on the body 10 (that is, the position where the hollow area is projected on the bottom of the body 10 along the direction perpendicular to the bottom of the body 10) is used to determine the position of the water outlet 900H on the body 10, so as to realize that the water outlet 900H replenishes water to the cleaning member 91H at the outward swing position, the inward retraction position, and any position between the outward swing position and the inward retraction position; or when the cleaning member 91H is in the inward retraction position and the outward swing position, the water outlet 900H replenishes water to the cleaning member 91H; or when the cleaning member 91H is only in the inward retraction position or only in the outward swing position, the water outlet 900H replenishes water to the cleaning member 91H.

[0235] As shown Figure 99 in the figure, generally two wet cleaning modules 200M are provided for the cleaning device. When the cleaning device performs edge cleaning, it can perform one-sided edge cleaning. For example, when the cleaning device performs right-edge cleaning, the wet cleaning module 200M on the right side of the cleaning device can swing relative to the body 10, and the wet cleaning module 200M on the left side of the cleaning device cannot swing relative to the body 10. The installation cavity of the body 10 needs to reserve space for the swing of the wet cleaning module 200M on the right side, so that the layout of the wet cleaning module 200M and its adjacent structures on the whole machine is slightly different.

[0236] In one embodiment, as Figures 102 to 105 shown in the figure, the dust box 102M is arranged in the installation cavity of the body 10. In order to reserve installation space for the wet cleaning module 200M on the right side, a first avoidance surface 1024M is provided on one wall surface of the dust box 102M to increase the installation space between this wall surface of the dust box 102M and the side wall of the body 10, or to reserve installation space, and this installation space is for the aforementioned second driving structure 50M, or the first driving structure 40M, or the first driving structure 40M and the second driving structure 50M to be installed. Preferably, the first avoidance surface 1024M can be a plane, can be an arc surface, can also be an uneven surface, or a surface with edges and corners. The shape of the first avoidance surface 1024M is not limited, as long as it can avoid a larger space for the second driving structure 50M and / or the first driving structure 40M to be installed. That is, the setting of the first avoidance surface makes the space occupied by the dust box in the inner cavity of the body small, and the space between the first avoidance surface and the side wall of the body is larger, reserving a swing space for the swing of the first driving structure in the body.

[0237] The first avoidance surface 1024M can be arranged on the side wall of the dust box 102M, can also be arranged on the bottom wall of the dust box 102M, or on the top wall of the dust box 102M, or at the connection of the top and side walls of the dust box 102M; or at the connection of the side wall and the bottom wall of the dust box 102M. Further preferably, in this embodiment, when the cleaning assembly 20 is in the retracted position, the edge of the cleaning assembly 20 is within the range of the edge of the body 10, or at least part of the cleaning assembly 20 is located outside the peripheral side of the body 10; when the cleaning assembly 20 is in the outward swing position, a part of the cleaning assembly 20 is located outside the peripheral side of the body 10, or at least part of the edge of the cleaning assembly 20 extends beyond the edge of the walking range of the body 10.

[0238] As Figure 99As shown, in one embodiment, the fan 103M of the dry cleaning module 100M is located between the non-swingable wet cleaning module 2001M and the swingable wet cleaning module 2002M. The air outlet 1022M of the dust box 102M is provided on the wall surface at one end facing the fan 103M; the dust inlet 1021M of the dust box 102M is provided on the wall surface of the dust box 102M on the side away from the fan 103M. A filter assembly 1023M is provided on the air outlet 1022M. For example, the filter assembly 1023M is a HEPA filter or other filter screens. Preferably, one end of the filter assembly 1023M can be fixed on the first avoidance surface 1024M.

[0239] In a preferred embodiment, the second driving structure 50M is distributed in the area enclosed by the wet cleaning module 200M, the first avoidance surface 1024M, and the fan 103M, making the distribution of the wet cleaning module 200M and the second driving structure 50M in the installation cavity more compact.

[0240] For example, as Figure 103 shown in the embodiment, the first driving structure 40M for driving the cleaning component 20 to rotate includes a first motor 203M and a first transmission mechanism 201M provided on the output shaft of the first motor 203M; the second driving structure 50M includes a second motor 204M and a second transmission mechanism 202M provided on the output shaft of the second motor 204M. The first transmission mechanism 201M and the second transmission mechanism 202M are connected by a swing arm. When the second transmission mechanism 202M swings, the first transmission mechanism 201M is driven to swing as a whole through the swing arm. The area for distributing the second motor 204M and the second transmission mechanism 202M is enclosed by the first motor 203M, the first transmission mechanism 201M, the fan 103M, and the first avoidance surface 1024M.

[0241] When the garbage in the dust box 102M of the cleaning device needs to be dusted, the cleaning device usually returns to the base station. The dust collection fan on the base station collects the garbage in the dust box 102M into the dust bin or dust bag of the base station through blowing and suction. Accordingly, an air inlet 1028M and a dust discharge port 1027M are provided on the dust box 102M. The blowing end of the dust collection fan on the base station is communicated with the air inlet 1028M, and the suction end of the dust collection fan is communicated with the dust discharge port 1027M. Normally closed valves are respectively provided on the air inlet 1028M and the dust discharge port 1027M. Only when the cleaning device returns to the base station for dust collection and the dust collection fan is working, the normally closed valves on the air inlet 1028M and the dust discharge port 1027M are opened. The opening of the normally closed valves can be actively opened through a driving structure or can be opened by the airflow generated when the dust collection fan is turned on.

[0242] In one embodiment, as Figure 103 and Figure 104As shown, a dust exhaust duct 1026M is provided on the dust exhaust port 1027M for connecting to the suction end of the dust collecting fan of the base station. An air inlet channel is provided on the air inlet 1028M, or the air inlet channel may not be provided, for connecting to the blowing end of the dust collecting fan on the base station. The dust exhaust duct 1026M needs to allow the garbage in the dust box 102M to flow through, so the dust exhaust duct 1026M is larger in size than the air inlet channel. Since the swingable wet cleaning module 2002M is provided near the first avoidance surface 1024M, therefore, the air inlet 1028M is provided on the first avoidance surface 1024M, and the dust exhaust port 1027M is provided on the wall surface of the dust box 102M away from the first avoidance surface 1024M. The air inlet 1028M and the dust exhaust port 1027M are distributed on both sides of the air exhaust port 1022M, providing an installation space for the dust exhaust duct 1026M. As Figure 103 shown, preferably, the non-swingable wet cleaning module 2001M is located between the dust exhaust duct 1026M and the fan 103M of the dry cleaning module 100M.

[0243] Further preferably, as Figure 105 shown in the embodiment, a second avoidance surface 1025M is provided on the dust box 102M to reserve an installation space. In a preferred implementation manner, the area of the first avoidance surface 1024M is larger than the area of the second avoidance surface 1025M. Or, in another implementation manner, the area of the first avoidance surface 1024M is less than or equal to the area of the second avoidance surface 1025M. The second avoidance surface 1025M can be provided on the side wall, or the bottom wall, or the top wall of the dust box 102M, or at the connection between the side wall and the top wall, or at the connection between the side wall and the bottom wall. Preferably, the second avoidance surface 1025M can be a flat surface, can be an arc surface, can also be an uneven surface, or a surface with edges and corners. The shape of the second avoidance surface 1025M is not limited, as long as it can avoid a larger space for other structures to be installed. In addition to the above-mentioned dust exhaust duct, other structures can also be other structures. For example, when another wet cleaning module swings out and retracts, the second driving structure and / or the second driving structure for driving this wet cleaning module can be arranged in the space at the second avoidance surface avoidance to provide a swinging space for this wet cleaning module.

[0244] In a preferred manner, the first avoidance surface 1024M and the second avoidance surface 1025M can be adjacent to each other, can be opposite to each other, or other distribution methods are also possible.

[0245] Further preferably, the dust exhaust port 1027M is provided on the second avoidance surface 1025M. Or the dust exhaust port 1027M is not provided on the second avoidance surface 1025M. For example, there are two wet cleaning modules 200M on the cleaning device. The second driving structure 50M and / or the first driving structure 40M of one wet cleaning module 200M are provided in the reserved space avoided by the first avoidance surface 1024M, and the other wet cleaning module 200M is provided in the reserved space avoided by the second avoidance surface 1025M. Or when both wet cleaning modules 200M can swing outwards and retract inwards, the second avoidance surface 1025M and the body 10 can also be used for installing the second driving structure 50M and / or the first driving structure 40M of another swingable wet cleaning module 2002M. Or, a space is formed between the second avoidance surface 1025M and the body 10 for installing other structures except the wet cleaning module 200M.

[0246] If the cleaning device uses the left edge, correspondingly, the wet cleaning module 200M located on the left side of the body 10 can swing relative to the body 10, and the wet cleaning module 200M located on the right side of the body 10 cannot swing relative to the body 10. The arrangement of the corresponding two wet cleaning modules 200M, the dust box 102M, the fan 103M, and the dust exhaust duct 1026M is the same as that in the above embodiment and will not be described in detail here. If the cleaning device can use both the left and right edges, correspondingly, both wet cleaning modules 200M can swing relative to the body 10. The arrangement of each wet cleaning module 200M can adopt the arrangement of the swingable cleaning module described above. The fan 103M of the dry cleaning module 100M can be between the two wet cleaning modules 200M, and the dust exhaust duct 1026M is closer to the dust inlet 1021M than the dust outlet 1022M, so as to reserve a larger space for installing the wet cleaning module 200M.

[0247] The arrangement of the wet cleaning module 200M, the dust box 102M, the fan 103M, and the dust exhaust duct 1026M can be other ways except the ways described above, as long as a swinging or moving space is reserved for the swingable wet cleaning module 2002M.

[0248] Such as Figure 96 and Figure 99As shown, there are two wet cleaning modules 200M of the cleaning device. When the cleaning device needs to clean along the edge, the swingable wet cleaning module 2002M swings so that the cleaning component 20 is in the outer swing position. However, a gap is generated between the cleaning member 91H of the swingable wet cleaning module 2002M and the cleaning member 91H of the non-swingable wet cleaning module 2001M. This gap will cause a missed cleaning area when the cleaning device cleans along the edge. To avoid this missed cleaning area, both wet cleaning modules on the cleaning device are set to be swingable relative to the body 10 and can swing towards the same side of the body 10, so that there is no gap between the two cleaning members 91H of the two wet cleaning modules 200M when the cleaning device is cleaning along the edge or not along the edge, thereby avoiding the missed cleaning area. For example, when the cleaning member is a rag, the rag has a certain amount of deformation, and the adjacent ends of the adjacent two rags are pressed against each other to eliminate the gap between the two rags.

[0249] For example, when the cleaning device needs to clean along the edge, taking the right edge as an example, both wet cleaning modules 200M swing outward towards the right side of the body 10, and there is no gap between the two cleaners; when the cleaning along the edge of the cleaning device ends or in other scenarios when the cleaning component 20 needs to be in the retracted position, both wet cleaning modules 200M retract towards the inner side of the body 10, and there is no gap between the two cleaning members 91H.

[0250] The two wet cleaning modules 200M can swing towards the same side, either synchronously or simultaneously, or asynchronously or at different times, as long as there is no gap between the two cleaning members 91H. The swinging of the two wet cleaning modules 200M can be driven by a shared second drive structure 50M, or each can be provided with a separate second drive structure 50M for individual driving. At this time, only a space needs to be reserved on the body 10 for the second drive structure 50M and the two wet cleaning modules 200M to achieve swinging towards the same side.

[0251] A recessed cavity for accommodating the walking components is provided at the bottom of the body 10. The walking system 300M has an obstacle-crossing function. The walking system 300M is swingably arranged on the body 10, and the walking components are located in the recessed cavity; when the body 10 is lifted, the walking components can float to extend out of the recessed cavity; when the body 10 is placed on the ground or an object surface, the walking components abut against the ground or the object surface, and the walking components press towards the recessed cavity, and part of the walking components extends into the recessed cavity.

[0252] Since the wet cleaning module 200M is swingable on the body 10, when the traveling member abuts on the ground or the surface of an object, the arc-shaped trajectory line of the swing of the traveling member does not interfere with the swing trajectory of the cleaning disk 90H of the swingable cleaning assembly 20, that is, the swing of the cleaning assembly 20 can be prevented from interfering with the movement of the traveling member of the traveling system 300M. In one embodiment, when the cleaning member is a rag, the rag has a certain amount of deformation. When the body 10 is lifted, the traveling member is in a floating state, and the cleaning device is in a non-working state. The arc-shaped trajectory line of the swing of the traveling member can have no interference with the cleaning disk 90H of the swingable cleaning assembly 20, but can have a certain amount of interference with the rag. For example, the interference amount is 0.1 mm, 1 mm, 2 mm, 3 mm, 4 mm, etc.

[0253] In addition, when the cleaning device is not provided with a lifting structure, or even if a lifting structure is provided, but the cleaning assembly 20 does not rotate during the lifting process, during the outward swing or inward retraction of the wet cleaning module 200M, the control system can control the cleaning assembly 20 to rotate. If the cleaning assembly 20 is in the mopping position, the ground can be cleaned; the control system can also control the cleaning assembly 20 not to rotate, and after the cleaning assembly 20 swings in place, the cleaning assembly 20 starts to rotate to clean the ground. During the outward swing or inward retraction of the cleaning assembly 20, the body 10 of the cleaning device can be in a traveling state to realize that the cleaning device swings while walking, improving the cleaning efficiency; the body 10 of the cleaning device can also be in a stopped traveling state and then walk after the cleaning assembly 20 swings outward or inward in place. For example, when the cleaning device is about to edge, after the cleaning assembly 20 swings outward in place, the body 10 of the cleaning device starts to edge, facilitating the cleaning member 91H that swings outward to start cleaning from the starting position of the edge.

[0254] During the outward swing of the cleaning device, the control system can control the cleaning disk 90H to rotate at a reduced speed to prevent the linear speed of the rotation of the cleaning disk 90H from being too high. When the cleaning disk 90H swings outward and abuts on an obstacle, and is subjected to the abutting force of the obstacle, the body 10 deviates from the original traveling trajectory. That is, when the linear speed of the cleaning disk 90H is too high and it is subjected to the abutting force of the obstacle, this abutting force is likely to push the body 10 off to the side in the reverse direction. Therefore, when the cleaning assembly 20 swings outward, it is preferable to reduce the rotation speed of the cleaning disk 90H.

[0255] Since there are two wet cleaning modules 200M on the cleaning device, the different rotation directions of the cleaning members 91H of the two wet cleaning modules 200M have different effects on the outward swing and inward retraction of the cleaning members 91H. As Figure 106As shown, two adjacent cleaning members have adjacent first sides and second sides that are away from each other. If both cleaning members 91H rotate outward (rotate from the adjacent first side towards the second side), the cleaning members 91H contact the ground and are subject to the frictional force F of the ground. Taking a cleaning disc 90H as an example, the frictional force received by the cleaning disc 90H can be simplified to the forces on the first end and the second end in the width direction of the machine body. The forces received at both ends are F1 and F2 respectively. The lever arm from the swing center A point of the cleaning disc 90H to the first end is L1, and the lever arm from the swing center A point to the second end is L2. Then the torques at the first end and the second end are F1×L1 and F2×L2 respectively. Since F1 = F2 and L1 > L2, the torque F1×L1 > F2×L2. This torque will drive the cleaning disc 90H to swing outward, and the driving force for the cleaning disc 90H to swing outward can be reduced.

[0256] Similarly, as Figure 107 shown, if both cleaning members 91H rotate inward (rotate from the second side towards the first side), the cleaning members 91H contact the ground and are subject to the frictional force F of the ground. Taking a cleaning disc 90H as an example, the frictional force received by the cleaning disc 90H can be simplified to the forces on the first end and the second end in the width direction of the machine body in the radial direction. The forces received at both ends are F3 and F4 respectively. The lever arm from the swing center A point of the cleaning disc 90H to the first end is L3, and the lever arm from the swing center A point to the second end is L4. Then the torques at the first end and the second end are F3×L3 and F4×L4 respectively. Since F3 = F4 and L3 > L4, the torque F3×L3 > F4×L4. This torque will drive the cleaning disc 90H to swing inward, and the driving force for the cleaning disc 90H to swing inward can be reduced.

[0257] Based on the above analysis, the driving forces for the outward swing and inward swing of the cleaning disc 90H can be reduced by controlling the rotation directions of the two cleaning discs 90H. For example, when the cleaning assembly 20 needs to swing outward, the cleaning discs 90H of the two cleaning assemblies 20 can be controlled to rotate outward to reduce the driving force for the outward swing; when the cleaning assembly 20 needs to swing inward, the cleaning discs 90H of the two cleaning assemblies 20 are controlled to rotate inward to reduce the driving force for the inward swing, that is, the second driving structure 50M and the rotation direction when controlling the swing of the cleaning disc 90H are used together to drive the wet cleaning module 200M to swing outward and retract inward.

[0258] Or, in another way, the swing of the wet cleaning module 200M may not be provided with the second driving structure 50M, but the driving forces for the outward swing and inward swing are generated by controlling the rotation directions of the two cleaning discs 90H. When the cleaning assembly 20 needs to swing outward, the first driving structure 40M is controlled to drive both cleaning assemblies 20 to rotate outward to drive the cleaning assembly 20 to swing outward; when the cleaning assembly 20 retracts, the first driving structure 40M is controlled to drive both cleaning assemblies 20 to rotate inward to drive the cleaning assembly 20 to retract.

[0259] Furthermore, the rotation angle of the rotation motor 2011M of the first driving structure 40M can be controlled to adjust the positions of the outward swing and inward retraction of the cleaning assembly 20, so that the outward swing position and inward retraction position of the cleaning assembly 20 are adjustable.

[0260] The cleaning device often needs to return to the base station for charging, collect the garbage in the dust box 102M in the base station, clean the cleaning part 91H, disassemble the cleaning assembly 20 or the cleaning part 91H, and replenish water to the water tank in the body 10. Therefore, before the cleaning device returns to the base station, the wet cleaning module 200M of the cleaning device needs to be in the retracted position. To ensure that the cleaning assembly 20 is in the retracted position, before the cleaning device returns to the base station, the position of the cleaning assembly 20 can be detected first. If the cleaning assembly 20 is not in the retracted position, the control system controls the second driving structure 50M to start, driving the cleaning assembly 20 to retract until it reaches the retracted position. Or, before the cleaning device is set to return to the base station, the control system does not detect whether the cleaning assembly 20 is in the retracted position, and the control system controls the second driving structure 50M to drive the cleaning assembly 20 to retract forcibly, and then detects whether the cleaning assembly 20 is in the retracted position. If the cleaning assembly 20 is in the retracted position, the motor of the second driving structure 50M stops rotating; otherwise, the motor of the second driving structure 50M continues to rotate until the cleaning assembly 20 is in the retracted position.

[0261] In addition to the above-mentioned cleaning device returning to the base station, when the cleaning device is in other scenarios, such as non-edge cleaning mode, rag lifting, disassembly of the cleaning part 91H (disassembly of the cleaning part 91H that does not require returning to the base station), etc., the cleaning assembly 20 needs to be in the retracted position. To ensure that the cleaning assembly 20 can be kept in the retracted position, in addition to the locking structure and the motor self-locking method mentioned above, the control system can also control the second driving structure 50M to start at an interval of the first preset duration t1 to forcibly drive the cleaning assembly 20 to retract and keep it in the retracted position. Similarly, if the cleaning assembly 20 needs to be kept in the outward swing state, such as in the edge cleaning mode, the control system can also control the second driving structure 50M to start at an interval of the second preset duration t2 to forcibly swing the cleaning assembly 20 outward to keep the outward swing position. Among them, the first preset duration t1 and the second preset duration t2 can be the same or different, and the first set duration and the second set duration can be any period of time in minutes. For example, the first set duration and the second set duration can be 3 minutes, 5 minutes, 10 minutes, etc.

[0262] In one embodiment, the cleaning assembly 20 can also be arranged on the machine body 10 through a swing rod mechanism. The swing mechanism includes a first swing rod and a second swing rod. The first swing rod is rotatably arranged on the machine body 10. The second swing rod is hinged or rotatably connected to the first swing rod. The second swing rod is connected to the cleaning assembly 20 or connected to a first driving structure 40M that drives the cleaning assembly 20 to rotate. By controlling the swing angle of the swing rod, the outward swing distance of the cleaning assembly 20 is adjusted. For example, a second driving structure 50M is used to drive the first swing rod to swing. The first swing rod drives the entire cleaning assembly to swing outward or retract inward through the second swing rod. When the cleaning assembly extends outward and encounters an obstacle, it can elastically retract. One swing rod mechanism can drive one cleaning assembly 20 or multiple cleaning assemblies.

[0263] In one embodiment, the machine body 10 includes a first part 110M and a second part 120M. Along the forward direction of the machine body, the first part 110M can be located in front of or behind the second part 120M. The arrangement methods of the two ways are the same. For the convenience of description, it is expanded with the first part 110M located in front of the second part 120M. As Figure 113 and Figure 114 shown in the embodiment, the aforementioned cleaning assembly 20 is arranged on the second part 120M. When the cleaning assembly 20 needs to swing outward, the second driving structure 50M drives the module formed by the second part 120M and the cleaning assembly 20 to swing as a whole toward the outside of the machine body 10 to reach the outward swing position; on the contrary, the second driving structure 50M drives the module formed by the second part 120M and the cleaning assembly 20 to swing as a whole toward the inside of the machine body 10 to reach the retracted position. Preferably, there is an avoidance area behind the first part 110M. When the cleaning assembly 20 is in the retracted position, the cleaning assembly 20 and the second part 120M can retract into the avoidance area. Optimally, when the cleaning assembly 20 is in the retracted position, the aforementioned first part 110M and the second part 120M form a complete circle, or a D shape, or other polygons, etc., so that the cleaning device forms a circular machine, a D-shaped machine, or a polygonal machine. Of course, when the cleaning assembly 20 is in the retracted position, the second part 120M can be located within the edge of the maximum width of the first part 110M (the width in the direction perpendicular to the forward direction of the cleaning device) or beyond the edge of the maximum width of the first part 110M. Alternatively, there is no avoidance area behind the first part 110M, and the second part 120M is located behind the entire first part 110M. In addition, if an elastic member is provided in the second driving structure 50M, when the cleaning assembly 20 or the second part 120M is affected by an obstacle, it can elastically extend and elastically retract.

[0264] In one embodiment, there are at least two wet cleaning modules 200M. One of the cleaning components 20 of the two wet cleaning modules 200M can swing outwards and retract inwards, while the other cannot swing outwards; or neither of the two cleaning components 20 (main cleaning components) can swing outwards or both can swing. On this basis, at least one auxiliary cleaning component that can swing outwards and retract inwards is provided on the body 10. When performing edge cleaning, the auxiliary cleaning component swings outwards to be in the outward swing position; when the auxiliary cleaning component needs to retract inwards, the auxiliary cleaning component retracts inwards to be in the retracted position. The swinging of the auxiliary cleaning component can be driven by the above-mentioned second driving structure 50M, or the auxiliary cleaning component can be driven to swing or rotate by belt drive. Preferably, the auxiliary cleaning component is provided with an elastic member, and the elastic member is used to achieve inward or outward retraction; or it can automatically retract and swing when encountering an obstacle.

[0265] In one embodiment, the cleaning device is provided with at least two wet cleaning modules 200M, and the two wet cleaning modules 200M can swing outwards and retract inwards. In the retracted position, the cleaning components 20 of the two wet cleaning modules 200M can be folded or overlapped, so that the cleaning components 20 are within the range of the body 10. For example, before retracting inwards, through the lifting and lowering actions of the lifting structure, the two cleaning components 20 are staggered in height, and then the cleaning components 20 retract inwards, so that the inner sides of the cleaning components 20 overlap or intersect in the thickness direction of the body 10, so that the two cleaning components 20 can be within the range of the body 10. On the contrary, when swinging outwards, the cleaning components 20 first swing outwards and then descend, so that the cleaning components 20 are in the outward swing position. Optionally, the traveling member is located between the main brush 101M of the dry cleaning module 100M and the cleaning component 20. The two cleaning components 20 in this embodiment can be one that can swing outwards and retract inwards and the other that cannot swing outwards and retract inwards; or both of the two cleaning components 20 can swing outwards and retract inwards. In addition, the side brush 400M can be one or two. When there are two side brushes 400M, the two side brushes 400M are distributed on both sides of the body 10.

[0266] One embodiment, the body 10 of the cleaning device is a special-shaped machine, such as Figure 115As shown, the body 10 has a main body and a protruding portion 130M protruding outward from the main body. At least one wet cleaning module 200M is provided on the protruding portion 130M. The cleaning component 20 of this wet cleaning module 200M can swing outward and retract inward. With the setting of the protruding portion 130M and the outward swing of the cleaning component 20, the outward swing distance of the cleaning component 20 relative to the main body is further increased. Preferably, two wet cleaning modules 200M are provided in the cleaning device, one is provided on the protruding portion 130M, and the other is provided on the main body; alternatively, both can be provided on the protruding portion 130M. The cleaning component 20 located on the main body can swing outward or not swing outward, which is selected according to requirements. Preferably, the body 10 is in a shape similar to a water droplet; alternatively, the body 10 can be in other irregular shapes, such as polygons and ellipses. The polygon can be a triangle, a quadrilateral, etc., and each corner of the polygon serves as a protruding portion 130M. When the body 10 is provided with multiple protruding portions 130M, the cleaning component 20 of the wet cleaning module 200M can be provided on some of the protruding portions 130M, the side brush 400M can be provided on some of the protruding portions 130M, or the main brush 101M of the dry cleaning module 100M can be provided on some of the protruding portions 130M. Of course, the cleaning component 20 or the side brush 400M or the main brush 101M can be provided on all the protruding portions 130M, and the specific setting is selected according to requirements.

[0267] In addition, the wet cleaning module 200M can also include at least one folding wet cleaning mechanism. The folding wet cleaning mechanism includes an installation cylinder and a cleaning body. The cleaning body includes a first cleaning portion and a second cleaning portion. The two cleaning portions have a folded state and a deployed cleaning state. In the folded state, the two cleaning portions are folded and can be received in the installation cylinder under the drive of the telescopic mechanism; in the deployed state, the two cleaning portions extend out of the installation cylinder and unfold. Among them, the first cleaning portion is located below the bottom of the body 10, and the second cleaning portion extends out of the body. When the body 10 is walking, the second cleaning portion extending out of the body 10 can achieve edge cleaning. In addition, in the folded state, the two cleaning portions can squeeze each other to squeeze out the liquid on each of them. That is, the cleaning component 20 and the folding wet cleaning mechanism are simultaneously provided on the cleaning device, and with their cooperation, the cleaning effect is further improved. After the edge cleaning is completed, the two cleaning portions are switched to the folded state. The installation cylinder in this embodiment can also not be provided. In another embodiment, the wet cleaning module 200M can only be provided with the folding wet cleaning mechanism, or only the above-mentioned cleaning component 20.

[0268] In one embodiment, the wet cleaning module 200M includes two cleaning components 20. One of the cleaning components 20 includes a cleaning disk 90H and a cleaning member 91H. The cleaning disk 90H drives the cleaning member 91H to vibrate to clean the ground by vibration. The other cleaning component 20 includes a cleaning disk 90H and a cleaning member 91H. The cleaning disk 90H drives the cleaning member 91H to rotate to clean the ground by rotation. Among them, the rotating cleaning component 20 can swing out and retract, or not swing out and retract; the vibrating cleaning component 20 can swing out and retract, or not swing out and retract; the distribution of the vibrating cleaning component 20 and the rotating cleaning component 20 on the body 10 only needs to ensure that their movements do not interfere with each other, and the specific arrangement method is not limited. For example, along the forward direction of the cleaning device, one of the vibrating cleaning component 20 and the rotating cleaning component 20 is in the front and the other is in the rear; or the two cleaning components 20 are distributed left and right in the width direction of the body 10; or an avoidance area is provided on one of the vibrating cleaning component 20 and the rotating cleaning component 20 for the installation or distribution of the other cleaning component 20. In addition, at least one of the vibrating cleaning component 20 and the rotating cleaning component 20 can swing out and retract to switch between the swung-out and retracted positions.

[0269] In one embodiment, the cleaning component 20 can also be arranged in a manner similar to the bumper plate at the front of the cleaning device. When the cleaning component 20 encounters an obstacle, the cleaning component 20 retracts under the action of the obstacle; under the action of the elastic member, the cleaning component 20 remains in the swung-out position. When the cleaning disk 90H is in the retracted position, at least part of it is located outside the peripheral side of the body 10.

[0270] In addition, there are at least two wet cleaning modules 200M. Two of the wet cleaning modules 200M share the aforementioned second driving structure 50M, that is, one second driving structure 50M drives two cleaning components 20 to swing, or each of the two wet cleaning modules 200M is provided with a second driving structure 50M; or there is one wet cleaning module 200M, and the cleaning device is provided with one cleaning component 20 to clean the surface to be cleaned. When cleaning along the edge, the cleaning component 20 swings out, and when the cleaning component 20 needs to retract, the cleaning component 20 retracts. If the cleaning device is only provided with one cleaning component 20, the cleaning component 20 can also always remain in the swung-out position without the need for the cleaning component 20 to switch between the swung-out and retracted positions.

[0271] For the cleaning component 20, the cleaning component 20 can be the aforementioned vibrating cleaning component 20, or the rotating cleaning component 20, or a mopping roller brush.

[0272] The above is described by taking the wet cleaning module 200M as an example to realize the outward swing and inward retraction functions. Similarly, the wet cleaning module 200M can be replaced by a side brush to realize the outward swing and inward retraction of the side brush 400M and improve the edge cleaning function of the side brush 400M; or the wet cleaning module can also be replaced by a main brush to realize the outward swing and inward retraction of the main brush and increase the cleaning area of the main brush. For specific content, please refer to the foregoing content and will not be elaborated here.

[0273] In one embodiment, the side brush 400M can swing outward and inward relative to the body 10 under the foregoing driving structure. The side brush 400M has an outward swing position and an inward retraction position. When the side brush 400M swings outward, the side brush 400M extends out of the body 10 to reach the outward swing position; when the side brush 400M swings inward to reach the inward retraction position, the side brush 400M can be within the range of the body 10 or partially outside the circumference of the body 10. When the side brush 400M is in the outward swing position, the side brush 400M has a better edge effect on obstacles.

[0274] By setting that the side brush can swing, when the side brush is in the outward swing position, compared with when the side brush is in the inward retraction position, the part of the side brush extending out of the body is longer, and it can sweep more garbage outside the body and has a better edge effect.

[0275] Preferably, when the cleaning component can swing and the side brush can swing, both the cleaning component and the side brush are located on the right side of the body to form an edge cleaning mode on the right side. Along the forward direction of the body, the side brush performs dry cleaning first and the cleaning component performs wet cleaning later, so as to have a better cleaning effect on the edge cleaning area; if the side brush does not swing outward, the part of the side brush extending out of the body is limited, and it cannot perform dry cleaning on the area where the cleaning component performs edge cleaning in advance, and can only rely on the wet cleaning of the cleaning component. If there is a lot of garbage in the edge area and it is directly cleaned by the wet cleaning of the cleaning component without passing through the dry cleaning of the side brush, the rag of the cleaning component will be soiled quickly, and the cleaning equipment needs to return to the base station to clean the rag at a very short interval, resulting in low cleaning efficiency; if the side brush in the front can swing outward, the side brush will perform dry cleaning on the garbage in the edge area first, and then the rag of the cleaning component will perform wet cleaning later, so that the rag can clean more areas before being soiled and return to the base station to clean the rag at a longer interval, thereby improving the edge cleaning effect and efficiency of the cleaning equipment.

[0276] In one embodiment, multiple side brushes 400M can be provided. For example, multiple side brushes 400M are distributed at intervals outside the edge of the body 10. The side brushes 400M are distributed on the body 10 avoiding the wet cleaning module 200M, and the side brushes 400M can swing outward or not.

[0277] For a clearer understanding of the technical features, purposes, and effects of the present application, the specific embodiments of the present application will now be described with reference to the accompanying drawings.

[0278] Example 1

[0279] Generally speaking, in Examples 1 - 8, a cleaning device is mainly introduced. The cleaning device has a cleaning component 20, and the cleaning component 20 can switch between a first position and a second position, so as to better achieve the cleaning effect. In this embodiment, the first driving structure 40M at least includes the rotation driving member 230 and the transmission component 240 in this embodiment, and the second driving structure 50M at least includes the guiding component 50 and the driving cooperation structure 711 in this embodiment. This embodiment provides a cleaning device, such as Figures 1 to 6 shown, the cleaning device includes a body 10 and a cleaning component 20. The cleaning component 20 is connected to the body 10. The cleaning component 20 has a first position. When the cleaning component 20 is in the first position, a part of the cleaning component 20 is located outside the circumferential side of the body 10.

[0280] By locating a part of the cleaning component 20 outside the circumferential side of the body 10 and controlling the movement path of the body 10, during the movement of the body 10, the cleaning component 20 protruding outside the body 10 can contact the edge of the obstacle, so as to clean the area near the obstacle.

[0281] Example 2: This embodiment provides a cleaning device, such as Figures 1 to 6 shown, the cleaning device includes a body 10 and a cleaning component 20. The cleaning component 20 is movably connected to the body 10. The cleaning component 20 has a first position and a second position. Wherein, when the cleaning component 20 is in the first position, a part of the cleaning component 20 is located outside the circumferential side of the body 10; when the cleaning component 20 moves to the second position, the part of the cleaning component 20 located outside the circumferential side of the body 10 is larger than the part of the cleaning component 20 located outside the circumferential side of the body 10 when the cleaning component 20 is in the first position.

[0282] Wherein, when the cleaning component 20 is in the second position, the part of the cleaning component 20 located outside the circumferential side of the body 10 contacts the edge of the obstacle.

[0283] Specifically, during the process of cleaning the surface to be cleaned, the cleaning component 20 has a first position and a second position. Wherein, when the cleaning component 20 switches from the first position to the second position, it will move in a direction away from the body 10. When the cleaning component 20 is in the second position, the part of the cleaning component 20 located outside the body 10 contacts the edge of the obstacle, so as to clean the area near the obstacle. In this application, when the cleaning component 20 is in the first position and the second position, at least a part of the cleaning component 20 is located outside the circumferential side of the body 10, and when in the second position, it can clean dead corners such as obstacles, with more comprehensive cleaning and improved cleaning efficiency.

[0284] Further, the obstacle can be a structure such as a wall or furniture. Taking the wall as an example, when the cleaning device moves to the corner of the wall, the cleaning device senses an obstacle. At this time, the cleaning assembly 20 is driven to switch from the first position to the second position, so that the cleaning assembly 20 moves towards the obstacle and contacts the edge of the obstacle, so as to clean the area at the corner.

[0285] It should be noted that the cleaning device can sense obstacles in different ways. For example, an infrared transmission sensor uses light reflection to achieve detection. Of course, it can also be other ways, as long as the position of the obstacle can be identified.

[0286] In one implementation, when the cleaning assembly 20 is in the second position, the distance between the part of the cleaning assembly 20 located outside the peripheral side of the body 10 and the edge of the obstacle ≤ a threshold value, and the threshold value ≥ 0. The cleaning assembly 20 includes a cleaning disc 90H and a cleaning member 91H provided on the cleaning disc 90H. When the cleaning device performs edge cleaning, a gap is always reserved between the cleaning disc 90H and the edge of the obstacle to prevent the cleaning disc 90H from hitting the edge of the obstacle. However, at this time, the cleaning member 91H can contact the edge of the obstacle or leave a gap from the edge of the obstacle. For example, when the cleaning member 91H is selected as a rag, the rag has a certain amount of deformation, and when moving along the edge, the rag can contact the edge of the obstacle; or it does not contact the edge of the obstacle. Therefore, the above-mentioned threshold value is set to be greater than or equal to 0. When the threshold value is 0, the cleaning member 91H contacts the edge of the obstacle; when the threshold value is greater than 0, the cleaning member does not contact the edge of the obstacle. For example, the threshold value can be 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 1 cm, 1.5 cm, etc.

[0287] When the cleaning member 91H is a rag, there are at least two situations where the rag contacts the edge of the obstacle. Among them, the first situation is that when the rag does not deform, the rag contacts the edge of the obstacle; the second situation is that when the rag deforms, the rag contacts the edge of the obstacle.

[0288] In this embodiment, two implementation manners are provided according to the different specific positions of the part of the cleaning assembly 20 located outside the body 10 in the second position, which are as follows.

[0289] As Figure 2 In the specific implementation manner shown, the travel line at the widest position of the body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 moves to the second position, at least a part of the edge of the cleaning assembly 20 reaches the edge of the maximum cleaning range.

[0290] Specifically, the body 10 has a wide part and a narrow part, and the cleaning assembly 20 is installed at an area outside the widest position of the body 10. Therefore, although a part of the cleaning assembly 20 extends out to the external area of the body 10, in the advancing direction, the edge of the cleaning assembly 20 is still flush with the side line of the wide area.

[0291] Furthermore, along the advancing direction of the cleaning device, the cleaning assembly 20 is installed at the front end or the rear end of the body 10. The width of the front end or the rear end is smaller than the width of the middle area of the body 10. After the cleaning assembly 20 moves to the second position away from the body 10, the part located outside the body 10 is flush with the side line of the area of the middle area of the body 10 in the advancing direction.

[0292] As Figure 3 shown in the specific embodiment, the advancing line of the widest position of the body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 moves to the second position, at least a part of the edge of the cleaning assembly 20 extends beyond the outside of the maximum cleaning range.

[0293] Specifically, the body 10 has a wide part and a narrow part, and the cleaning assembly 20 is installed at an area outside the widest position of the body 10. Therefore, although a part of the cleaning assembly 20 extends out to the external area of the body 10, and in the advancing direction, the edge of the cleaning assembly 20 can extend out of the area of the wide part.

[0294] Furthermore, along the advancing direction of the cleaning device, the cleaning assembly 20 is installed at the front end or the rear end of the body 10. The width of the front end or the rear end is smaller than the width of the middle area of the body 10. After the cleaning assembly 20 moves to the second position away from the body 10, the part located outside the body 10 extends out of the area of the wide part.

[0295] In this embodiment, the cleaning device further includes a driving assembly. The driving assembly is drivingly connected to the cleaning assembly 20 to move the cleaning assembly 20 between the first position and the second position.

[0296] Wherein, the driving assembly includes a guiding assembly 50 and a driving mating structure 711. The driving mating structure 711 is movably connected to the guiding assembly 50, and one of the driving mating structure 711 and the guiding assembly 50 is connected to the cleaning assembly 20, so that when the guiding assembly 50 and the driving mating structure 711 move relative to each other, the cleaning assembly 20 moves between the first position and the second position.

[0297] Further, the driving component provides a guiding component 50 for guiding the cleaning component 20, and a driving and mating structure 711 for switching the cleaning component 20 between a first position and a second position. At least one of the driving and mating structure 711 or the guiding component 50 pivots to drive or drive the cleaning component 20 to move in a pivoting manner.

[0298] As Figures 1 to 6 shown, the guiding component 50 extends in a first direction, and the first direction is a straight line. When the driving and mating structure 711 moves relative to the guiding component 50, the driving and mating structure 711 can move in the first direction.

[0299] Specifically, the driving and mating structure 711 and the guiding component 50 are drivingly connected by means of a screw and a nut 220. The screw and the nut 220 are threadedly connected. In this way, when one of the screw and the nut 220 rotates, the other is driven to move in the first direction. The use of the screw and the nut 220 has the function of driving connection and limiting at the same time, so as to limit the moving direction of the cleaning component 20, that is, the cleaning component 20 is translated by means of the screw and the nut 220.

[0300] Further, the guiding component 50 includes a screw, the driving and mating structure 711 is drivingly connected to the screw, the driving and mating structure 711 includes a nut 220, the screw is threadedly connected to the nut 220, and the driving and mating structure 711 is connected to the cleaning component 20 to drive the cleaning component 20 to move through the driving and mating structure 711.

[0301] It should be noted that a driving motor 710 is provided on the machine body 10. The driving motor 710 drives the screw to rotate and drives the nut 220 on the screw to move in the extending direction of the screw, that is, the first direction, when the screw rotates. When the nut 220 moves, it drives the cleaning component 20 to move to realize the translation of the cleaning component 20 in the first direction. The cleaning component 20 is switched between the first position and the second position by the forward and reverse rotation of the driving motor 710.

[0302] Of course, it is not limited to the structural form of the connection between the driving and mating structure 711 and the cleaning component 20. It can also be that the driving and mating structure 711 is formed on the cleaning component 20, and the driving and mating structure 711 has a thread for mating with the screw.

[0303] In this embodiment, the cleaning component 20 has a through hole, a linear bearing is installed in the through hole, the cleaning device further includes a guide rod 530, the guide rod 530 is arranged on the machine body 10, and the linear bearing is sleeved on the guide rod 530.

[0304] Among them, the guide rod 530 has a guiding function. By arranging a linear bearing at the through hole of the cleaning assembly 20, the cleaning assembly 20 can slide along the extension direction of the guide rod 530 through the linear bearing, and the guide rod 530 extends along the first direction. One or more guide rods 530 are provided. When multiple guide rods 530 are provided, the multiple guide rods 530 all extend along the first direction, and the multiple guide rods 530 are symmetrically arranged with respect to the screw rod to facilitate the stable installation and movement of the cleaning assembly 20.

[0305] As Figures 1 to 6 shown, the cleaning device further includes a first stop plate 410 and a second stop plate 420. The first stop plate 410 and the second stop plate 420 are arranged at intervals along the connection line direction of the first position and the second position. An installation area 430 is formed between the first stop plate 410 and the second stop plate 420, and a part of the cleaning assembly 20 is accommodated inside the installation area 430.

[0306] Specifically, at least a part of the cleaning assembly 20 is inside the installation area 430 and moves inside the installation area 430. The two stop plates have a limiting function to prevent the cleaning assembly 20 from detaching from the body 10.

[0307] Furthermore, both ends of the screw rod are rotatably installed on the first stop plate 410 and the second stop plate 420 through bearings, and both ends of the guide rod 530 are also installed on the first stop plate 410 and the second stop plate 420.

[0308] Among them, the moving channel 300H includes a long hole 110 or an arc hole 110R. In this embodiment, inside the installation area 430, a long hole 110 is provided on the body 10. The long hole 110 extends along the connection line direction of the first position and the second position. A part of the cleaning assembly 20 extends out of the body 10 through the long hole 110. When the cleaning assembly 20 switches between the first position and the second position, a part of the cleaning assembly 20 moves in the long hole 110.

[0309] Specifically, when the cleaning assembly 20 switches between the first position and the second position, a part of the cleaning assembly 20 moves in the long hole 110 to achieve the limiting effect on the cleaning assembly 20 and ensure that the cleaning assembly 20 can move stably without deviation.

[0310] In this embodiment, the cleaning device further includes a sealing structure member. The sealing structure member covers the long hole 110. The peripheral edge of the sealing structure member is connected to the body 10. The sealing structure member has an installation opening, and the installation opening is located within the area of the long hole 110. A part of the cleaning assembly 20 passes through the installation opening, and the peripheral edge of the installation opening is connected to a part of the cleaning assembly 20. When the cleaning assembly 20 switches between the first position and the second position, the position of the installation opening relative to the long hole 110 changes.

[0311] Specifically, the peripheral edge of the sealing structure member is connected to the body 10, and the peripheral edge of the installation opening is connected to the cleaning assembly 20, so as to cover the long hole 110 while not affecting the movement of the cleaning assembly 20. During the process of the cleaning assembly 20 switching between the first position and the second position, the cleaning assembly 20 drives the sealing structure member to move so that the installation opening follows the movement of the cleaning assembly 20, so as to always maintain a sealed state and prevent dust and the like from entering the interior of the body 10 through the long hole 110. As Figure 80 shown, the sealing structure member is a rubber-coated layer or rubber. Taking the rubber-coated layer 820H as an example, one end of the rubber-coated layer 820H is fixed on the body 10, and the other end is fixed on the outer periphery of the installation opening or the installation part. The rubber-coated layer 820H has a certain elasticity. During the swinging process of the cleaning assembly 20, the end of the rubber-coated layer 820H fixed on the installation opening or the installation part is driven to swing, and the rubber-coated layer 820H deforms, so as to realize the sealing of the long hole 110 or the arc-shaped hole 110R. Further, the sealing structure member is made of elastic rubber material.

[0312] As Figure 4 and Figure 6 shown, the cleaning assembly 20 includes a housing 210, a transmission assembly 240, a rotation driving member 230, and a moving cleaning member 250. The housing 210 has a receiving cavity. A part of the transmission assembly 240 is received inside the receiving cavity. The rotation driving member 230 is received on the housing 210. The rotation driving member 230 is connected to the transmission assembly 240. The moving cleaning member 250 is disposed outside the receiving cavity. Another part of the transmission assembly 240 extends out of the receiving cavity and is drivingly connected to the moving cleaning member 250. The rotation driving member 230 drives the moving cleaning member 250 to rotate through the transmission assembly 240.

[0313] Specifically, the rotation driving member 230 provides the driving force for the self-rotation of the cleaning assembly 20. Under the driving action of the rotation driving member 230, the cleaning assembly 20 rotates self and can realize the cleaning of the surface to be cleaned. A transmission assembly 240 is provided between the rotation driving member 230 and the moving cleaning member 250 to adjust the rotation speed of the moving cleaning member 250 through the transmission assembly 240 and improve the cleaning efficiency.

[0314] Further, the transmission assembly 240 includes: an input transmission member disposed inside the accommodation cavity, with the rotation driving member 230 drivingly connected to the input transmission member; an output transmission member disposed inside the accommodation cavity, with the input transmission member drivingly connected to the output transmission member; and a transmission shaft, with the output transmission member drivingly connected to the first end of the transmission shaft, and the second end of the transmission shaft extending out of the accommodation cavity and drivingly connected to the mobile cleaning member 250.

[0315] Among them, the input transmission member and the output transmission member can be structural members with transmission functions. By providing the transmission shaft, the rotational force of the output transmission member is transmitted to the mobile cleaning member 250, thereby enabling the mobile cleaning member 250 to rotate.

[0316] As Figure 6 shown, the input transmission member includes a first transmission gear 241 and a second transmission gear 242 that are coaxially arranged and rotate synchronously. The rotation driving member 230 is drivingly connected to the first transmission gear 241. The tooth diameter and the number of teeth of the first transmission gear 241 are greater than those of the second transmission gear 242. The output transmission member includes a third transmission gear 243. The third transmission gear 243 meshes with the second transmission gear 242, and the third transmission gear 243 is drivingly connected to the transmission shaft. The tooth diameter and the number of teeth of the third transmission gear 243 are greater than those of the second transmission gear 242, so that there is a transmission ratio between the second transmission gear 242 and the third transmission gear 243.

[0317] Specifically, the first transmission gear 241 and the second transmission gear 242 rotate synchronously and coaxially, and the number of teeth and the tooth diameter of the first gear drivingly connected to the rotation driving member 230 are greater than those of the second transmission gear 242. Therefore, when the second gear meshes with the third gear, there will be a good deceleration effect to prevent the mobile cleaning member 250 from rotating too fast and causing unstable installation.

[0318] It should be noted that the first transmission gear 241, the second transmission gear 242, or the third transmission gear 243 can be adaptively replaced as needed to ensure the preset transmission ratio and the rotational speed of the mobile cleaning member 250.

[0319] In this embodiment, two pulleys of different sizes can also be provided between the input transmission member and the output transmission member, and power transmission is achieved through a belt between the two pulleys.

[0320] It should be noted that it is not limited to the output transmission member including the third transmission gear 243. The output transmission member can also include multiple other gears, and the number of gears can be adaptively increased or decreased as needed.

[0321] As Figure 5As shown, the cleaning assembly 20 further includes a microswitch 60 and a controller. The microswitch 60 is disposed on the body 10 and is used to detect the position of the movable cleaning member 250. The controller is installed on the body 10 and is electrically connected to the microswitch 60, the rotational driving member 230, and the driving cooperation structure 711 of the cleaning device.

[0322] Among them, the microswitch 60 is disposed on the body 10, and when the cleaning assembly 20 is in the first position and the second position, it will contact the microswitch 60 to trigger the microswitch 60.

[0323] Specifically, by providing the microswitch 60 to detect the position of the movable cleaning member 250, the triggered microswitch 60 sends a signal to the controller, so that the controller controls the rotational driving member 230 and the driving cooperation structure 711 to act. Thus, by controlling the forward and reverse rotation of the driving motor 710, the position of the cleaning assembly 20 can be controlled, and the state of the movable cleaning member 250 can also be controlled by controlling the start and stop of the rotational driving member 230.

[0324] As Figure 1 and Figure 2 and Figure 3 As shown, the cleaning device further includes a static driving member 320 and a static cleaning member 310. The static driving member 320 is installed on the body 10, the static driving member 320 is drivingly connected to the static cleaning member 310, and the static cleaning member 310 is rotatably connected to the body 10.

[0325] Specifically, under the driving action of the static driving member 320, the static cleaning member 310 rotates itself to clean the surface to be cleaned. Moreover, by adopting the cooperation mode of the static cleaning member 310 and the cleaning assembly 20, the static cleaning member 310 is relatively stationary with respect to the body 10. The one-moving-and-one-static scheme is beneficial to enhancing the cleaning efficiency and avoiding the phenomenon of incomplete cleaning caused by cleaning dead corners.

[0326] Furthermore, both the movable cleaning member 250 and the static cleaning member 310 achieve cleaning by adopting the cooperation mode of a circular rotating disk and a mopping cloth. Of course, the shape of the rotating disk connected to the driving member may not be circular, and it may also be the way of setting bristles on the rotating disk for cleaning treatment. This application is based on the technical effect of achieving mopping when the movable cleaning member 250 and the static cleaning member 310 rotate.

[0327] Embodiment 3: The difference between this embodiment and Embodiment 2 is that in this embodiment, different sealing structural members are adopted to achieve sealing at the long slot 110 during the switching process of the cleaning assembly 20 between the first position and the second position, so as to prevent dust and the like from entering the interior of the body 10 through the long slot 110.

[0328] As Figure 8, Figure 9 , Figure 13 , Figure 14 and Figure 77 As shown, a track groove 120 extending along the second direction is provided on the body 10, and the cleaning device also includes a first sealing member 810, and the first sealing member 810 includes a first stop portion 8101, a second stop portion 8102 and a guide protrusion, the first stop portion 8101 and the second stop portion 8102 are arranged at an angle, and at least a portion of the guide protrusion extends into the interior of the track groove 120. When the cleaning component 20 switches between the first position and the second position, when the cleaning component 20 squeezes the first stop portion 8101 or the second stop portion 8102, the guide protrusion rotates and moves along the extension direction of the track groove 120. When the cleaning component 20 is in the first position, the second stop portion 8102 stops a portion of the elongated hole 110, and when the cleaning component 20 is in the second position, the first stop portion 8101 stops another portion of the elongated hole 110.

[0329] Specifically, the first stopper 8101 and the second stopper 8102 are arranged in linkage, so that when the cleaning assembly 20 switches between the first position and the second position, the first stopper 8101 and the second stopper 8102 rotate simultaneously when the cleaning assembly 20 squeezes the first stopper 8101 or the second stopper 8102. When the cleaning assembly 20 is in the first position, the cleaning assembly 20 squeezes the first stopper 8101 so that the second stopper 8102 stops a part of the long hole 110. When the cleaning assembly 20 switches from the first position to the second position, the cleaning assembly 20 squeezes the second stopper 8102 so that the first stopper 8101 and the second stopper 8102 rotate. When the cleaning assembly 20 is in the second position, the first stopper 8101 stops another part of the long hole 110.

[0330] Furthermore, during the rotation of the first stop portion 8101 and the second stop portion 8102, due to the translation of the cleaning component 20, the position of the cleaning component 20 squeezing the first stop portion 8101 will change with the movement of the cleaning component 20. Therefore, the guide protrusion not only needs to rotate with the first stop portion 8101 and the second stop portion 8102, but also needs to move along the second direction inside the track groove 120.

[0331] It should be noted that the angle between the first stop portion 8101 and the second stop portion 8102 and the shapes of the first stop portion 8101 and the second stop portion 8102 can be adaptively adjusted as needed.

[0332] In this embodiment, the first direction and the second direction are arranged at an angle of 90°, so as to facilitate the movement of the guide protrusion inside the track groove 120 during the switching process of the cleaning component 20 from the first position to the second position.

[0333] In this embodiment, the first seal 810 is a rigid seal, which is convenient for rotation under the extrusion of the cleaning assembly 20. The first seal 810 can be made of stainless steel or mild steel.

[0334] Furthermore, the cleaning device further includes a second seal 820, which is disposed between the body 10 and the first seal 810. The second seal 820 is a flexible seal, and the second seal 820 can be made of rubber or silica gel, etc. Of course, if the installation space is sufficient, the second seal 820 may not be provided, that is, the long slot 110 is sealed only by the first seal 810.

[0335] Embodiment 4: The difference between this embodiment and Embodiment 2 is that in this embodiment, the driving and cooperating structure 711 and the guiding assembly 50 are drivingly connected by a gear-rack cooperation form.

[0336] As Figures 7 to 12 shown, the driving and cooperating structure 711 includes a driving gear, and the guiding assembly 50 includes a first guiding member 510. The first guiding member 510 is a linear rack, and the driving gear meshes with the linear rack. The driving and cooperating structure 711 drives the cleaning assembly 20 to move linearly.

[0337] Specifically, a driving motor 710 is disposed on the cleaning assembly 20, and the driving motor 710 is drivingly connected to the driving gear. The first guiding member 510 is installed on the body 10. During the process of the cleaning assembly 20 switching from the first position to the second position, the driving motor 710 drives the gear to rotate, and the driving gear is rotationally connected to the linear gear and moves along the extending direction of the driving rack. The driving gear drives the cleaning assembly 20 to move, so as to realize the position movement of the cleaning assembly 20.

[0338] Furthermore, the driving gear and the linear rack are meshed to drive the cleaning assembly 20 to move. On the basis of ensuring stable connection, the technical effect of limiting is also achieved, so that the cleaning assembly 20 moves linearly.

[0339] To further ensure the stability of the movement of the cleaning component 20, in this embodiment, the cleaning component 20 includes a guiding groove 260. The guiding groove 260 has a channel extending in the first direction. The guiding component 50 further includes a second guiding member 520. The second guiding member 520 is arranged in parallel and at intervals with the first guiding member 510. At least a part of the second guiding member 520 is received inside the channel. The second guiding member 520 is slidably connected to the guiding groove 260. By adding the second guiding member 520, the function of guiding and limiting is achieved, and the phenomenon of the cleaning component 20 moving obliquely or unstably is avoided. Among them, the length of the second guiding member 520 is greater than the length of the first guiding member 510. In this embodiment, the cleaning component 20 is switched between the first position and the second position along a straight line by means of a driving gear and a linear rack.

[0340] It should be noted that the driving gear and the driving motor 710 can be installed on the cleaning component 20, and the linear rack is installed on the machine body 10. Of course, it is also possible to install the driving motor 710 and the driving gear on the machine body 10, and the linear rack is installed on the cleaning component 20.

[0341] Embodiment 5: The difference between this embodiment and Embodiment 2 is that, in this embodiment, the driving and cooperating structure 711 and the guiding component 50 are drivingly connected through the cooperation form of a worm and a gear.

[0342] As Figure 18 and Figure 19 shown, the cleaning device further includes a locking component 270. The guiding component 50 includes a worm. The driving and cooperating structure 711 is drivingly connected to the worm. The driving and cooperating structure 711 includes a driving gear. The worm is drivingly connected to the driving gear. The locking portion of the locking component 270 locks or disengages from the driving gear. When the driving gear disengages from the locking portion, the worm rotates and drives the driving gear to rotate itself so that the cleaning component 20 rotates; when the driving gear is locked by the locking portion, the worm rotates, the driving gear is locked by the locking portion and does not rotate, so that the driving gear moves along the extension direction of the worm and drives the cleaning component 20 to move in the first direction.

[0343] Specifically, the cooperation method of the worm and the driving gear is adopted. When the driving gear disengages from the locking portion, the driving motor 710 drives the worm to rotate. While the worm rotates, the teeth on the worm can mesh with the driving gear, and the circumferential force provided by the worm is used to make the driving gear rotate, thereby driving the cleaning component 20 to rotate. When the driving gear is locked by the locking portion, at this time, under the action of the locking portion, the moving cleaning member 250 of the cleaning component 20 cannot rotate. The driving motor 710 drives the worm to rotate. At this time, the worm gives the driving gear an axial force, so that the driving gear moves axially along the worm, and the driving gear drives the cleaning component 20 to move.

[0344] Further, the drive motor 710 is installed on the body 10. The drive motor 710 drives the cleaning assembly 20 to rotate or move by driving connection with the worm, and the moving direction of the cleaning assembly 20 and the rotating direction of the moving cleaning member 250 of the cleaning assembly 20 can be controlled by controlling the forward or reverse rotation of the drive motor 710.

[0345] It should be noted that, in order to achieve the technical effect of reducing the speed of the moving cleaning member 250, a gear meshing with the drive gear and the moving cleaning member 250 can be arranged between the drive gear and the moving cleaning member 250, so as to adjust the transmission ratio by the meshing between the gears and realize the speed adjustment of the moving cleaning member 250.

[0346] In this embodiment, the locking assembly 270 is a lead screw motor. The lead screw motor controls the lead screw to extend towards the drive gear and lock the drive gear so that the drive gear cannot rotate, or the lead screw motor controls the lead screw to retract away from the drive gear to disengage from the drive gear.

[0347] Embodiment 6: Different from Embodiment 2, in this embodiment, a method of moving in an arc direction is adopted during the switching of the cleaning assembly 20 between the first position and the second position.

[0348] As Figures 15 to 17 shown, the guiding assembly 50 is connected to the cleaning assembly 20, and the driving and cooperating structure 711 is arranged on the body 10. The driving and cooperating structure 711 acts to drive the guiding assembly 50 to move in the first direction, so that the guiding assembly 50 drives the cleaning assembly 20 to move in the first direction.

[0349] Specifically, the guiding assembly 50 has a guiding surface facing the driving and cooperating structure 711, and the guiding surface is an arc surface, and the first direction is the extending direction of the arc surface.

[0350] Among them, under the guiding action of the guiding surface of the guiding assembly 50, the driving and cooperating structure 711 drives the guiding assembly 50 to drive the cleaning assembly 20 to move along the extending direction of the arc surface. During the switching of the cleaning assembly 20 between the first position and the second position, the cleaning assembly 20 moves along the arc surface.

[0351] Further, the guiding surface has an arc-shaped rack, and the driving and cooperating structure 711 includes a driving gear, and the driving gear meshes with the arc-shaped rack. A drive motor 710 is also arranged on the body 10, and the drive motor 710 drives the driving gear to rotate, and the driving gear meshes with the arc-shaped rack to drive the arc-shaped rack to move.

[0352] It should be noted that, not limited to the mating form of the gear and rack, other transmission methods can also be adopted in this embodiment, such as chain drive, specifically to enable the cleaning component 20 to move along the arc direction to realize the switching between the first position and the second position.

[0353] Further, a microswitch 60 and a controller are provided on the body 10. The microswitch 60 is used to detect the position of the moving cleaning member 250, and the controller is electrically connected to the microswitch 60, the rotation driving member 230, and the driving motor 710.

[0354] Among them, the microswitch 60 is provided on the body 10, and when the cleaning component 20 is in the first position and the second position, it will contact the microswitch 60 to trigger the microswitch 60.

[0355] Specifically, by setting the microswitch 60 to detect the position of the moving cleaning member 250, the triggered microswitch 60 sends a signal to the controller, so that the controller controls the rotation driving member 230 and the driving cooperation structure 711 to act. Then, by controlling the forward and reverse rotation of the driving motor 710, the position of the cleaning component 20 can be controlled, and the start and stop of the rotation driving member 230 can also be controlled to control the state of the moving cleaning member 250.

[0356] In this embodiment, not limited to the way of setting the microswitch 60 and the controller, a stop structure, a current sensing device and a controller can also be set. When the cleaning component 20 moves to the first position or the second position, it cannot continue to move under the action of the stop structure. At this time, the driving motor 710 cannot continue to act and the current changes. The current sensing device detects the change of the current and will feedback an electrical signal to the controller, and the controller controls the driving motor 710 to adjust the rotation direction of the output shaft.

[0357] Embodiment 7: In this embodiment, a cleaning device is provided, as Figures 20 to 23 shown, the cleaning device includes a body 10, a cleaning component 20 and a reset member. The cleaning component 20 is movably connected to the body 10. The cleaning component 20 has an initial position and a retracted position. One end of the reset member is connected to the cleaning component 20, and the other end of the reset member is connected to the body 10. The reset member provides a reset force for the cleaning component 20 to maintain the initial position. Among them, when the cleaning component 20 is in the retracted position, a part of the cleaning component 20 is located outside the circumference of the body 10; when the cleaning component 20 is in the initial position, the part of the cleaning component 20 located outside the circumference of the body 10 is larger than the part of the cleaning component 20 located outside the circumference of the body 10 when the cleaning component 20 is in the retracted position. When the part of the cleaning component 20 located outside the circumference of the body 10 abuts against the edge of the obstacle, the cleaning component 20 switches from the initial position to the retracted position.

[0358] Specifically, the reset member provides a reset force for the cleaning assembly 20 to remain in the initial position. When the cleaning assembly 20 needs to clean an obstacle, such as the corner of a wall, the cleaning assembly 20 contacts the obstacle and the obstacle gives the cleaning assembly 20 a driving force to move from the initial position to the contracted position. Under the action of the reset member, the cleaning assembly 20 can remain in the initial position, the contracted position, or a position between the two positions. At this time, the part of the cleaning assembly 20 outside the body 10 can clean the corner area of the obstacle, effectively improving the cleaning efficiency. Further, the elastic member is a spring.

[0359] In this embodiment, two implementation manners are provided according to the specific position of the part of the cleaning assembly 20 located outside the body 10 in the initial position, as follows.

[0360] As Figure 22 In the specific implementation manner shown, the travel line at the widest position of the body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 is in the initial position, at least a part of the edge of the cleaning assembly 20 reaches the edge of the maximum cleaning range.

[0361] Specifically, the body 10 has a wide part and a narrow part. The cleaning assembly 20 is installed in the area outside the widest position of the body 10. Therefore, although a part of the cleaning assembly 20 extends out of the external area of the body 10, in the advancing direction, the edge of the cleaning assembly 20 is still flush with the side line of the wide area.

[0362] Further, along the advancing direction of the cleaning device, the cleaning assembly 20 is installed at the front end or the rear end of the body 10. The width of the front end or the rear end is smaller than the width of the middle area of the body 10. After the cleaning assembly 20 moves away from the initial position of the body 10, the part outside the body 10 is flush with the side line of the area along the advancing direction of the middle area of the body 10.

[0363] As Figure 23 In the specific implementation manner shown, the travel line at the widest position of the body 10 determines the maximum cleaning range of the cleaning device. When the cleaning assembly 20 is in the initial position, at least a part of the edge of the cleaning assembly 20 extends beyond the outside of the maximum cleaning range.

[0364] Specifically, the body 10 has a wide part and a narrow part. The cleaning assembly 20 is installed in the area outside the widest position of the body 10. Therefore, although a part of the cleaning assembly 20 extends out of the external area of the body 10, and in the advancing direction, the edge of the cleaning assembly 20 can extend outside the area of the wide part.

[0365] Further, the cleaning assembly 20 is installed at the front end or the rear end of the body 10 along the traveling direction of the cleaning device. The width of the front end or the rear end is smaller than the width of the middle area of the body 10. After the cleaning assembly 20 moves away from the initial position facing away from the body 10, the part located outside the body 10 extends out of the wide part area.

[0366] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects: 1. When the cleaning assembly 20 is in the first position and the second position, at least a part of the cleaning assembly 20 is located outside the circumferential side of the body 10, and when in the second position, cleaning of dead corners such as obstacles can be realized, and the cleaning is more comprehensive, improving the cleaning efficiency. 2. By using the forward and reverse rotation of the drive motor 710 to control the switching of the cleaning assembly 20 between the first position and the second position, the stability of the transmission relationship is improved. 3. By using the movable cleaning assembly 20 and the static cleaning member 310 in cooperation, through the combination of one static and one moving, the cleaning efficiency of the cleaning device is improved.

[0367] Of course, Embodiments 2 to 7 are not limited to being combined with the foregoing Embodiment 1 only. On the basis of being feasible, the overall or partial structures of Embodiments 2 to 7 can be combined with any feasible embodiment to meet different usage purposes, and no specific limitation is made here.

[0368] Embodiment 8: This embodiment provides a cleaning device, which includes a body 10 and a cleaning assembly 20. The cleaning assembly 20 is connected to the body 10. The cleaning assembly 20 has a first position. When the cleaning assembly 20 is in the first position, a part of the cleaning assembly 20 is located outside the circumferential side of the body 10.

[0369] By locating a part of the cleaning assembly 20 outside the circumferential side of the body 10 and controlling the movement path of the body 10, during the movement of the body 10, the cleaning assembly 20 protruding outside the body 10 can be used to contact the edge of the obstacle, so as to clean the area near the obstacle.

[0370] Continuing from the foregoing content, a universal traveling mechanism (not shown) is provided on the body. The universal traveling mechanism can drive the body to move in any direction.

[0371] By locating a part of the cleaning assembly 20 outside the circumferential side of the body 10 and using the universal traveling mechanism to control the movement path of the body 10, during the movement of the body 10, the cleaning assembly 20 protruding outside the body 10 can be used to contact the edge of the obstacle, so as to clean the area near the obstacle.

[0372] In a specific embodiment, the universal traveling mechanism includes a Mecanum wheel set provided on the body 10.

[0373] In another specific embodiment, the omnidirectional traveling mechanism includes a caterpillar wheel set disposed on the body 10.

[0374] Of course, Embodiment 8 is not limited to being combined with the foregoing Embodiment 1. On the basis of being feasible, the overall or partial structure of Embodiment 8 can be combined with any feasible embodiment to meet different usage purposes, and no specific limitation is made herein.

[0375] Embodiment 9: In the embodiment, the specific implementation manner of the swing drive type second drive structure 50M is mainly introduced. In the embodiment, the first drive structure 40M at least includes a second drive assembly 5B, and the second drive structure 50M at least includes a first drive assembly 4B.

[0376] This embodiment provides a cleaning device, which includes a body 10 and a cleaning mechanism mounted on the body 10. Among them, the cleaning mechanism is adapted to follow the movement of the body 10 to clean the surface to be cleaned. In this embodiment, the cleaning mechanism includes a base 1B connected to the body 10, a cleaning component 20 connected to the base 1B, and a second drive assembly 5B connected to the cleaning component 20. When the cleaning device cleans the surface to be cleaned, the second drive assembly 5B drives the cleaning component 20 to rotate self - to clean the surface to be cleaned, and the cleaning device moves to drive the body 10 and the cleaning component 20 to move, realizing the cleaning of the surface to be cleaned while being movable.

[0377] In the prior art, the cleaning part 100B on the cleaning device is usually fixedly arranged relative to the position of the body 10, and due to the limitation of the body of the cleaning device, the cleaning part 100B has a certain area limitation when performing the cleaning work. For example, the cleaning part 100B cannot clean the corners of the surface to be cleaned, resulting in poor cleaning effect.

[0378] To solve the above problems, in this embodiment, please refer to Figure 24 , the cleaning component 20 includes a cleaning part 100B. The cleaning mechanism further includes a first drive assembly 4B, and the first drive assembly 4B is adapted to drive the cleaning part 100B to be rotatable relative to the base 1B, so that the cleaning part 100B has a retracted position or an expanded position, realizing a better cleaning effect of the cleaning part 100B.

[0379] Specifically, the first driving assembly 4B includes a first driving member 43B, a transmission member 41B connected to the first driving member 43B, a swinging member 42B cooperating with the transmission member 41B, and an actuating member 421B rotatably provided on the rotating shaft 2B. Among them, the first driving member 43B is adapted to generate a driving force, and the first driving member 43B can rotate in the first direction or the second direction according to a control signal. The swinging member 42B is rotatably arranged on the base 1B, and the cleaning member 100B is connected to the swinging member 42B and is rotatably connected to the base 1B through the rotating shaft 2B, and the swinging member 42B is connected to the cleaning member 100B. Both ends of the actuating member 421B act on the swinging member 42B and the transmission member 41B respectively; when the swinging member 42B cooperates with the transmission member 41B and is driven by the transmission member 41B to rotate, so as to drive the cleaning member 100B to switch between a retracted position (please refer to Figure 26 ) and an extended position (please refer to Figure 25 ). When the cleaning member 100B is performing a normal cleaning operation (without cleaning the corners), the cleaning member 100B only needs to be in the retracted position to clean the surface to be cleaned; when the cleaning device needs to clean the corners of the surface to be cleaned, the cleaning member 100B needs to move from the retracted position to the extended position to realize the treatment of the corners of the surface to be cleaned by the cleaning device. It should be noted that in this embodiment, the cleaning member 100B is a rag tray, and the edge of the rag tray protrudes from the edge of the swinging member 42B to achieve a better cleaning effect on the surface to be cleaned.

[0380] In one case, the transmission member 41B transmits the driving force of the first driving member 43B in the first direction to the actuating member 421B, so that the transmission member 421 rotates to drive the swinging member 42B to rotate, so that the cleaning member 100B follows the swinging member 42B to rotate in the second direction, and then moves from the retracted position to the extended position. It should be noted that in this embodiment, during the process of the cleaning member switching from the retracted position to the extended position, the actuating member 421B stores energy under the driving force of the transmission member 41B and drives the swinging member 42B to rotate; when the driving force applied to the transmission member 41B is withdrawn, the actuating member 421B releases the stored energy to drive the swinging member 42B to continue to swing in the direction of the extended position.

[0381] Specifically, the actuating member 421B includes a sleeved portion 4211B sleeved on the rotating shaft 2B, a first abutting end 4212B and a second abutting end 4213B arranged on the periphery of the sleeved portion 4211B. Among them, the first abutting end 4212B abuts against the transmission member 41B, and the second abutting end 4213B abuts against the swinging member 42B, so that the first abutting end 4212B can rotate around the sleeved portion 4211B under the driving force of the transmission member 41B in the second direction, so that the second abutting end 4213B can abut against the swinging member 42B to rotate, and further the cleaning member 100B can move from the retracted position to the extended position.

[0382] More specifically, a clamping groove 411B is provided on the transmission member 41B. The swinging member 42B further includes a first pressing portion 4221B. The first abutting end 4212B is adapted to be clamped in the clamping groove 41, and the second abutting end 4213B cooperates with the first pressing portion 4221B for abutting. When the first driving member 43B rotates in the first direction, the first driving member 43B drives the transmission member 41B to rotate in the second direction, and the clamping groove 411B abuts against the first abutting end 4212B, thereby driving the second abutting end 4213B to rotate in the second direction, so that the second abutting end 4213B abuts against the first pressing portion 4221B, thereby driving the entire swinging member 42B to rotate in the second direction, and further driving the cleaning member 100B to move from the retracted position to the expanded position.

[0383] As described above, with reference to Figure 111 and Figure 112 , the swinging member 42B further includes a second pressing portion 4222B and a supporting portion 4223B respectively arranged on both sides of the first pressing portion 4221B. The cleaning member 100B is located below the supporting portion 4223B and is connected to the supporting portion 4223B. The transmission member 41B further includes an abutting portion 44B that cooperates with the second pressing portion 4222B for abutting. When the transmission member 41B is driven by the first driving member 43B in the second direction, it rotates in the first direction, and further drives the abutting portion 44B to rotate around the rotating shaft 2B in the first direction to abut against the second pressing portion 4222B to drive the swinging member 42B to rotate, so that the cleaning member 100B moves from the expanded position to the retracted position. It should be noted that in this embodiment, whether the cleaning member 100B is moving from the expanded position to the retracted position or from the retracted position to the expanded position, the second pressing portion 4222B is always in abutment with the abutting portion 44B.

[0384] It should be noted that in this embodiment, the actuating member 421B is an elastic member, preferably a torsion spring. The torsion spring can maintain the stability of the transmission member 41B and the swinging member 42B when the cleaning member 100B switches between the outward expansion position and the inward contraction position. In this embodiment, one torsion spring is provided. In other embodiments, the number of torsion springs can also be set to other numbers, such as two torsion springs. In this embodiment, the torsion spring has an open end and a closed end. The open end serves as the first abutting end 4212 as described above and is clamped in the clamping groove 411B, and the closed end serves as the second abutting end 4213 to cooperate with the first pressing portion 4221B of the swinging member, so that the transmission member 41B transmits the driving force of the first driving member 43B to the first abutting end 4212. When the first driving member 43B overcomes the elastic force of the torsion spring, it will drive the closed end to rotate around the rotating shaft 2B and abut against the first pressing portion 4221B of the swinging member 42B, so that the swinging member 42B drives the cleaning member 100B to rotate. In other embodiments, the actuating member 421B can also be set to other structures, such as a structure connected by two connecting plates and rotating around the rotating shaft 2B, as long as the above effects can be achieved, and its specific structure is not specifically limited here.

[0385] The purpose of setting the actuating member 421B as an elastic member in this embodiment is as follows: on the one hand, during the operation of the cleaning mechanism following the body 10, the cleaning mechanism may be subject to external forces. For example, when the cleaning mechanism is squeezed by an obstacle when it is in the outward expansion position or between the inward contraction position and the outward expansion position, the elastic member can play a certain buffering role for the cleaning assembly 20 to prevent the cleaning assembly 20 from colliding with the base 1B and being damaged when subjected to external forces; at the same time, due to the setting of the elastic member, the elastic force will always abut against the first pressing portion 4221B, so that the entire cleaning member 100B can always abut against the corner to complete the cleaning of the corner, and the situation where the cleaning member 100B switches to the inward contraction position after being squeezed by an external force will not occur; on the other hand, whether the cleaning member 100B rotates from the outward expansion position to the inward contraction position or from the inward contraction position to the outward expansion position, the cleaning member 100B is subject to a frictional force in the direction opposite to the rotation direction of the swinging member 42B during the transmission process. The elastic force of the elastic member can offset part of the frictional force generated when the cleaning member 100B rotates, so as to improve the stability of the cleaning mechanism.

[0386] Please refer to Figure 28 and Figure 30In this embodiment, the transmission member 41B also includes a gear portion 412B and a connecting portion 413B connected to the gear portion 412B. The gear portion 412B is suitable for connecting to the first driving member 43B. The abutment portion 44B is arranged on the above-mentioned connecting portion 413B. The first driving member 43B drives the gear portion 412B to rotate, thereby driving the connecting portion 413B to rotate to drive the first abutting end 4212B to rotate, so that the cleaning member 100B switches from the retracted position to the expanded position, or drives the connecting portion 413B to rotate to drive the abutment portion 44B to rotate.

[0387] When the first driving member 43B drives the gear portion 412B to rotate, it can drive the connecting portion 413B to rotate to drive the first abutting end 4212B to rotate, thereby driving the second abutting end 4213B to press the first pressing portion 4221B, and then drive the cleaning member 100B to move from the outward-expanding position to the inward-retracting position; or, when the first driving member 43B drives the gear portion 412B to rotate, it can drive the connecting portion 413B to rotate to drive the abutting portion 44B to rotate, so that the abutting portion 44B abuts against the second pressing portion 4222B, thereby driving the entire swinging member 42B to rotate, and then driving the cleaning member 100B to move from the inward-retracting position to the outward-expanding position.

[0388] Further, the transmission member 41B also includes a first gear 414B connected to the first driving member 43B and a second gear 415B meshing with the first gear 414B, and the second gear 415B includes the above-mentioned gear portion 412B, the connecting portion 413B and the abutting portion 44B. In the present embodiment, the second gear 415B is an incomplete gear, and the setting of its circumference only needs to ensure that the cleaning member 100B can be switched between the retracted position and the expanded position. The purpose of setting the second gear 415B as an incomplete gear is to reduce the occupied space of the second gear 415B. In other embodiments, the second gear 415B can also be set to a complete gear, which is not specifically limited herein.

[0389] As mentioned above, in order to reasonably utilize the space and reduce the volume of the entire cleaning mechanism, in this embodiment, reference Figure 27 Figure 31 ,as well as Figure 32 The sleeve portion 4211B includes an upper half 4214B, a lower half 4215B connected to the upper half 4214B, and a space formed between the upper half 4214B and the lower half 4215B; the swing member 42B includes an upper end 4224B and a lower end 4225B connected to the upper end 4224B. The upper half 4214B and the lower half 4215B of the actuator 421B are alternately arranged with the upper end 4224B and the lower end 4225B of the swing member 42B, so that the actuator 421B and the swing member 42B can be firmly connected through the rotating shaft 2B, and the structure of the actuator 421B, the swing member 42B and the base 1B can be more compact.

[0390] Reference Figure 27 In this application, the cleaning mechanism further includes a bearing 54B disposed between the rotating portion 311 and the rotating shaft 2B, and a bushing 55B disposed outside the bearing 54B. The main function of the bushing 55B is to reduce the wear generated when the connecting portion 413B of the second gear 415B rotates around the rotating shaft 2B, and the bearing 54B can reduce the frictional force generated when the swinging member 42B rotates around the rotating shaft 2B, so as to achieve the effect of saving effort for the first driving member 43B.

[0391] Reference Figure 27 The cleaning mechanism further includes a fixing assembly 6B, and the fixing assembly 6B is adapted to fix the rotating shaft 2B to the base 1B. In this embodiment, the fixing assembly 6B includes a first fixing member 61B and a second fixing member 62B respectively disposed at both ends of the rotating shaft 2B. A first groove 11B and a second groove 12B adapted to the first fixing member 61B and the second fixing member 62B are respectively disposed above and below the base 1B. Both ends of the rotating shaft 2B extend into the first groove 11B and the second groove 12B respectively, and both ends of the rotating shaft 2B pass through the through holes of the first fixing member 61B and the second fixing member 62B, so that the first fixing member 61B and the second fixing member 62B are respectively embedded into the first groove 11B and the second groove 12B to fix the rotating shaft 2B to the base 1B. In this embodiment, the first fixing member 61B is a nut embedded in the first groove 11B.

[0392] In order to improve the stability of the rotating shaft 2B and the base 1B, in this embodiment, a first step 21B flush with the bottom of the first groove 11B is provided above the rotating shaft 2B. After the first fixing member 61B is embedded in the first groove 11B, the bottom of the first fixing member 61B presses against the first step 21B. A second step 22B flush with the bottom of the second groove 12B is further provided on the rotating shaft 2B; the second fixing member 62B includes a cover plate 622B disposed in the second groove 12B and a screw 621B passing through the cover plate 622B and connected to the rotating shaft 2B. At least a part of the cover plate 622B is embedded in the second groove 12B, so that the first protruding portion 6221B of the cover plate 622B abuts against the second step 22B, and after the second protruding portion 6222B of the cover plate 622B abuts against the end of the screw rod, the second fixing member 62B passes through the cover plate 622B and abuts against the lower end of the second protruding portion 6222B and then penetrates into the rotating shaft 2B to lock the rotating shaft 2B to the base 1B.

[0393] In this embodiment, the cleaning mechanism further includes a second driving assembly 5B. The second driving assembly 5B and the cleaning member 100B are respectively disposed above and below the support portion 312, and the second driving assembly 5B is connected to the cleaning member 100B to provide a driving force for the cleaning member 100B, so as to realize the self-rotation of the cleaning member 100B.

[0394] More specifically, please refer to Figure 29 and Figure 30 , the second driving assembly 5B includes a second driving member 51B, a third gear 52B connected to the second driving member 51B, and a fourth gear 53B meshing with the third gear 52B. The fourth gear 53B is connected to the cleaning member 100B, so that the driving force generated by the second driving member 51B can be transmitted to the third gear 52B and then to the fourth gear 53B, thereby driving the rotation of the cleaning member 100B. It should be noted that since the entire second driving member 51B can rotate following the swinging member 42B, in this embodiment, when the cleaning member 100B moves at any position between the retracted position and the extended position and the positions between the retracted position and the extended position, the second driving member 51B will move in the accommodating space of the base 1B following the swinging member 42B. The purpose of such a setting is that the second driving assembly 5B and the cleaning member 100B are arranged vertically on both sides of the swinging member 42B, and the second driving assembly 5B does not form a position interference with the base 1B during movement, making this part of the structure compact and reasonably utilizing the space.

[0395] Please refer to Figure 32 , the cleaning mechanism further includes a first detection assembly 7B signal-connected to the electric control component. The first detection assembly 7B detects the state of the extended position of the cleaning member 100B by detecting the position of the connecting portion 413B, that is, the first detection assembly 7B is adapted to detect whether the cleaning member 100B reaches the extended position when the cleaning member 100B moves from the retracted position to the extended position. When the cleaning member 100B moves from the retracted position to the extended position, the first detection assembly 7B is adapted to emit a first in-place signal. When the electric control component receives the first in-place signal, it indicates that the cleaning member 100B reaches the extended position, and the electric control component controls the first driving member 43B to stop running according to the first in-place signal, that is, the first driving member 43B stops rotating in the first direction.

[0396] It should be noted that in this embodiment, since the second gear 415B is driven by an external force to rotate the swing member, the cleaning member 100B connected to the swing member 42B moves between the outward expansion position and the inward contraction position. Therefore, in this embodiment, the first detection component 7B detects the state of the cleaning member being in the outward expansion position or the inward contraction position by detecting the position state of the connection portion 413B. In this embodiment, the specific setting of the first detection component 7B is as follows: The first detection component 7B includes a first emitter 71B and a first receiver 72B that cooperates with the first emitter 71B. The first emitter 71B is disposed on one of the side wall of the connection portion 413B of the second gear 415B and the inner side wall of the base 1B, and the first receiver 72B is disposed on the other of the side wall of the connection portion 413B of the second gear 415B and the inner side wall of the base 1B. When the first driving member 43B drives the first gear 414B to rotate in the first direction, the gear portion 412B of the second gear 415B drives the connection portion 413B to rotate in the second direction to drive the cleaning member 100B to move from the inward contraction position to the outward expansion position. At the same time, when the first emitter 71B or the first receiver 72B disposed on the side wall of the connection portion 413B rotates to the outward expansion position, the first emitter 71B will emit a first in-place signal to the first receiver 72B, and the first receiver 72B will transmit the first in-place signal to the electric control component, and the electric control component controls the first driving member 43B to stop running; on the contrary, if the first receiver 72B cannot receive the first in-place signal emitted by the first emitter 71B, it means that the cleaning member 100B is not in the outward expansion position, and the first driving member 43B will continue to run in the first direction. It should be noted that in this embodiment, optoelectronic switch in-place detection is preferably used, which is more reliable than other continuous switches.

[0397] Similarly, please refer to Figure 33 , the cleaning mechanism further includes a second detection component 8B that is signal-connected to the electric control component. The second detection component 8B is adapted to detect the state of the inward contraction position of the cleaning member 100B by detecting the position of the connection portion 413B, that is, the second detection component 8B is adapted to detect whether the cleaning member 100B reaches the inward contraction position during the process of the cleaning member 100B moving from the outward expansion position to the inward contraction position. When the cleaning member 100B moves from the outward expansion position to the inward contraction position, the second detection component 8B is adapted to emit a second in-place signal to the electric control component, and the electric control component controls the first driving member 43B to stop running according to the second in-place signal, that is, the first driving member 43B stops rotating in the second direction.

[0398] In this embodiment, the second detection component 8B also detects the state of the cleaning member 100B in the expanded position or the retracted position by detecting the position state of the connecting portion 413B. In this embodiment, the specific setting of the second detection component 8B is as follows: The second detection component 8B includes a second transmitting member 81B and a second receiving member 82B that cooperates with the second transmitting member 81B. The second transmitting member 81B is disposed on one of the bottom of the connecting portion 413B and the inner bottom wall of the base 1B, and the second receiving member 82B is disposed on the other of the bottom of the connecting portion 413B and the inner bottom wall of the base 1B. When the first driving member 43B drives the first gear 414B to rotate in the second direction, the gear portion 412B of the second gear 415B cancels the driving force applied to the actuating member 421B. The actuating member 421B is converted from the expanded position to the retracted position under the action of its elastic force and the external force of the obstacle. At the same time, after the second transmitting member 81B or the second receiving member 82B disposed on the bottom of the connecting portion 413B also rotates to the retracted position, the second transmitting member 81B will transmit a second in-place signal to the second receiving member 82B, and the second receiving member 82B will transmit the second in-place signal to the electric control component, and the electric control component controls the first driving member 43B to stop running; on the contrary, if the second receiving member 82B cannot receive the second in-place signal emitted by the second transmitting member 81B, it means that the cleaning member 100B is not in the retracted position, and the first driving member 43B will continue to rotate in the second direction. Similarly, in this embodiment, it is preferred to use photoelectric switch in-place detection, which is more reliable than other continuous switches. It should be noted that in this embodiment, the control logic between the expanded position and the retracted position of the cleaning member is as follows: When the cleaning member moves toward the expanded position, the first driving member 43B rotates to drive the transmission member 41B and the swing member 42B to rotate. At this time, the first detection component 7B is adapted to detect the position of the transmission member 41B, rather than the position of the cleaning member; when it is detected that the transmission member 41B reaches the preset position, that is, the cleaning member reaches the expanded position, the first driving member 43B stops running and rotating; since a torsion spring is provided between the swing member 42B and the transmission member 41B, the torsion spring will also drive the cleaning member to swing outward, and the outward swing angle of the cleaning member is uncertain, which is related to whether the cleaning member is affected by external obstacles or walls and the force of the torsion spring. When the cleaning member moves toward the retracted position, theoretically the time required for the first driving member 43B to drive the cleaning member to swing inward by A° is t1. However, in practice, due to the tolerance in the transmission process of the first gear and the second gear, when actually controlling the retraction, the actual driving duration of the motor is t1 + t2. During the t2 time, the cleaning member continues to retract, which can offset the tolerance of the transmission of the first gear and the second gear. During the retraction process, the second detection component detects the position of the transmission member 41B. Since the transmission member and the swing member 42B are in hard contact, when the second detection component detects that the cleaning member is in the retracted state, the first driving member 43B will continue to run for a duration of t2, and at the end of the t2 duration, the first driving member 43B stops rotating.(That is, the retracted position is detected first, and then the motor continues to rotate for a duration of t2). In this embodiment, t2 can be any number of seconds. For example, t2 can be selected from 0 to 10 seconds. For example, the preset duration T3 can be 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 9 seconds, 10 seconds, etc.).

[0399] In this application, please refer to Figure 24 and Figure 29 , the cleaning mechanism further includes a first shock-absorbing assembly 9B, and the first shock-absorbing assembly 9B is adapted to prevent the cleaning assembly 20 from colliding with the base 1B when rotating from the expanded position to the retracted position. Specifically, the first shock-absorbing assembly 9B includes a first shock-absorbing member 91B provided on the second driving assembly 5B, and the base 1B includes a first abutting portion 13B. When the cleaning member 100B is in the retracted position, the first shock-absorbing member 91B contacts the first abutting portion 13B, and there is a gap between the cleaning assembly 20 and the base 1B in the horizontal direction. It can also be understood that when the cleaning member 100B is in the retracted position, only the first shock-absorbing member 91B contacts the base 1B, and other parts do not contact the base 1B to prevent the cleaning mechanism from colliding with the base 1B.

[0400] The cleaning mechanism further includes a second shock-absorbing assembly 10B, and the second shock-absorbing assembly 10B is adapted to prevent the cleaning assembly 20 from colliding with the base 1B when rotating from the retracted position to the expanded position. Specifically, the second shock-absorbing assembly 10B includes a second shock-absorbing member 101B provided on the second driving assembly 5B, and the base 1B includes a second abutting portion 14B provided on the inner wall. When the cleaning member 100B is in the expanded position, the second shock-absorbing member 101B contacts the second abutting portion 14B, and there is a gap between the cleaning assembly 20 and the inner wall of the base 1B in the horizontal direction. It can also be understood that when the cleaning member 100B is in the expanded position, only the second shock-absorbing member 101B contacts the inner wall of the base 1B, and other parts do not contact the base 1B to prevent the cleaning mechanism from colliding with the inner wall of the base 1B. It should be noted that in this embodiment, both the first shock-absorbing member 91B and the second shock-absorbing member 101B are made of silica gel.

[0401] Of course, on the basis of being feasible, the overall or partial structure of Embodiment 9 can be combined with any feasible embodiment to meet different usage purposes, and no specific limitation is made here.

[0402] In one implementation, the lifting structure for driving the cleaning assembly 20 to lift and lower includes a connecting member and a driving assembly. The connecting member includes a first end for connecting with the cleaning assembly 20 and a second end for rotatably connecting with the machine body 10. The driving assembly is connected to the connecting member and is used to drive the connecting member to rotate around the rotation fulcrum of the second end on the machine body 10, so as to drive the cleaning assembly 20 to perform a lifting motion relative to the machine body 10. The cleaning assembly 20 has a cleaning state in contact with the surface to be cleaned and a lifted state of disengaging from the surface to be cleaned.

[0403] Optionally, when the cleaning member 91H is a rag, the rag has a floating displacement in the height direction, and the cleaning state has a first cleaning state and a second cleaning state. In both cleaning states, the rag can contact the surface to be cleaned. When the connecting member rotates, the cleaning assembly 20 first changes from the first cleaning state to the second cleaning state, and then changes to the lifting state. When the cleaning assembly 20 changes from the first cleaning state to the second cleaning state, since the movement track of the first end of the connecting member is an arc, the cleaning assembly 20 has a tendency to move toward the edge direction of the body 10. That is to say, during the process of the cleaning assembly 20 changing from the first cleaning state to the second cleaning state, the cleaning assembly 20 will generate a lateral displacement while lifting and lowering, realizing the outward expansion of the cleaning assembly 20, so that the cleaning assembly 20 can perform edge cleaning, effectively solving the pain point that the edge sanitary dead corners cannot be cleaned.

[0404] Embodiment 10: In the embodiment, the specific implementation manner of the side brush 400M is mainly introduced. Among them, the side brush 400M at least includes a cleaning device 1000C. Continuing from the foregoing content, the difference between this embodiment and other embodiments is that the cleaning device 1000C is also adopted in this embodiment.

[0405] As Figure 34 shown, the cleaning device includes a body 10 and a cleaning device 1000C provided on the body 10, and the cleaning device 1000C can brush the garbage on the ground.

[0406] As Figure 35 and Figure 36 shown, the cleaning device 1000C provided in this embodiment includes a housing 100C, a cleaning assembly 300C, and a driving mechanism 200C provided in the housing 100C. Among them, the cleaning assembly 300C is provided at the output end of the driving mechanism 200C, and the driving mechanism 200C can drive the cleaning assembly 300C to rotate to facilitate cleaning the garbage on the ground.

[0407] In the prior art, during the traveling process of the cleaning robot, the cleaning always contacts the ground, which is likely to cause secondary pollution. To solve this problem, in this embodiment, the driving mechanism 200C can also drive the cleaning assembly 300C to perform a lifting movement, so that the cleaning assembly 300C can be lifted when not cleaning, keeping the cleaning assembly 300C away from the ground, avoiding secondary pollution, and ensuring the cleaning effect of the cleaning device 1000C.

[0408] Meanwhile, the cleaning device 1000C further includes an adjustment component 400C disposed on the body 10. Under the action of an external force, the adjustment component 400C can be deformed so that the housing 100C swings towards the body 10, thereby buffering the collision force between the cleaning device 1000C and an obstacle, and further improving the service life of the cleaning device 1000C.

[0409] Now, in combination with Figures 37 to 40 the detailed structure of the cleaning component 300C will be described.

[0410] The cleaning component 300C includes a deformation cover 330C, at least two groups of bristles 320C, and inserts 340C. The cleaning component can be a rotary brush, a side brush, or other cleaning parts.

[0411] Among them, the deformation cover 330C is connected to the driving mechanism 200C. The deformation cover 330C is provided with a receiving cavity 310C, and a part of the driving mechanism 200C is located in the receiving cavity 310C. At least two groups of bristles 320C are arranged at intervals along the circumference of the deformation cover 330C. The inserts 340C are arranged between the bristles 320C and the deformation cover 330C to facilitate supporting the bristles 320C so that they can be in an open state to facilitate brushing the ground. The driving mechanism 200C deforms the deformation cover 330C to lift the bristles 320C to a position away from the ground, thereby realizing that the cleaning bristles 320C leave the ground and avoiding secondary pollution to the ground.

[0412] Optionally, the deformation cover 330C includes at least two deformation members 331C. One ends of the at least two deformation members 331C are connected, and the other ends of the deformation members 331C extend in directions away from each other. A deformation gap 332C is provided locally between two adjacent deformation members 331C. The at least two deformation members 331C surround and form the receiving cavity 310C. Along the direction close to the bristles 320C, the inner diameter of the receiving cavity 310C gradually increases. The width of the deformation gap 332C is adjusted between the at least two deformation members 331C to ensure that the deformation cover 330C has sufficient deformation space.

[0413] Furthermore, the deformation member 331C is made of soft rubber to ensure that the deformation member 331C is more easily deformed. In addition, the insert 340C is made of hard rubber, and the bristles 320C are fixed by the insert 340C, which is beneficial to ensuring the position and cleaning effect of the bristles 320C.

[0414] Now, in combination with Figure 36 the detailed structure of the adjustment component 400C will be described.

[0415] As Figure 36As shown in the figure, the adjustment assembly 400C includes a fixed shaft 410C and an adjustment member 420C. Among them, the fixed shaft 410C is arranged on the body 10, the adjustment member 420C is rotatably sleeved on the fixed shaft 410C, and the adjustment member 420C includes a first end 421C and a second end 422C arranged at an angle. The first end 421C and the second end 422C are respectively in contact with a part of the housing 100C and a part of the body 10. Under the action of an external force, the housing 100C can drive the angle between the first end 421C and the second end 422C to decrease. This adjustment assembly 400C compresses the angle between the first end 421C and the second end 422C by an external force, so that the housing 100C swings in the direction close to the body 10, facilitating the retraction of the housing 100C, buffering the collision force between the cleaning device 1000C and the obstacle, and further improving the service life of the cleaning device 1000C. Exemplarily, the adjustment member 420C is a torsion spring, which is a conventional adjustment member 420C and has the advantages of low cost and easy procurement.

[0416] It can be understood that in the normal state, the adjustment assembly 400C is in a free state, and the first end 421C and the second end 422C maintain a first included angle. At this time, the housing 100C protrudes from the outer peripheral contour of the body 10, so that the bristles 320C can be exposed outside the body 10, and the bristles 320C of the cleaning assembly 300C can cover the wall edges and corners for a better cleaning effect. During the operation of the cleaning robot, if the cleaning device 1000C hits an obstacle such as a wall, the housing 100C can be driven to retract under the action of the adjustment member 420C.

[0417] Furthermore, please continue to refer to Figure 36 , a sliding groove 110C is provided on the housing 100C, and the fixed shaft 410C is located in the sliding groove 110C. When the housing 100C approaches the body 10 under the action of an external force, the fixed shaft 410C can slide in the sliding groove 110C, so that the housing 100C can translate while swinging, which is beneficial to increasing the moving range of the housing 100C and further improving its effect of buffering the impact force of the collision.

[0418] Now, in combination with Figures 37 to 40 the detailed structure of the driving mechanism 200C will be described.

[0419] As Figures 37 to 39 shown, the driving mechanism 200C includes a driving member 210C and a transmission assembly 220C. Among them, the driving member 210C is arranged on the housing 100C, the transmission assembly 220C is arranged at the output end of the driving member 210C, and the deformation cover 330C of the cleaning assembly 300C is arranged at one end of the transmission assembly 220C away from the driving member 210C to drive the cleaning assembly 300C to rotate, thereby realizing the effect of the bristles 320C rotating to clean the ground.

[0420] Further, please refer to Figure 39 , the transmission assembly 220C includes a first gear 221C and a gear set 222C. Among them, the first gear 221C is connected to the output end of the driving member 210C, the gear set 222C meshes with the first gear 221C, and the cleaning assembly 300C is sleeved on the output end of the gear set 222C. The structure of this gear set 222C enables the deformation cover 330C and the output end of the driving member 210C to be misaligned, which is beneficial to improving the flexibility of the installation positions of the driving member 210C and the deformation cover 330C.

[0421] As Figure 39 shown, the gear set 222C includes a first gear shaft 2221C, a second gear 2222C, and a third gear 2223C. Among them, the first gear shaft 2221C is arranged on the housing 100C, the second gear 2222C is sleeved on the first gear shaft 2221C, and the second gear 2222C meshes with the first gear 221C. The third gear 2223C is sleeved on the first gear shaft 2221C. This structure realizes the first misalignment of the output position of the driving member 210C. The gear set 222C further includes a second gear shaft 2224C and a fourth gear 2225C. The second gear shaft 2224C is parallel to and spaced from the first gear shaft 2221C on the housing 100C. The fourth gear 2225C is sleeved on the second gear shaft 2224C, and the fourth gear 2225C meshes with the third gear 2223C, so as to realize the second misalignment of the output position of the driving member 210C.

[0422] The second gear shaft 2224C is movably arranged on the housing 100C along its axial direction, and the diameter of the second gear 2222C is larger than that of the third gear 2223C. The third gear 2223C is located below the second gear 2222C, thereby increasing the distance between the second gear shaft 2224C and the output shaft of the driving member 210C and avoiding interference.

[0423] Optionally, the third gear 2223C and the fourth gear 2225C are helical gears, and the width of the third gear 2223C is larger than that of the fourth gear 2225C. When the third gear 2223C rotates, the fourth gear 2225C can move up or down according to the rotation mode of the third gear 2223C, thereby driving the brush bristles 320C to move up or down, so that the brush bristles 320C can be away from the ground when not working.

[0424] Further, the first gear 221C and the second gear 2222C are helical gears, thereby increasing the height difference when the brush bristles 320C move up and down. Through the relative movement of the two sets of helical gears, it is beneficial to improve the efficiency of the up and down movement of the brush bristles 320C.

[0425] To prevent the fourth gear 2225C from disengaging when moving relative to the third gear 2223C, the drive mechanism 200C further includes a limiting component 230C disposed between the transmission component 220C and the cleaning component 300C. The limiting component 230C can restrict the moving range of a part of the transmission component 220C in the lifting direction.

[0426] As Figure 40 shown, the second gear shaft 2224C can reciprocate along its axial direction to facilitate the reciprocating movement of the fourth gear 2225C in the lifting direction. To ensure the stability of the reciprocating movement of the second gear shaft 2224C, a first bearing 120C and a second bearing 130C are provided on the housing 100C. Among them, the upper end of the second gear shaft 2224C passes through the first bearing 120C, the second gear shaft 2224C passes through the second bearing 130C, and the second bearing 130C is disposed on the lower end surface of the housing 100C, thereby avoiding rigid friction between the second gear shaft 2224C and the housing 100C and being beneficial to improving the service life of the housing 100C and the second gear shaft 2224C.

[0427] Specifically, please continue to refer to Figure 40 , the limiting component 230C includes a connecting piece 231C and a first limiting piece 232C. The connecting piece 231C is sleeved on the second gear shaft 2224C, the deformation cover 330C of the cleaning component 300C is connected to the connecting piece 231C, the first limiting piece 232C is disposed in the accommodating cavity 310C, the first limiting piece 232C is fixedly disposed at one end of the second gear shaft 2224C away from the driving member 210C, and the second gear shaft 2224C can drive the first limiting piece 232C to rise or fall to drive the brush bristles 320C away from the ground or fit against the ground. This structure uses the first limiting piece 232C to drive the multiple deformation pieces 331C of the deformation cover 330C to separate from each other, thereby driving the brush bristles 320C to lift. It can be understood that the inner diameter of the accommodating cavity 310C is circular, and the first limiting piece 232C is a disc structure.

[0428] In the lifting direction, the connecting piece 231C is located between the housing 100C and the first limiting piece 232C, and when the connecting piece 231C rises or falls to the limit position, it can respectively abut against the housing 100C and the first limiting piece 232C. The two ends of the connecting piece 231C are limited by the housing 100C and the first limiting piece 232C, thereby restricting the maximum formation of the lifting and falling of the connecting piece 231C, and further preventing the fourth gear 2225C from disengaging from the third gear 2223C.

[0429] Further, a first limiting step 2224aC is provided on the second gear shaft 2224C. Along the direction away from the first limiting member 232C, the diameter of the second gear shaft 2224 increases to form the first limiting step 2224aC, and the first limiting step 2224aC can abut against the connecting member 231C. When the second gear shaft 2224C moves downward, the first limiting step 2224aC can push the connecting member 231C downward to ensure that the brush bristles 320C can contact the ground and prevent slipping between the second gear shaft 2224C and the connecting member 231C.

[0430] Optionally, the inner diameter of the fourth gear 2225C increases successively from top to bottom. A second limiting step 2224bC is further provided on the second gear shaft 2224C, and the inner diameter of the fourth gear 2225C is sleeved on the second limiting step 2224bC to restrict the position of the fourth gear 2225C relative to the second gear shaft 2224C by means of the second limiting step 2224bC. In addition, a limiting groove 2224cC is provided on the second gear shaft 2224C. The limiting assembly 230C further includes a second limiting member 233C provided on the end face of the fourth gear 2225C facing away from the connecting member 231C, and the second limiting member 233C is arranged in the limiting groove 2224cC. The cooperation between the second limiting member 233C and the second limiting step 2224bC can restrict the displacement of the fourth gear 2225C in the lifting direction and prevent slipping between the fourth gear 2225C shaft and the second gear shaft 2224C.

[0431] Now in combination with Figures 34 to 40 the working process of the cleaning device 1000C will be described.

[0432] As Figures 34 to 40 shown, when the brush bristles 320C are required to clean the ground, the driving member 210C rotates forward, causing the second gear 2222C to move downward relative to the first gear 221C. At the same time, the second gear shaft 2224C moves downward, the fourth gear 2225C moves downward relative to the third gear 2223C, and the first limiting member 232C moves downward until the upper end face of the connecting member 231C abuts against the lower end face of the housing 100C. At this time, the second gear shaft 2224C rotates, driving the deformation cover 330C to rotate, and further driving the brush bristles 320C to rotate.

[0433] When the bristles 320C are not required to clean the ground, the driving member 210C rotates in the reverse direction, causing the second gear 2222C to move upward relative to the first gear 221C. At the same time, the second gear shaft 2224C moves upward, the fourth gear 2225C moves upward relative to the third gear 2223C, and the first limiting member 232C moves upward until the lower end surface of the connecting member 231C abuts against the upper end surface of the first limiting member 232C. During the upward movement of the first limiting member 232C, the outer peripheral contour of the first limiting member 232C gradually drives the deformation members 331C to move away from each other, increasing the deformation gap 332C, thereby realizing the lifting of the bristles 320C.

[0434] The cleaning device of this embodiment includes a housing, a driving mechanism, a cleaning assembly, and an adjusting assembly. Among them, the driving mechanism and the adjusting assembly are arranged in the housing, the cleaning assembly is arranged at the output end of the driving mechanism, the driving mechanism can drive the cleaning assembly to perform rotational and lifting movements, and under the action of an external force, the adjusting assembly can deform so that the housing swings towards the direction close to the body. This cleaning device can be lifted so that it can be away from the ground when not working, avoiding secondary pollution and ensuring the cleaning effect of the cleaning device. At the same time, this cleaning device can also swing towards the direction close to the body under the action of an external force to buffer the collision force with obstacles, thereby improving the service life of the cleaning device.

[0435] Of course, on the basis of being feasible, the overall or partial structure of Embodiment 10 can be combined with any feasible embodiment to meet different usage purposes, and no specific limitation is made here.

[0436] In the above-mentioned implementation manner, the cleaning assembly 20 can swing outwards and retract inwards, and the side brush 400M can also swing outwards and retract inwards. Therefore, during the cleaning process of the cleaning device, the side brush 400M and the cleaning assembly 20 can both be in the outward swing position, that is, the side brush 400M is in the outward swing position to clean in the front, and the cleaning assembly 20 is in the outward swing position to clean behind the side brush 400M. With their cooperation, the edge cleaning effect of the cleaning device is further improved. Especially in the cleaning scenario where an inner right angle is formed between the first obstacle and the second obstacle (that is, a 90-degree angle is formed between the two obstacles), the outward swing of the side brush 400M and the cleaning assembly 20 is more conducive to cleaning the inner right angle; when the cleaning assembly 20 and the side brush 400M need to retract inwards, the side brush 400M and the cleaning assembly 20 retract to be in the inward retracted position.

[0437] In another implementation manner, during the cleaning process of the cleaning device, the side brush 400M and the cleaning assembly 20 can be in the outward swing position or the inward retracted position at the same time, or can be in the outward swing position or the inward retracted position at staggered times.

[0438] For example, one of the side brush 400M and the cleaning component 20 is in the outward swing position, and the other is in the retracted position; or both the side brush 400M and the cleaning component 20 are in the retracted position, or both are in the outward swing position; or one of the side brush 400M and the cleaning component 20 is first in the outward swing position, and the other is later in the outward swing position; or one of the cleaning component 20 and the side brush 400M is first in the retracted position, and the other is later in the retracted position; or one of the cleaning component 20 and the side brush 400M is first in the retracted position, and the other is later in the outward swing position. In addition, the side brush 400M and the cleaning component 20 are in the outward swing position or the retracted position, and the sequence of the outward swing position or the retracted position is selected according to actual needs, and no specific limitation is made here.

[0439] Embodiment 11: In Embodiment 11, a cleaning device having a second elastic member 400D and a traction mechanism 100D is mainly introduced. In the embodiment, the first driving structure 40M at least includes a driving component 310D, and the second driving structure 50M at least includes a second elastic member 400D and a traction mechanism 100D.

[0440] Continuing from the foregoing content, the difference between this embodiment and the foregoing embodiments is that in this embodiment, a second elastic member 400D and a traction mechanism 100D are also disclosed, and different cleaning components 20 and driving components 310D are adopted in this embodiment.

[0441] A traction mechanism is provided in this embodiment. Please refer to Figures 41 to 43 , in this embodiment, the traction mechanism 100D is applied to a cleaning device, and the cleaning device includes a body 10 and a cleaning module 300D rotatably provided on the body 10. The traction mechanism 100D can traction the cleaning module 300D to rotate relative to the body 10, so that the cleaning component 20 of the cleaning module 300D can swing out of the body to perform edge cleaning.

[0442] Please refer to Figures 46 to 50 , in this embodiment, the cleaning device 200D includes a traction mechanism 100D, a body 10, a cleaning module 300D, and a second elastic member 400D. The traction mechanism 100D, the cleaning module 300D, and the second elastic member 400D are all provided on the body 10, and the traction mechanism 100D is connected to the cleaning module 300D. Among them, the cleaning module 300D includes a driving component 310D and a cleaning component 20, and the driving component 310D is connected to the cleaning component 20 for driving the cleaning component 20 to rotate. The driving component 310D is rotatably provided on the body 10, so that the cleaning component 20 has an initial position and an edge position, and the edge position is the position where at least a part of the cleaning component 20 extends out of the maximum width of the body 10 in the forward direction, such as Figure 48As shown. The second elastic member 400D is disposed between the body 10 and the driving assembly 310D, and causes the cleaning assembly 20 to move toward the edge position through the driving assembly 310D, that is, the resilience of the second elastic member 400D always forces the cleaning assembly 20 to move to the edge position. One end of the traction member 120D of the traction mechanism 100D is connected to the driving assembly 310D, and the driving assembly 310D is rotated, and the cleaning assembly 20 is linked to move between the initial position and the edge position.

[0443] Wherein, the cleaning assembly 20 and the driving assembly 310D constitute a cleaning module 300D; the first position at least includes the initial position, and the second position at least includes the edge position.

[0444] In this embodiment, the traction mechanism 100D includes a base body 110D, a traction member 120D, a tensioning structure 130D, and a winding and unwinding assembly 140D. The traction member 120D is disposed on the base body 110D, and one end of the traction member 120D extends out of the base body 110D and is used to connect the cleaning module 300D. The tensioning structure 130D is connected between the two ends of the traction member 120D and is used to tension the traction member 120D. The winding and unwinding assembly 140D is disposed on the base body 110D and is fixedly connected to the other end of the traction member 120D. The winding and unwinding assembly 140D is used to wind up the traction member 120D to traction the cleaning module to rotate, or unwind and release the traction member 120D to release the cleaning module. By winding and unwinding the traction member 120D through the winding and unwinding assembly 140D, the cleaning module connected to the traction member 120D is driven to rotate, and then the swing-out of the cleaning assembly is controlled to cover the body range, realizing edge cleaning, improving the cleaning effect when the cleaning device mops the floor along the edge, and solving the problem that the cleaning assembly cannot mop the floor close to the edge. Moreover, the tensioning structure 130D is disposed between the two ends of the traction member 120D and always tensions the traction member 120D. When the winding and unwinding assembly 140D unwinds and releases the traction member 120D, since the exposed part of the traction member 120D is in a tensioned state, the traction member 120D is prevented from being slack and hooked on other structures to ensure the normal operation of the traction member 120D.

[0445] Please refer to Figure 44 and Figure 45 , Figure 44 which shows a top view of the traction mechanism in this embodiment, Figure 45 shows Figure 44Cross-sectional view of the middle traction mechanism along line I-I. The base 110D is provided with a guiding portion 111D. The tensioning structure 130D includes a movable structure 131D and a tensioning member 132D. The movable structure 131D is movably disposed on the guiding portion 111D and moves along the guiding portion 111D, and is slidably connected between the two ends of the traction member 120D. The tensioning member 132D is connected to the movable structure 131D and is used to apply a force to the movable structure 131D to tension the traction member 120D by the movable structure 131D. Since the movable structure 131D is slidably connected to the traction member 120D, the friction when the tensioned traction member 120D is retracted and extended can be reduced. Moreover, the guiding portion 111D of the base 110D can guide the movement of the movable structure 131D to prevent the movable structure 131D from sliding randomly between the two ends of the traction member 120D when the traction member 120D is retracted and extended.

[0446] In this embodiment, the tensioning member 132D is a first elastic member, which is tensioningly connected between the base 110D and the movable structure 131D. When the traction member 120D is wound up, the retracting and extending assembly 140D at least overcomes the pulling force (elastic force) of the tensioning member 132D to move the movable structure 131D along the guiding portion 111D in the opposite direction of the pulling force; when the traction member 120D is unwound and released, under the action of the pulling force of the tensioning member 132D, the movable structure 131D moves along the guiding portion 111D in the direction of the pulling force to tension the released traction member 120D to prevent the loose traction member 120D from interfering with other structures.

[0447] It should be noted that in other embodiments, the tensioning member 132D can be a counterweight, which pulls the movable structure 131D in the direction of gravity. That is, the guiding portion 111D is arranged vertically, and the tensioning member 132D uses gravity to tension the traction member 120D in the vertical direction. When the traction member 120D is wound up, the retracting and extending assembly 140D at least overcomes the gravity of the counterweight to pull up the movable structure 131D along the guiding portion 111D; when the traction member 120D is unwound and released, the movable structure 131D moves downward along the guiding portion 111D under the action of gravity to tension the traction member 120D. In other embodiments, the tensioning structure 130D can be an integral counterweight, which tensions the traction member 120D in the direction of gravity, and it can be located outside the base 110D.

[0448] To achieve a sliding connection between the movable structure 131D and the traction member 120D, the movable structure 131D includes a movable member 133D and a first pulley 134D. The movable member 133D is movably disposed in the guiding portion 111D, and one end of the movable member 133D is connected to the tensioning member 132D. The first pulley 134D is rotatably disposed at the other end of the movable member 133D and is slidably connected between the two ends of the traction member 120D. The first pulley 134D can both tension the traction member 120D and reduce the friction when the traction member 120D is retracted and extended, thereby reducing the influence of the tensioning effect of the tensioning member 132D on the retraction and extension of the traction member 120D. It can be understood that in its implementation, the first pulley 134D can be replaced by a rotating shaft and play the same role.

[0449] Combined with Figure 42 , in this embodiment, the guiding portion 111D is a guiding groove. Avoidance portions 112D are provided on both opposite sides of the guiding groove. One avoidance portion 112D avoids a part of the traction member 120D on one side of the movable structure 131D, and the other avoidance portion 112D avoids a part of the traction member 120D on the other side of the movable structure 131D. On the premise of satisfying the guiding of the guiding groove for the movable structure 131D, the avoidance portion 112D avoids the friction between the side wall of the guiding groove and the traction member 120D, which is beneficial to the retraction and extension of the traction member 120D. It can be understood that in other embodiments, the guiding portion 111D can be a guiding rail, and the movable member 133D is sleeved on the guiding rail and moves along the guiding rail.

[0450] Furthermore, the avoidance portion 112D is an avoidance through hole penetrating the side wall of the guiding groove, and a part of the traction member 120D can extend out of the base body 110D through the avoidance through hole without being interfered by the side wall of the guiding groove. It can be understood that in other embodiments, the avoidance portion 112D is an avoidance side groove, and the avoidance side groove communicates with the guiding groove, and a part of the traction member 120D can be located in the avoidance side groove without being interfered.

[0451] In order to further reduce the frictional force suffered by the traction member 120D during retraction and deployment, the traction mechanism 100D further includes a second pulley 150D and a third pulley 160D. The second pulley 150D is rotatably provided on the base body 110D, located between one end of the tensioning structure 130D and the traction member 120D, and is slidably connected to the traction member 120D. The third pulley 160D is rotatably provided on the base body 110D, located between the other end of the tensioning structure 130D and the traction member 120D, and is slidably connected to the traction member 120D. Specifically, the second pulley 150D is located on one side of the guide groove and is provided corresponding to the avoidance portion 112D on the same side; the third pulley 160D is located on the other side of the guide groove and is provided corresponding to the avoidance portion 112D on the same side. In the direction of winding up the traction member 120D, the traction member 120D first passes through the second pulley 150D, then passes through the avoidance portion 112D on the same side and is slidably connected to the first pulley 134D, then passes through the avoidance portion 112D on the other side, and finally is slidably connected to the third pulley 160D.

[0452] To facilitate the installation of the second pulley 150D and the third pulley 160D, the base body 110D is further provided with a first mounting portion 152D and a second mounting portion 162D. The first mounting portion 152D forms at least one set of card slots on one side of the guide groove. Each set of card slots has two relatively arranged card slots, and both ends of the second pulley 150D are rotatably provided in one set of card slots. The second mounting portion 162D forms at least one set of card slots on the other side of the guide groove. Each set of card slots has two relatively arranged card slots, and both ends of the third pulley 160D are rotatably provided in one set of card slots. Among them, the extending direction of each card slot is the same as the extending direction of the guide groove.

[0453] The retracting and deploying assembly 140D includes a retracting and deploying motor 142D and a retracting and deploying cylinder 144D. The retracting and deploying motor 142D is provided on the base body 110D and is used to drive the rotation of the retracting and deploying cylinder 144D. The retracting and deploying cylinder 144D is fixedly connected to the rotating shaft of the retracting and deploying motor 142D and is fixedly connected to the other end of the traction member 120D to retract and deploy the traction member 120D.

[0454] In this embodiment, the retracting and deploying cylinder 144D is a turntable. The retracting and deploying motor 142D is located outside the base body 110D, and its rotating shaft penetrates the base body 110D and is fixedly connected to the turntable. The retracting and deploying motor 142D is fixedly connected to the base body 110D by screws. It can be understood that in other embodiments, the retracting and deploying cylinder 144D can be a retracting and deploying roller.

[0455] In this embodiment, the traction member 120D can be, but is not limited to, a pull rope, and it can also be other flexible strip structures or flexible belt structures. The tensioning member 132D can be, but is not limited to, a spring, and it can also be an elastic columnar structure, an elastic rod-like structure or an elastic strip structure, which has both structural strength and elasticity. The movable member 133D is a slider, including two opposite sliding portions and a connecting portion connecting the two sliding portions. One end of the tensioning member 132D is connected between the two sliding portions through a shaft body, and the first pulley 134D is rotatably arranged between the two sliding portions.

[0456] In this embodiment, the cleaning device 200D controls the rotation of the drive assembly 310D through the traction mechanism 100D and the second elastic member 400D, and controls the swing of the cleaning assembly 20. As Figure 48 shown, when the winding and unwinding assembly 140D of the traction mechanism 100D unwinds and releases the traction member 120D, the traction member 120D releases the drive assembly 310D. Under the action of the second elastic member 400D, the cleaning assembly 20 moves to the edge position, and the cleaning assembly 20 can be swung out to cover the body range to achieve edge cleaning; moreover, the traction member 120D is in a tensioned state under the action of the tensioning structure 130D. When the cleaning assembly 20 encounters an obstacle while mopping the floor along the edge, the second elastic member 400D can play a role in buffering the collision, so that the extended cleaning assembly 20 can contract inward to protect the cleaning assembly 20. At this time, the traction member 120D is relaxed. Due to the tensioning action of the tensioning structure 130D, the traction member 120D is in a tensioned state, avoiding abnormalities such as the traction member 120D being relaxed and hooked to other structures; when the cleaning assembly 20 leaves the obstacle, under the action of the resilience of the second elastic member 400D, the cleaning assembly 20 quickly moves to the edge position and continues to mop the floor along the edge. As Figure 49 shown, when the winding and unwinding assembly 140D of the traction mechanism 100D winds up and retracts the traction member 120D, the traction member 120D pulls the drive assembly 310D to rotate inward, and the cleaning assembly 20 moves to the initial position.

[0457] It should be noted that when the traction mechanism 100D releases the drive assembly 310D, the resilience of the second elastic member 400D is greater than the sum of the acting force of the tensioning member 132D (the first elastic member) and the frictional force exerted by the ground on the cleaning assembly 20, so that the cleaning assembly 20 can move to the edge position. When the traction mechanism 100D pulls the drive assembly 310D, the traction force exerted by the traction member 120D on the drive assembly 310D is greater than the sum of the resilience of the second elastic member 400D and the frictional force exerted by the ground on the cleaning assembly 20, so that the cleaning assembly 20 can rotate inward to the initial position and remain in the initial position.

[0458] It should be noted that the number of cleaning modules 300D of the cleaning device 200D can be set according to the actual situation. For example, the cleaning device 200D can be provided with one or two cleaning modules 300D, and accordingly, the traction mechanism 100D and the second elastic member 400D are provided so that the cleaning assembly 20 of at least one cleaning module 300D can be swingably arranged. For another example, the cleaning device 200D can also be provided with more than three cleaning modules 300D, and the number of cleaning modules 300D with swingable cleaning assemblies 20 can be set according to actual requirements. Among them, the traction mechanism 100D is arranged corresponding to the driving assembly 310D, and an avoidance hole 211D is provided at the bottom of the body 10. The avoidance hole 211D can avoid the movement of the cleaning assembly 20 between the edge position and the initial position. In this embodiment, the avoidance hole 211D defines two limit positions of the cleaning assembly 20, which are the edge position and the initial position. However, in other embodiments, the edge position and / or the initial position can be located between the two limit positions.

[0459] Please refer to Figure 51 , Figure 51 which shows the module block diagram of the cleaning device in this embodiment. The cleaning device 200D further includes a detector 220D and a controller 230D. The detector 220D is arranged on the body 10 and is used to detect the position of the driving assembly 310D. The controller 230D is arranged on the body 10 and is electrically connected to the detector 220D and the traction mechanism 100D respectively. The controller 230D is used to control the traction mechanism 100D according to the position detected by the detector 220D. The detector 220D can detect the position of the driving assembly 310D. After the traction mechanism 100D drives the cleaning assembly 20 to extend in place (edge position) or retract in place (initial position), the controller 230D controls the traction mechanism 100D to stop working to avoid stalling and affecting the service life of the traction mechanism 100D.

[0460] Furthermore, the cleaning device 200D further includes a main board (not shown). The controller 230D is arranged on the main board and is installed on the body 10 through the main board. Moreover, other electronic components are also arranged on the main board to realize various functions of the cleaning device 200D.

[0461] In this embodiment, the detector 220D can be, but is not limited to, a micro switch (tact switch), which has a deformable elastic piece. By the contact between the driving assembly 310D and the elastic piece, the micro switch is turned on, and then the position of the driving assembly 310D is detected. The number of the micro switches is two, which are respectively arranged corresponding to the driving assembly 310D at the initial position and the edge position. When the cleaning assembly 20 moves to the edge position, the elastic piece of the outermost micro switch is compressed and contracted to be turned on, and then it is detected that the driving assembly 310D is in place to detect the edge position of the cleaning assembly 20, as Figure 48As shown. When the cleaning component 20 moves to the initial position, the elastic piece of the micro switch on the inner side is pressed and contracted to conduct, thereby detecting that the driving component 310D is in place to detect the initial position of the cleaning component 20, as Figure 49 shown. It should be noted that in other embodiments, the detector 220D can be a Hall sensor or an infrared sensor. The Hall sensor detects the iron metal in the driving component 310D at different positions in the way of a micro switch to sense its in-place; the infrared sensor can detect the position of the cleaning component 20 below it by the principle of a downward-looking sensor detecting a cliff.

[0462] In this embodiment, the cleaning device 200D has different working states. By way of example and not limitation, it can include the following two working states:

[0463] Combined with Figure 48 , when the cleaning device 200D is identified as the edge-following state (edge-following mode), the controller 230D controls the traction mechanism 100D to work, and unwinds and releases the traction member 120D. Under the action of the resilience of the second elastic member 400D, the driving component 310D rotates outward, and the cleaning component 20 moves from the initial position to the edge-following position. At this time, at least part of the cleaning component 20 extends beyond the maximum width of the body 10 (airframe) in the forward direction, that is, the cleaning component 20 extends beyond the reference line L and covers the body range, improving the cleaning effect when the cleaning device 200D performs edge-following cleaning. Combined with Figure 49 , when the cleaning device 200D completes edge-following cleaning and resumes normal operation (non-edge-following mode), the controller 230D controls the traction mechanism 100D to work, winds up and retracts the traction member 120D, and pulls the driving component 310D to rotate inward, so that the cleaning component 20 retracts from the edge-following position to the initial position. At this time, in the forward direction, the cleaning component 20 does not extend beyond the maximum width of the body 10 (airframe), that is, the cleaning component 20 is located within the reference line L.

[0464] Combined with Figures 42 to 45 , to facilitate the installation of the traction mechanism 100D, the base body 110D of the traction mechanism 100D includes a main body structure 113D and an installation structure 114D. The installation structure 114D is connected between the two ends of the main body structure 113D. The installation structure 114D is provided on the body 10 to install the traction mechanism 100D on the body 10. Among them, the main body structure 113D is provided with a first inner cavity 115D. The traction member 120D is located in the first inner cavity 115D. One end of the traction member 120D extends out of one end of the main body structure 113D, and the winding and unwinding component 140D is connected to the other end of the main body structure 113D. The installation structure 114D is provided with a second inner cavity 116D. The second inner cavity 116D communicates with the first inner cavity 115D. The tensioning structure 130D is located in the second inner cavity 116D. Among them, the guide groove is provided in the second inner cavity 116D.

[0465] Further, the main body structure 113D includes a connecting body 117D and a cover body 118D. The connecting body 117D is connected to the mounting structure 114D, and the cover body 118D covers the connecting body 117D to form a first inner cavity 115D. A wire routing groove 119D is provided in the first inner cavity 115D, and a traction member 120D is disposed in the wire routing groove 119D. The wire routing groove 119D can reduce the friction of the traction member 120D during retraction and extension, and at the same time can prevent the traction member 120D from being entangled by other structures.

[0466] In this embodiment, one side of the main body structure 113D facing the drive assembly 310D is recessed, so as to accommodate the drive assembly 310D when the cleaning assembly 20 is in the initial position, reduce the space interval between the traction mechanism 100D and the drive assembly 310D, make full use of the space of the machine body 10, and at the same time shorten the length of the exposed traction member 120D.

[0467] Please refer to Figures 52 to 54 , Figure 52 which shows an enlarged view of area A of the cross-sectional view of the cleaning device of this embodiment, Figure 53 which shows a schematic structural diagram of the cleaning module of the cleaning device in this embodiment, Figure 54 which shows [[ID= the exploded view of the cleaning module in

[0468] Combined with ​, in this embodiment, the machine body 10 is provided with a first pivoting portion 212D, a first mounting groove 213D and a first torsion arm groove 214D. The first mounting groove 213D is arranged around the first pivoting portion 212D, and the first torsion arm groove 214D communicates with the first mounting groove 213D. The driving assembly 310D is provided with a second pivoting portion 312D, a second mounting groove 313D and a second torsion arm groove (not shown). The second mounting groove 313D is arranged around the second pivoting portion 312D, and the second torsion arm groove communicates with the second mounting groove 313D. The first pivoting portion 212D is pivotally connected to the second pivoting portion 312D. One end of the second elastic member 400D is located in the first mounting groove 213D, the other end of the second elastic member 400D is located in the second mounting groove 313D, one torsion arm of the second elastic member 400D is located in the first torsion arm groove 214D, and the other torsion arm of the second elastic member 400D is located in the second torsion arm groove, so as to mount the second elastic member 400D between the machine body 10 and the driving assembly 310D, and make the driving assembly 310D always maintain a tendency to move to the edge position.

[0469] Further, a pivot bearing 314D is fixedly connected between the first pivoting portion 212D and the second pivoting portion 312D. This bearing can ensure the connection stability between the first pivoting portion 212D and the second pivoting portion 312D, and enable good rotational performance between the first pivoting portion 212D and the second pivoting portion 312D.

[0470] In this embodiment, the first pivoting portion 212D is a pivot shaft, and the second pivoting portion 312D is a pivot hole, that is, the first pivoting portion 212D is inserted into the second pivoting portion 312D. In other embodiments, the first pivoting portion 212D is a pivot hole, and the second pivoting portion 312D is a pivot shaft.

[0471] In this embodiment, the driving assembly 310D includes a housing 330D, a driving motor 340D and a transmission mechanism 350D. The driving motor 340D and the transmission mechanism 350D are arranged inside the housing 330D. Among them, the rotating shaft of the driving motor 340D is connected to the input end of the transmission mechanism 350D, and the output end of the transmission mechanism 350D is connected to the cleaning assembly 20. Among them, the rotation center of the driving assembly 310D is located on the central axis of the driving motor 340D, which can reduce the vibration during the rotation of the driving assembly 310D, reduce the noise, and at the same time the cleaning assembly 20 can better realize the revolution under the condition of self-rotation. In addition, the housing 330D can play a role in protecting the driving motor 340D and the transmission mechanism 350D, achieving the effects of waterproofing and dustproofing. It should be noted that in other embodiments, the driving motor 340D can be arranged outside the housing 330D and connected to the input end of the transmission mechanism 350D inside the housing 330D.

[0472] Further, the driving assembly 310D further includes a connection structure 360D. The connection structure 360D is disposed inside the housing 330D. One end of the connection structure 360D is connected to the output end of the transmission mechanism 350D, and the other end of the connection structure 360D is connected to the cleaning assembly 20. During operation, the rotating shaft of the driving motor 340D rotates to output torque. The torque is transmitted to the connection structure 360D through the transmission mechanism 350D. Then, the connection structure 360D rotates, and the cleaning assembly 20 is driven to rotate in conjunction. It can be understood that in other embodiments, the cleaning assembly 20 can be directly connected to the output end of the transmission mechanism 350D without being connected through the connection structure 360D.

[0473] Further, the housing 330D includes a bottom shell 331D, a middle shell 332D, and a top shell 333D. The middle shell 332D is covered on the bottom shell 331D. The driving motor 340D and the connection structure 360D are both disposed between the bottom shell 331D and the middle shell 332D. The rotating shaft of the driving motor 340D penetrates through the middle shell 332D. The top shell 333D is covered on the middle shell 332D. The transmission mechanism 350D is disposed between the middle shell 332D and the top shell 333D. The input end of the transmission mechanism 350D is connected to the rotating shaft of the driving motor 340D. The output end of the transmission mechanism 350D is connected to the connection structure 360D through the middle shell 332D. The cleaning assembly 20 is connected to the connection structure 360D through the bottom shell 331D. The housing 330D is arranged in layers to accommodate different structures, rationally layout the space, achieve a compact arrangement, and reduce the volume.

[0474] Further, the transmission mechanism 350D is a gear transmission mechanism, which includes a plurality of gears meshing with each other in sequence. In other embodiments, the housing 330D can adopt a two-layer structure, and only the transmission mechanism 350D is disposed inside the housing 330D. The transmission mechanism 350D can also be a belt pulley transmission mechanism.

[0475] Further, the cleaning assembly 20 includes a connection shaft 322D, a cleaning disk 324D, and a cleaning member 326D. One end of the connection shaft 322D extends into the bottom shell 331D and is fixedly connected to the connection structure 360D. The other end of the connection shaft 322D is fixedly connected to the cleaning disk 324D. The cleaning member 326D is disposed on the side of the cleaning disk 324D facing away from the connection shaft 322D. The cleaning member 326D can be, but is not limited to, a cleaning cloth.

[0476] In this embodiment, the second pivoting portion 312D and the second mounting groove 313D are both provided on the bottom shell 331D and are of an integral structure. The top shell 333D is provided with a shaft connecting groove 334D, and a shaft connecting bearing 335D is provided in the shaft connecting groove 334D. Among them, the pivoting groove of the top shell 333D, the input end of the transmission mechanism 350D, the rotating shaft of the driving motor 340D, the second pivoting portion 312D of the bottom shell 331D, and the first pivoting portion 212D of the body 10 are coaxially arranged and have the same central axis (rotation center). The output end of the transmission mechanism 350D, the connecting structure 360D, and the connecting shaft 322D of the cleaning assembly 20 are coaxially arranged and have the same central axis (rotation center).

[0477] The technical solution provided by this embodiment has the following advantages: When this traction mechanism is applied to the cleaning module of a cleaning device, the traction member is wound and unwound by the winding and unwinding assembly, and the cleaning module connected to the traction member is driven to rotate, thereby controlling the swing-out of the cleaning assembly to cover the range of the fuselage, achieving edge cleaning, improving the cleaning effect when the cleaning robot mops the floor along the edge, and solving the problem that the cleaning assembly cannot mop the floor close to the edge. Moreover, the tensioning structure is arranged between the two ends of the traction member and always tensions the traction member. When the winding and unwinding assembly unwinds and releases the traction member, since the exposed part of the traction member is in a tensioned state, the traction member is prevented from loosening and getting caught on other structures to ensure the normal operation of the traction member.

[0478] Of course, Embodiment 11 is not limited to being combined with the foregoing Embodiment 2. On the basis of being feasible, the overall or partial structure of Embodiment 11 can be combined with any feasible embodiment to meet different usage purposes, and no specific limitation is made here.

[0479] Embodiment 12: Another specific embodiment of the swing drive type second drive structure 50M is mainly introduced in this embodiment. In this embodiment, the first drive structure 40M at least includes a drive module 210E, and the second drive structure 50M at least includes a connecting member 300E and a transmission member 400E.

[0480] Continuing from the foregoing content, the difference between this embodiment and the foregoing embodiments is that in this embodiment, the drive module 210E, the connecting member 300E, and the transmission member 400E are also disclosed, and different drive components 620E are adopted in this embodiment.

[0481] This embodiment provides a cleaning device, such as ​ As shown, in this embodiment, the cleaning device 600E includes a cleaning mechanism 100E, a body 10, and a drive component 620E. The cleaning mechanism 100E and the drive component 620E are both provided on the body 10, and the drive component 620E is connected to the cleaning mechanism 100E.

[0482] Such as ​ And​ As shown, in this embodiment, the cleaning mechanism 100E includes a cleaning module 200E, a connecting member 300E, and a transmission member 400E. The connecting member 300E is connected to the cleaning module 200E and the transmission member 400E respectively. Among them, the cleaning module 200E includes a driving module 210E and a cleaning component 20. The driving module 210E is connected to the cleaning component 20 and is used to drive the cleaning component 20 to rotate. Therefore, the cleaning component 20 has a rotation axis L1. The connecting member 300E is connected to the driving module 210E and the transmission member 400E respectively. The transmission member 400E is rotatably connected to the driving module 210E and can rotate around a rotation axis L2. Through the connecting member 300E, the driving module 210E is driven to rotate around the rotation axis L2, and the rotation axis L2 is parallel to the rotation axis L1.

[0483] In this embodiment, the cleaning mechanism 100E is additionally provided with a connecting member 300E and a transmission member 400E. The transmission member 400E is rotatably connected to the driving module 210E of the cleaning module 200E. The connecting member 300E is connected between the driving module 210E and the transmission member 400E. Since the transmission member 400E can rotate around the rotation axis L2, when the transmission member 400E rotates, it drives the connecting member 300E to move, and then drives the driving module 210E to rotate around the rotation axis L2. Furthermore, the cleaning component 20 of the cleaning module 200E can rotate eccentrically around the rotation axis L2. When applied to a cleaning device, by controlling the rotation of the transmission member 400E, the swing of the cleaning component 20 is controlled, that is, the cleaning component 20 can move between an initial position and a side position. When the cleaning component 20 is in the side position, the cleaning part can be swung out to cover the body range, realizing side cleaning and improving the cleaning effect when the cleaning device mops the floor along the edge, and solving the problem that the cleaning component 20 cannot mop the floor along the edge. Among them, the first position includes at least the initial position, and the second position includes at least the side position.

[0484] In this embodiment, the transmission member 400E has a first end 410E and a second end 420E. The drive module 210E includes a drive body 230E and a rotating member 240E. One end of the rotating member 240E is rotatably provided on the side of the drive body 230E facing the cleaning assembly 20. The first end 410E is pivotally connected to the other side of the drive body 230E, and the second end 420E is fixedly connected to the rotating member 240E. In other words, one end of the transmission member 400E is rotatably connected to one side of the drive body 230E through the rotating member 240E, and the other end is pivotally connected to the other side of the drive body 230E, thereby realizing the rotational connection between the transmission member 400E and the drive module 210E. Since the second end 420E of the transmission member 400E is fixedly connected to the rotating member 240E, the connection stability and rotational stability of the transmission member 400E can be improved. It can be understood that in other embodiments, the drive module 210E can omit the rotating member 240E to reduce parts. At this time, the second end 420E of the transmission member 400E is directly pivotally connected to the side of the drive body 230E (drive module 210E) facing the cleaning assembly 20, and the rotational connection between the transmission member 400E and the drive module 210E can also be realized.

[0485] To achieve the fixed connection between the second end 420E of the transmission member 400E and the rotating member 240E, a screw post 422E is provided at the second end 420E. The rotating member 240E is provided with a mounting groove (not labeled) corresponding to the screw post 422E. A mounting hole is provided at the bottom of the mounting groove. The screw post 422E is inserted into the mounting groove, and a screw (not shown) passes through the mounting hole and the screw hole of the screw post 422E in sequence, thereby locking the screw post 422E in the mounting groove. Among them, the number of screw posts 422E at the second end 420E of the transmission member 400E can be set according to actual needs. In this embodiment, the number of screw posts 422E can be, but is not limited to, two, and the number of mounting grooves is set accordingly. It should be noted that the fixed connection method between the second end 420E of the transmission member 400E and the rotating member 240E is not limited to the above screw connection method, and other screw connection methods or snap connection methods can also be used.

[0486] Please refer to ​ , ​ which shows a top view of the cleaning mechanism in this embodiment, ​ shows ​ a cross-sectional view of the cleaning mechanism along line I-I in ​ which shows an exploded view of the cleaning mechanism in this embodiment. A first shaft connection portion 232E is provided on one side of the drive body 230E, and a second shaft connection portion 242E is provided at one end of the rotating member 240E. The second shaft connection portion 242E is axially inserted and matched with the first shaft connection portion 232E.

[0487] The drive module 210E further includes a first bearing 212E. The first bearing 212E is fixedly connected to the first shaft connection portion 232E and

[0488] Between the second shaft connecting portion 242E. The second shaft connecting portion 242E is axially fixedly connected to the first shaft connecting portion 232E through the first bearing 212E and is rotatably arranged relative to the first shaft connecting portion 232E, so that the rotating member 240E has good rotating performance. Moreover, the first bearing 212E can ensure the connection stability between the first shaft connecting portion 232E and the second shaft connecting portion 242E without affecting rotation. It should be noted that in other embodiments, the rotating member 240E and the driving main body 230E may not be connected by a bearing. For example, the first shaft connecting portion 232E of the driving main body 230E is a shaft body, and an annular clamping groove may be provided on the outer peripheral surface of one end of the shaft body. The second shaft connecting portion 242E of the rotating member 240E is a shaft sleeve, and an annular clamping buckle may be provided on the inner peripheral surface of one end of the shaft sleeve. The annular clamping buckle is inserted into the annular clamping groove and can rotate relative to the annular clamping groove. At this time, the rotating member 240E is rotatably connected to the driving main body 230E.

[0489] In order to improve the coaxiality of the axial connection between the first shaft connecting portion 232E and the second shaft connecting portion 242E and improve the rotation accuracy of the transmission member 400E. A first socket portion 234E is further provided on one side of the driving main body 230E, and the first socket portion 234E is coaxially arranged around the first shaft connecting portion 232E. One end of the rotating member 240E is further provided with a second socket portion 244E, and the second socket portion 244E is coaxially arranged around the second shaft connecting portion 242E. The second socket portion 244E is axially inserted and matched with the first socket portion 234E. Obviously, when the first socket portion 234E and the second socket portion 244E are adapted, the effect of maintaining coaxiality is better. In order to reduce rotational friction, the mating surfaces of the first socket portion 234E and the second socket portion 244E are both smoothly arranged and can be coated with lubricating oil.

[0490] In this embodiment, the first shaft connecting portion 232E is a shaft body, and the first socket portion 234E is a sleeve. Correspondingly, the second shaft connecting portion 242E is a shaft hole, and the second socket portion 244E is an annular groove. It can be understood that in other embodiments, the first shaft connecting portion 232E may be a shaft hole, and the first socket portion 234E may be an annular groove. Correspondingly, the second shaft connecting portion 242E is a shaft body, and the second socket portion 244E is a sleeve.

[0491] In order to achieve the rotational connection between the driving module 210E and the external structure and enable rotation about the rotation axis L2, the other end of the rotating member 240E is provided with a third shaft connecting portion 246E. The third shaft connecting portion 246E is coaxially arranged with the second shaft connecting portion 242E and is spaced apart from each other. The driving module 210E further includes a second bearing 214E, and the second bearing 214E is fixedly connected to the third shaft connecting portion 246E. In other words, the third shaft connecting portion 246E can be axially fixedly connected to the shaft connecting portion of the external structure through the second bearing 214E, thereby improving the rotational performance of the driving module 210E and ensuring the connection stability between the third shaft connecting portion 246E and the shaft connecting portion of the external structure. The external structure can be the body, chassis or other structures of the cleaning device.

[0492] In this embodiment, the third shaft connecting portion 246E is a shaft hole, the outer surface of the second bearing 214E is fixedly connected to the hole wall of the shaft hole, and the shaft connecting portion of the external structure is a shaft body. Obviously, in other embodiments, the third shaft connecting portion 246E can be a shaft body, the second bearing 214E is sleeved on the third shaft connecting portion 246E, and the shaft connecting portion of the external structure is a shaft hole; or, the third shaft connecting portion 246E can be directly axially inserted and matched with the shaft connecting portion of the external structure without setting the second bearing 214E.

[0493] In order to achieve the pivotal connection between the first end 410E of the transmission member 400E and the other side of the driving main body 230E, the first end 410E is provided with a first pivotal connecting portion 412E, the other side of the driving main body 230E is provided with a second pivotal connecting portion 236E, and the second pivotal connecting portion 236E is axially inserted and matched with the first pivotal connecting portion 412E. The cleaning mechanism 100E further includes a third bearing 500E, and the third bearing 500E is fixedly connected between the first pivotal connecting portion 412E and the second pivotal connecting portion 236E to axially fixedly connect the first pivotal connecting portion 412E and the second pivotal connecting portion 236E. The third bearing 500E can enable the transmission member 400E to have good rotational performance and can ensure the connection stability between the first pivotal connecting portion 412E and the second pivotal connecting portion 236E.

[0494] In this embodiment, the first pivotal connecting portion 412E is a shaft hole, the outer surface of the third bearing 500E is fixedly connected to the hole wall of the shaft hole, and the second pivotal connecting portion 236E is a shaft body. It can be understood that in other embodiments, the first pivotal connecting portion 412E is a shaft body, the second bearing 214E is sleeved on the first pivotal connecting portion 412E, and the second pivotal connecting portion 236E is a shaft hole; or, the first pivotal connecting portion 412E can be directly axially inserted and matched with the second pivotal connecting portion 236E without setting the third bearing 500E.

[0495] In order to achieve the rotational connection between the transmission member 400E and the external structure, it can rotate about the rotation axis L2. The first end 410E of the transmission member 400E is also provided with a third pivoting portion 414E. The third pivoting portion 414E is coaxially arranged with the second pivoting portion 236E and is spaced apart from each other. The third pivoting portion 414E is axially inserted and mated with the pivoting portion of the external structure, and the external structure can be the body, chassis or other structures of the cleaning device.

[0496] In this embodiment, the third pivoting portion 414E is a shaft hole, and the pivoting portion of the external structure is a shaft body. Obviously, in other embodiments, the third pivoting portion 414E can be a shaft body, and the pivoting portion of the external structure is correspondingly a shaft hole; or, in order to improve the stability of the axial connection and the rotational performance, the third pivoting portion 414E and the pivoting portion of the external structure can be axially connected through a bearing.

[0497] In this embodiment, the driving body 230E includes a housing 250E, a first motor 260E, a transmission mechanism 270E and a connection structure 280E. The first motor 260E, the transmission mechanism 270E and the connection structure 280E are all arranged inside the housing 250E. Among them, the rotating shaft of the first motor 260E is connected to the input end of the transmission mechanism 270E, the output end of the transmission mechanism 270E is connected to one end of the connection structure 280E, and the other end of the connection structure 280E is connected to the cleaning assembly 20. When working, the rotating shaft of the first motor 260E rotates to output torque, and the torque is transmitted to the connection structure 280E through the transmission mechanism 270E. Then, the connection structure 280E rotates and drives the cleaning assembly 20 to rotate. It should be noted that, in other embodiments, the first motor 260E can be arranged outside the housing 250E and connected to the input end of the transmission mechanism 270E inside the housing 250E, and the output end of the transmission mechanism 270E can be directly connected to the cleaning assembly 20.

[0498] Furthermore, the housing 250E includes a bottom shell 252E, a middle shell 254E and a top shell 256E. The middle shell 254E covers the bottom shell 252E. The first motor 260E and the connection structure 280E are both arranged between the bottom shell 252E and the middle shell 254E, and the rotating shaft of the first motor 260E penetrates through the middle shell 254E. The top shell 256E covers the middle shell 254E, and the transmission mechanism 270E is arranged between the middle shell 254E and the top shell 256E. The transmission mechanism 270E is a gear transmission mechanism, which includes a plurality of meshing gears. In other embodiments, the housing 250E can adopt a two-layer structure, and only the transmission mechanism 270E is arranged inside the housing 250E. The transmission mechanism 270E can also be a belt pulley transmission mechanism.

[0499] Further, the cleaning assembly 20 includes a connecting shaft 222E, a cleaning disk 224E, and a cleaning member 226E. One end of the connecting shaft 222E extends into the bottom case 252E and is fixedly connected to the connecting structure 280E. The other end of the connecting shaft 222E is fixedly connected to the cleaning disk 224E. The cleaning member 226E is disposed on a side of the cleaning disk 224E facing away from the connecting shaft 222E. In this embodiment, the first shaft connecting portion 232E and the first socket portion 234E are both disposed on the bottom case 252E and are an integral structure. The second pivot portion 236E is disposed on the top case 256E and is an integral structure. Among them, the third pivot portion 414E and the first pivot portion 412E of the transmission member 400E, the second pivot portion 236E of the top case 256E, the input end of the transmission mechanism 270E, the rotating shaft of the first motor 260E, the first shaft connecting portion 232E of the bottom case 252E, and the second shaft connecting portion 242E and the third shaft connecting portion 246E of the rotating member 240E are all coaxially arranged and have the same central axis (rotation center), that is, the rotation axis L2. Since the central axis of the first motor 260E is located on the rotation axis L2, the vibration during the rotation of the drive module 210E can be reduced, the noise can be lowered, and at the same time, the cleaning assembly 20 can better achieve revolution while rotating. The output end of the transmission mechanism 270E, the connecting structure 280E, and the connecting shaft 222E of the cleaning assembly 20 are all coaxially arranged and have the same central axis (rotation center), that is, the rotation axis L1.

[0500] The connecting member 300E is an elastic member. When the cleaning assembly 20 encounters an obstacle while mopping along the edge, the protruding cleaning assembly 20 can contract inward until the initial position, at which time the connecting member 300E is compressed and contracted; when the cleaning assembly 20 leaves the obstacle, under the tension of the connecting member 300E, the cleaning assembly 20 returns to the edge position and continues to mop along the edge. Therefore, the connecting member 300E can buffer the collision between the cleaning assembly 20 and the obstacle, protect the cleaning assembly 20, and make the cleaning assembly 20 maintain a tendency to return to the edge position to complete the edge cleaning.

[0501] In this embodiment, the connecting member 300E can be, but is not limited to, a spring. One end of the spring is sleeved on a hook provided on the side surface of the housing 250E and is connected to the driving module 210E; the other end of the spring is sleeved on another hook provided on the side surface of the transmission member and is connected to the transmission member 400E. It can be understood that in other embodiments, the connecting member 300E can also be an elastic columnar structure or an elastic rod-shaped structure, which has both structural strength and elasticity; further, the connecting member 300E can also be a connecting rod, which can also play a role in linking the transmission member 400E and the driving module 210E. The connecting member 300E can also be a torsion spring. The torsion spring is provided on the pivoting structure of the transmission member 400E and the driving module 210E, and one end abuts against the transmission member 400E, and the other end abuts against the driving module 210E, so that the transmission member 400E is in a folded state relative to the driving module 210E. The connecting member 300E can also be a tension spring. The tension spring is provided on the pivoting structure of the transmission member 400E and the driving module 210E, and one end is connected to the transmission member 400E, and the other end is connected to the driving module 210E, so that the transmission member 400E can drive the driving module 210E to move.

[0502] In this embodiment, teeth 430E are provided on the outer side surface of the transmission member 400E. The teeth 430E are used to input power to rotate the transmission member 400E. The driving structure for inputting power can be a gear driving structure, a worm and worm gear driving structure, a belt pulley driving structure or other driving structures. It should be noted that in other embodiments, the teeth 430E can be replaced by a connecting rod or a rocker, and the driving structure for inputting power can be a connecting rod driving structure.

[0503] The specific structure of the cleaning mechanism 100E is as described above. Since the cleaning device 600E in this embodiment adopts all the technical solutions in the above embodiment, it also has all the beneficial effects brought by the technical solutions in the above embodiment, which will not be elaborated here one by one. Among them, the driving assembly 620E is connected to the transmission member 400E of the cleaning mechanism 100E. The driving assembly 620E is used to drive the transmission member 400E to rotate, and then drive the driving module 210E to move the cleaning assembly 20 between the initial position and the edge position. The edge position is the position where at least a part of the cleaning assembly 20 extends out of the maximum width of the body 10 in the forward direction.

[0504] Combined with ​ and ​ , when the cleaning device 600E is operating normally (non-edge mode), the cleaning assembly 20 is in the initial position. At this time, in the forward direction, the cleaning assembly 20 does not extend out of the maximum width of the body 10, that is, the cleaning assembly 20 is within the reference line L3. Combined with ​ and ​, when the cleaning device is recognized as being in the edge-following state (edge-following mode), the driving assembly 620E drives the transmission member 400E to rotate, so that the cleaning assembly 20 moves to the edge-following position. At this time, the maximum width of the cleaning assembly 20 extending out of the body 10 in the forward direction, that is, the cleaning assembly 20 extends beyond the reference line L3 and covers the body range, providing the cleaning effect when the cleaning device performs edge-following cleaning.

[0505] It should be noted that the number of cleaning mechanisms 100E of the cleaning device 600E can be set according to actual needs. That is, the cleaning device 600E can be provided with one cleaning mechanism 100E, or two cleaning mechanisms 100E, or more cleaning mechanisms 100E.

[0506] In this embodiment, the body 10 is provided with an installation cavity 612E. The cleaning mechanism 100E can be placed into the installation cavity 612E from the bottom of the body 10. Moreover, shafts are provided at both the top and the bottom of the installation cavity 612E. The shaft at the top is rotatably connected to the third pivot portion 414E of the transmission member 400E, and the shaft at the bottom is fixedly connected to the second bearing 214E of the driving module 210E. The driving assembly 620E is also provided in the installation cavity 612E.

[0507] In this embodiment, the driving assembly 620E includes a second motor 622E and a driving gear 624E provided on the rotating shaft of the second motor 622E. The driving gear 624E cooperates with the teeth 430E of the transmission member 400E to drive the transmission member 400E to rotate. It can be understood that in other embodiments, the driving assembly 620E can be a worm and gear driving structure, a belt wheel driving structure or a sprocket driving structure.

[0508] Please refer to ​ , ​ shows a module block diagram of the cleaning device in this embodiment. The cleaning device 600E further includes a detector 630E and a controller 640E. The detector 630E is provided on the body 10 and is used to detect the position of the transmission member 400E. The controller 640E is provided on the body 10 and is electrically connected to the detector 630E and the driving assembly 620E respectively. The controller 640E controls the driving assembly 620E according to the position detected by the detector 630E. The detector 630E can detect the position of the transmission member 400E. After the transmission member 400E extends out and retracts in place, the controller 640E controls the second motor 622E of the driving assembly 620E to stop working, so as to avoid jamming and affecting the service life. Specifically, the detector 630E can be a Hall sensor or an infrared sensor.

[0509] Furthermore, the transmission member 400E is provided with a limiter 440E, which can cooperate with the driving assembly 620E to limit the rotation of the transmission member 400E. The limiter 440E can further limit the rotation of the transmission member 400E to ensure that the cleaning assembly 20 swings outward to the maximum position, i.e., the edge position, when it is interfered by the driving assembly 620E.

[0510] The technical solution provided in this embodiment has the following advantages: by adding a transmission member 400E and a connecting member 300E, the transmission member 400E is rotatably connected to the driving module 210E of the cleaning module 200E, and the connecting member 300E is connected between the driving module 210E and the transmission member 400E. Since the transmission member 400E can rotate around the rotation axis, when the transmission member rotates, the connecting member 300E is driven to move, and the driving module 210E is linked to rotate around the rotation axis, and then the cleaning component 20 of the cleaning module 200E can rotate eccentrically around the rotation axis. When applied to a cleaning device, the swing of the cleaning component 20 is controlled by controlling the rotation of the transmission member 400E, that is, the cleaning component 20 can move between the initial position and the edge position. When the cleaning component 20 is located at the edge position, the cleaning member can be swung out to cover the range of the fuselage to achieve edge cleaning, thereby improving the cleaning effect of the cleaning device when cleaning along the edge, and solving the problem that the cleaning component cannot clean along the edge.

[0511] Of course, Example 12 is not limited to being combined with the aforementioned Example 2. On the basis of feasibility, the overall or partial structure of Example 12 can be combined with any feasible embodiment to meet different usage purposes, and no specific restrictions are made here.

[0512] Embodiment 13: In the embodiment, a cleaning device having an elastic member 300F and a connecting rod driving mechanism 400F is mainly introduced. In the embodiment, the first driving structure 40M at least includes a driving module 210F, the second driving structure 50M at least includes an elastic member 300F and a connecting rod driving mechanism 400F, and the in-position detection structure at least includes a detector 120F.

[0513] In accordance with the above content, the present embodiment is different from the previous embodiment in that an elastic member 300F and a connecting rod driving mechanism 400F are further disclosed in the present embodiment, and a different cleaning assembly 20 and driving module 210F are used in the present embodiment.

[0514] This embodiment provides a cleaning device. ​, the cleaning device 100F includes a body 10, a cleaning module 200F, an elastic member 300F, and a link drive mechanism 400F. Among them, the cleaning module 200F includes a drive module 210F and a cleaning component 20. The drive module 210F is connected to the cleaning component 20 and is used to drive the cleaning component 20 to rotate. The drive module 210F is rotatably provided on the body 10, so that the cleaning component 20 has an initial position and a side position. The side position is a position where at least a part of the cleaning component 20 extends out of the maximum width of the body 10 in the forward direction, as ​ shown. The elastic member 300F is provided between the body 10 and the drive module 210F, and through the drive module 210F, the cleaning component 20 is moved towards the side position, that is, the resilience of the elastic member 300F always forces the cleaning component 20 to move to the side position. The link drive mechanism 400F is provided on the body 10 and is connected to the drive module 210F, and is used to drive the drive module 210F to rotate. When the link drive mechanism 400F is self-locked, the link drive mechanism 400F can maintain the cleaning component 20 at the initial position and prevent the cleaning component 20 from moving to the side position under the action of the elastic member 300F. Among them, the first position at least includes the initial position, and the second position at least includes the side position.

[0515] In this embodiment, the drive module 210F of the cleaning module 200F of the cleaning device 100F is rotatably arranged on the body 10, so that the cleaning component 20 of the cleaning module 200F has an initial position and a side position, and by arranging the elastic member 300F and the link drive mechanism 400F to control the rotation of the drive module 210F, the swing of the cleaning component 20 is controlled, that is, the cleaning component 20 can move between the initial position and the side position. As ​ shown, when the cleaning component 20 is in the side position, the cleaning component 20 can be swung out to cover the body range, realizing side cleaning and improving the cleaning effect when the cleaning device 100F mops the floor along the edge, solving the problem that the cleaning component 20 cannot mop the floor close to the edge; moreover, when the cleaning component 20 encounters an obstacle when mopping the floor along the edge, the elastic member 300F can play a role in buffering the collision, so that the extended cleaning component 20 can contract inward to protect the cleaning component 20; when the cleaning component 20 leaves the obstacle, under the action of the resilience of the elastic member 300F, the cleaning component 20 quickly moves to the side position and continues to mop the floor along the edge. As ​ shown, when the cleaning component 20 is in the initial position, the link drive mechanism 400F is self-locked and can overcome the resilience of the elastic member 300F to keep the cleaning component 20 at the initial position, preventing the cleaning component 20 from swinging out to the side position in the non-side mode. Even if it is impacted or entangled, the cleaning component 20 will not swing out.

[0516] To facilitate the installation of the cleaning module 200F, the body 10 is provided with an installation cavity 111F, and both the cleaning module 200F and the link drive mechanism 400F are disposed in the installation cavity 111F. The bottom of the body 10 is provided with a clearance portion that communicates with the installation cavity 111F, so as to avoid the movement of the cleaning assembly 20 between the edge position and the initial position, and limit the movement range of the cleaning assembly 20 through this clearance portion. In this embodiment, the clearance portion defines two extreme positions of the cleaning assembly 20, and these two extreme positions are the edge position and the initial position; however, in other embodiments, the edge position and / or the initial position may be located between the two extreme positions.

[0517] It should be noted that the number of cleaning modules 200F of the cleaning device 100F can be set according to the actual situation. For example, the cleaning device 100F can be provided with one or two cleaning modules 200F, and accordingly, the installation cavity 111F, the elastic member 300F, and the link drive mechanism 400F of the body 10 are provided, so that the cleaning assembly 20 of at least one cleaning module 200F can be swingably arranged. For another example, the cleaning device 100F can also be provided with more than three cleaning modules 200F, and the number of cleani...

Claims

1. A cleaning device, characterized in that, Comprising: A body; Two cleaning components for wet cleaning; wherein, one of the cleaning components is swingable relative to the body to have a retracted position and an outwardly swung position, and the other cleaning component is not swingable relative to the body; when the swingable cleaning component is in the outwardly swung position, at least a part of the cleaning component is located outside the periphery of the body for edge cleaning; Each cleaning component includes a cleaning disc and a cleaning member provided on the cleaning disc; when the cleaning component is in the outwardly swung position, there is a gap between the cleaning members of the two cleaning components in the width direction of the fuselage; A water replenishing mechanism provided in the body, the water replenishing mechanism having two water outlets, one water outlet replenishing water to the cleaning member of the non-swingable cleaning component, and the other water outlet replenishing water to the cleaning member of the swingable cleaning component, and the water outlet can replenish water to the cleaning member when the cleaning member is in the retracted position and the outwardly swung position.

2. The cleaning device according to claim 1, characterized in that, The water outlet of the water replenishing mechanism is provided on the bottom of the body, and the cleaning disc is provided with an annular hollow area; When the cleaning component is in the retracted position and the outwardly swung position, the water outlet remains in communication with the hollow area of the swingable cleaning disc to replenish water to the swingable cleaning member.

3. The cleaning device according to claim 1, wherein The cleaning disc is provided with an annular hollow area; when the cleaning component is in the retracted position and the outwardly swung position, the vertical projections of the hollow area on the bottom of the body are respectively a retracted vertical projection area and an outwardly swung vertical projection area; The water outlet is located within the common overlapping area of the retracted vertical projection area and the outwardly swung vertical projection area for replenishing water to the cleaning member of the swingable cleaning component.

4. The cleaning device according to claim 3, wherein, The cleaning component further has an arbitrary position during the swinging process between the retracted position and the outwardly swung position, and when the cleaning component is in any position, the vertical projection area of the hollow area on the cleaning disc on the bottom of the body is a swinging vertical projection area; The water outlet is located within the always overlapping area of the retracted vertical projection area, the outwardly swung vertical projection area, and the swinging vertical projection area.

5. The cleaning device according to claim 2, wherein The cleaning disc includes a disc body, and a deformable portion is provided at the edge of the outer circle of the disc body, and deformable holes are provided on the deformable portion; The disc body is provided with the hollow area, and at least one spoke is provided on the bottom of the disc body, and an adhesive structure is provided on the spoke for adhering the cleaning member.

6. The cleaning device according to claim 5, characterized in that At least one overflow hole is provided on the bottom of the body, the overflow hole is communicated with the water tank of the water replenishing mechanism, and at least a part of the overflow hole is opposite to the deformable hole for dripping the excess solution in the water tank onto the cleaning member through the overflow hole and the deformable hole to moisten the cleaning member.

7. The cleaning device according to any one of claims 1 to 6, characterized in that It further includes a first driving structure provided in the installation cavity of the body, and the first driving structure is used to drive the swingable cleaning component to rotate so that the cleaning component cleans the ground; A moving channel is provided at the bottom of the body. The first driving structure has a mounting portion. The cleaning assembly is mounted on the mounting portion and is located below the moving channel. The mounting portion swings within the moving channel so that the cleaning assembly switches between a retracted position and a swung-out position.

8. The cleaning device according to claim 7, wherein, It further includes a second driving structure provided in the mounting cavity of the body. The second driving structure is used to drive the first driving structure to swing so that the mounting portion swings within the moving channel to drive the cleaning assembly to swing between the retracted position and the second swung-out position.

9. The cleaning device according to claim 8, wherein The cleaning device further includes a dry cleaning module. The dry cleaning module includes a main brush, a dust box, and a blower. The dust box and the blower are provided in the mounting cavity of the body. The main brush is rotatably provided in the main brush cavity at the bottom of the body. Under the negative pressure generated by the blower, the garbage swept by the main brush is sucked into the dust box. A first avoidance surface is provided on one wall surface of the dust box. An installation space is formed between the first avoidance surface and the side wall of the body. The first driving structure and / or the second driving structure is provided in the installation space.

10. The cleaning device according to claim 9, wherein, The first driving structure includes a first motor and a first transmission mechanism provided on the output shaft of the first motor. The second driving structure includes a second motor and a second transmission mechanism provided on the output shaft of the second motor. The first transmission mechanism and the second transmission mechanism are connected by a swing arm. When the second transmission mechanism swings, the first transmission mechanism as a whole is driven to swing through the swing arm to drive the cleaning assembly to swing. A region for distributing the second motor and the second transmission mechanism is formed between the blower, the first motor, the first transmission mechanism, and the first avoidance surface.

11. The cleaning device according to any one of claims 1-6, characterized in that, The cleaning device further includes a main brush and a side brush. The main brush is rotatably provided in the main brush cavity at the bottom of the body. The main brush is used for dry cleaning. Along the advancing direction of the cleaning device, both cleaning assemblies are located behind the main brush. The side brush is located on one side of the front part of the body. Along the advancing direction of the cleaning device, the side brush is located in front of the main brush.

12. The cleaning device according to claim 11, characterized in that, The side brush is swingable relative to the body to have a retracted position and a swung-out position. When the side brush is in the retracted position, a part of the side brush is located outside the peripheral side of the body. When the side brush swings to the swung-out position, the part of the side brush located outside the peripheral side of the body is larger than the part of the side brush located outside the peripheral side of the body when the side brush is in the retracted position.

13. The cleaning device according to any one of claims 1-6, characterized in that, During the switching process between the retracted position and the swung-out position of the cleaning assembly, the cleaning assembly can rotate itself.

14. The cleaning device according to any one of claims 1-6, characterized in that, The cleaning device further includes a second driving structure for driving the cleaning assembly to swing between the retracted position and the swung-out position and for driving the cleaning assembly to switch from the swung-out position to the retracted position in at least one scenario. The scenario includes at least one of the scenarios where the cleaning device needs to return to the base station and the cleaning assembly needs to be lifted.

15. The cleaning device according to claim 14, wherein It further includes a lifting structure for driving the cleaning assembly to lift and lower so that the cleaning assembly has a lifted position and a mopping position. When the cleaning assembly is in the outward swing position, the second driving structure drives the cleaning assembly to switch from the outward swing position to the retracted position, and in the retracted position, the lifting structure drives the cleaning assembly to lift or lower.

16. The cleaning device according to claim 15, characterized in that, When the cleaning assembly is in the mopping position, the second driving structure drives the cleaning assembly to swing so as to switch between the retracted position and the outward swing position.

17. The cleaning device according to claim 16, wherein, In the case of disassembling the cleaning assembly, and / or in at least one of the cases where the cleaning device is cleaning a carpet or overcoming an obstacle, the lifting structure positions the cleaning assembly at the lifted position.

18. The cleaning device according to claim 8, characterized in that It further includes a lifting structure for driving the cleaning assembly to lift and lower, so that the cleaning assembly has a lifted position and a mopping position; When the cleaning assembly is in the outward swing position, the second driving structure drives the cleaning assembly to switch from the outward swing position to the retracted position, and in the retracted position, the lifting structure drives the cleaning assembly to lift or lower; the lifting structure and the first driving structure share a motor. The first driving structure includes a rotating motor, and the lifting structure includes a first fixed body and a second fixed body. The first fixed body is in threaded cooperation with the second fixed body, and the mounting portion is provided at the bottom of the second fixed body. When the rotating motor rotates in the first direction, the second fixed body rotates upward relative to the first fixed body, and the cleaning assembly lifts to reach the lifted position. When the rotating motor rotates in the second direction, the second direction being opposite to the first direction, the second fixed body rotates downward relative to the first fixed body so that the cleaning assembly descends to the mopping position. When in the mopping position, the rotating motor continues to rotate in the second direction, and there is no relative rotation between the first fixed body and the second fixed body to drive the entire cleaning assembly to rotate for mopping.

19. The cleaning device according to claim 8, characterized in that, The second driving structure includes a motor and a transmission mechanism; the cleaning device further includes a position-in-place detection structure and a control system. The position-in-place detection structure includes a detection member and a sensing member; one of the detection member and the sensing member is provided on the transmission mechanism, and the other is fixedly arranged relative to the body. The detection member and the sensing member are located on the rotation path of the transmission mechanism for detecting any position of the cleaning assembly in the retracted position, the outward swing position, and the swinging process, so that the control system controls the motor to stop rotating and the cleaning assembly remains in the retracted position, the outward swing position, or any position.

20. The cleaning device according to claim 18, wherein In the non-edge-following mode, when there are few obstacles in the environment where the cleaning assembly is located, such that the obstacles do not interfere with the cleaning assembly and the cleaning assembly can be normally fixed to the body, the cleaning assembly remains in the outward swing position.

21. The cleaning device according to claim 20, wherein, The outward swing position is an interval.

22. The cleaning device according to any one of claims 1-6, characterized in that, It further includes a sensor. When the cleaning assembly is performing edge cleaning in the outward swing position, the sensor is used to detect the distance between the body and the edge of the obstacle in real time to dynamically adjust the edge cleaning distance of the cleaning assembly.

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